유연성 포인팅 시스템의 진동모드 보상을 위한 2단계 슬라이딩 모드 제어기

Two-Stage Sliding Mode Controller for Bending Mode Suppression of a Flexible Pointing System

A flexible pointing system mounted on top of a vehicle suffers from performance degradation due to bending vibrations as the vehicle runs on a bump course. In order to improve the pointing performance, the pointing structure's vibrations should be suppressed. In this paper, a nonlinear controller is designed to control the tip position of the pointing system while actively suppressing the vibrations. To cope with high order dynamics and nonlinearities of the plant and hydraulic actuating system, a two-stage sliding mode controller is devised. The desired actuating pressure is obtained in the first stage and then the in put current In the hydraulic servo system is computed to generate the pressure. The simulation results show the effectiveness of this scheme and improvements in pointing accuracy.