中图分类号：V279 文献标志码：A 文章编号：1671-8755（2025）02-0068-12

Research on Motion Control of Airborne Optoelectronic Pod Based on Hierarchical Structure and Equivalent Sliding Mode Control

XIE Yu， MENG Qianyi，LIU Shuangli （School of Information and Control Engineering， Southwest University of Science and Technology， Mianyang 621010，Sichuan，China）

Abstract：To address the issuesof poor anti-interference abilityand insufcient environmental adaptability of photoelectric pods carried on fixed-wing aircraft in complex aerial environments，based on kinematics analysis and dynamic modeling，the motion control of two-axis and two-frame airborne photoelectric pod was studied by combining hierarchical structure and equivalent sliding mode control. The controller of the azimuth subsystem uses a finite-time adaptive equivalent sliding mode controler to minimize the convergence time. The step signal is tracked during simulation，and the convergence time is shortest （1.26 s）. The controller of the pitching subsystem adopts the equivalent sliding mode controller based on the nonlinear disturbance observer to reduce the steady-state error. The steady-state error is minimum （0.2×10^-4） ） when tracking sinusoidal signal during simulation. The control accuracy and stability of the proposed controller are proved by experiments.

Keywords：Airborne optoelectronic pod；Kinematic analysis；Dynamics modeling；Hierarchical structure；Equivalent sliding mode control

在现代军事冲突中，机载光电吊舱的作用日益凸显。作为集多种传感器于一体的先进设备，机载光电吊舱可以挂载在战斗机、无人机、直升机等多种航空平台上，使战机能够看得更远，打得更准。

由于悬挂于飞行器上的光电吊舱容易受到外部扰动的影响，导致成像质量降低。诸多研究人员设计了创新性的结构用于提高机载光电吊舱的抗干扰能力。例如，吕宏宇等研究发现两轴四框架结构的光电吊舱能够有效抑制外部干扰角速度的传递，从而提高内环稳定精度。甘至宏等[2]提出可通过增加支撑筋和减重孔的数量来提高机载光电吊舱的机械谐振频率，确保吊舱的动态响应和控制系统的跟踪与定位能力满足要求。刘家燕等[3将橡胶减振器安装于光电吊舱内部，保证了光学载荷的成像质量和光电吊舱的跟踪精度。王诚等4采用快速反射镜构成机载光电吊舱的粗精两级控制，提高了吊舱的工作带宽和抗干扰能力。Sun等5在设计两轴四框架光电吊舱的结构时，将主被动复合隔振器应用于外框架，JGZ型干摩擦高阻尼减振器应用于内框架，有效抵消了系统的直线振动耦合。

但是，通过结构设计及组件选择无法完全消除机载光电吊舱所受非线性扰动，残余的扰动进入伺服控制系统后会对控制效果造成影响。因此，在提升结构性能的同时，高性能的控制算法也是机载光电吊舱实现平稳运行和清晰成像的关键所在。……