球形光电成像平台的解耦分层姿态控制OA

High-precision attitude control is critical for spherical optoelectronic imaging platforms to per⁃form optoelectronic detection tasks in confined spaces.However,multi-degree-of-freedom strong coupling and disturbance issues significantly degrade the system's steady-state performance and imaging quality.To address this challenge,we proposed a decoupled hierarchical control method tailored for such platforms.First,a multivariable coupled dynamic model of the spherical optoelectronic imaging platform was estab⁃lished.Based on the platform's fast and slow time scales,this multivariable coupled dynamic model was decomposed into a fast subsystem and a slow-varying subsystem.Then,a hierarchical control approach was developed:an adaptive sliding mode-assisted disturbance observer was designed for the fast subsys⁃tem,while PID control was employed in the slow subsystem for steady-state regulation,achieving stable platform attitude control under disturbances.Finally,under identical operating conditions and unified tun⁃ing principles,the proposed method was experimentally validated against disturbance observers and sliding mode control techniques.Experimental results demonstrate that under perturbations varying in magnitude and direction,the proposed decoupled hierarchical control method reduces the maximum roll angle devia⁃tion of the spherical photoelectric imaging platform by over 48.74 percent and shortens convergence time by over 36.06 percent compared to other algorithms,while exhibiting excellent adaptability to varying dis⁃turbance intensities.The proposed decoupled hierarchical control method enables the spherical photoelec⁃tric imaging platform to achieve high-precision attitude control under complex disturbances,providing tech⁃nical support for maintaining stable imaging in unstructured environments.