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在运动载体上的光电跟踪系统中,需要采用建立在陀螺稳定平台上的视轴稳定控制。分析了平台结构和惯性稳定隔离原理。针对系统机械谐振、力矩耦合及电气参数波动等非线性不确定因素的影响,设计了复合自适应模糊PID控制器。引入自适应调整因子进行控制规则和参数的在线修正,采用复合控制克服模糊控制固有的盲区,实现无差调节。在光电跟踪转台上的实验结果显示该方法能够有效地隔离载体扰动,减小扰动造成的误差,保证视轴对目标的准确瞄准,具有快速的动态响应和较强的抗干扰性。
In the electro-optical tracking system on a moving carrier, a boresight stabilization control based on a gyro stabilized platform is required. The principle of platform structure and inertial stability is analyzed. Aiming at the nonlinear uncertainties such as system mechanical resonance, torque coupling and electrical parameter fluctuation, a hybrid adaptive fuzzy PID controller is designed. The adaptive adjustment factor is introduced to modify the control rules and parameters on-line. The hybrid control is used to overcome the inherent blind zone of fuzzy control and achieve no difference adjustment. Experimental results on the electro-optical tracking turntable show that this method can effectively isolate the carrier disturbance, reduce the error caused by the disturbance, and ensure the accurate sighting of the target to the target with fast dynamic response and strong anti-interference.