PI Terminal Sliding Mode Control of Theodolite Aiming Chaotic Motor with Time Varying Parameters

Abstract

Parameters of theodolite measuring motor will vary with duty conditions bringing about aiming control system chaotic, which is harmful for the aiming system and the aiming result. In order to be close to reality, considering that the aiming system is under time-varying load and inside disturbances, the dynamic model was established and analyzed. The existence of chaos was proved. Due to terminal sliding control with good robustness, fast dynamic response, finite time convergence and high tracking precision, PI terminal sliding structure and control strategy were given, and the system stability was analyzed. The chaotic orbits of aiming motor system were stabilized to arbitrary chosen fixed points and periodic orbits by means of sliding mode method. Simulation results show that PI terminal sliding mode control can realize the stability and accuracy of aiming motor control system, and overcome the negative influence of the chaos for the aiming system.