Adaptive Backstepping Sliding Mode Control of Electro-Optical Tracking Servo Turntable

The torque ripple of torque motor has serious influence over control accuracy of electro-optical tracking servo turntable. In response to this defect, an adaptive backstepping sliding mode control algorithm was proposed. Firstly, the mechanism of torque ripple was analyzed, and the math model of which was set up. Then, based on the model of whole servo system, the sliding mode control and backstepping algorithm were combined to design adaptive backstepping sliding mode (ABSM) controller. Finally, a simulation experiment was finished to with compare control performance of ABSM controller and PID controller. The simulation results show that, compared with the control accuracy of the PID controller, ABSM controller enhances the robustness of system, and approves control accuracy of servo turntable evidently.