101. Finite Time Proportional-Integral Sliding Mode Control of Theodolite Aiming Chaotic Motor with Time Varying Parameters

In the angle measuring using theodolite, the telescope is driven by the aiming motor to sight the target automatically. The parameters of aiming motor will vary with duty conditions to bring about aiming control system chaotic, which is harmful for the aiming system and the aiming results. The aiming motor control system exist the time-varying load and the inside disturbances, the dynamic model is established and analyzed. The behavior of chaos is proved. Due to terminal sliding control with good robustness, fast dynamic response, finite time convergence and high tracking precision, The finite time proportional-integral (PI) sliding mode structure and control strategy are given, and the system stability is analyzed. The chaotic orbits of the aiming motor control system are stabilized to arbitrary chosen the fixed points and periodic orbits by means of sliding mode method. Simulation results show that finite time PI 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.