Due to the process defects and imperfection of drivers, permanent magnet synchronous motors (PMSM) are problematic to control. There is still a lack of effective high-performance control methods for inertial stabilized platforms based on PMSM currently. At present, the most frequently used method is sliding mode control (SMC), but traditional sliding mode control cannot overcome the contradiction between high performance and system chattering. In order to solve this problem and improve the system reliability and pointing accuracy, a new approach law for the sliding mode controller is proposed in this paper. In view of the large periodic torque ripple in PMSM, an iterative learning controller (ILC) is introduced to compensate for the disturbance. Based on these, aimed at suppressing all kinds of real-time disturbances in the working environment of the system, the extended state observer (ESO) is brought into the servo system to observe the lumped disturbance of the system, and the total disturbance observed is compensated into the sliding mode controller, so as to better suppress the system chattering and enhance the system’s ability of resisting external disturbance. Experiments are carried out on an inertial stabilization platform based on DSP + CPLD. The final experiments verify that the SMC with the new approach, combined with ILC and ESO, is of outstanding performance when compared with the traditional proportional integral (PI) + disturbance observer (DOB) control scheme.

At present, the cogging torque of permanent magnet synchronous motors (PMSM) seriously limits the Los pointing accuracy of aviation photoelectric stabilization platforms based on PMSM, which also restricts the requirements of ultra-long-distance and high-precision aviation reconnaissance and detection. For this problem, an off-line iterative learning control (ILC) was designed, and on this basis, a control method of negative effect compensation of disturbance (NECOD) is proposed. Firstly, the “dominant disturbance torque” in the system, that is, the cogging torque with the characteristics of position periodicity, was suppressed by off-line ILC according to different positions. Then, for the “residual disturbance” after compensation, NECOD was used to suppress it. In the constant speed scanning experiment of the aviation photoelectric stabilization platform, the method of combining the off-line iterative learning controller and the negative effect compensation of disturbance (NECOD + ILC) proposed in this paper significantly improved the Los control accuracy of the platform when compared with the classical active disturbance rejection control (ADRC) and ADRC + ILC methods, and the Los pointing error of the constant speed scanning process had only increased by less than 5% when the system had ±15% parameter perturbation. In addition, NECOD + ILC has fewer parameters and is easy to adjust, which is conducive to engineering application and promotion.