论文部分内容阅读
为提高航空遥感惯性稳定平台控制系统稳定精度和扰动抑制能力,在常规PID控制的基础上设计了一种模糊控制与PID相结合的复合控制算法,分别应用于稳定平台横滚框及俯仰框系统进行实验验证。在三环控制系统位置环中将模糊控制与PID控制方法结合使用,并引入变论域思想,建立模糊/PID复合控制器,满足输出偏差变化不同时刻对PID参数整定的要求。通过模糊控制器实时调整PID参数,使系统具有良好的动、静态特性,实现多源扰动下惯性稳定平台的高稳定精度控制。分别通过仿真和静动态实验对方法进行分析和验证。实验结果表明:与常规PID控制及单纯模糊控制相比,模糊/PID复合控制器具有优越的扰动抑制能力和高稳定精度。相对传统PID控制,横滚框和俯仰框的静态均方根误差(RMS)值分别下降51%和73%、动态RMS值分别下降约20%和30%。
In order to improve the stability and stability of the control system of airborne remote sensing inertial stabilization platform, a compound control algorithm combining fuzzy control and PID control is designed based on the conventional PID control, which are respectively applied to the stable platform roll and pitch frame system Experimental verification. The fuzzy control is combined with PID control method in the position loop of Tricyclic control system, and the idea of variable universe is introduced to establish the fuzzy / PID compound controller to meet the requirements of tuning PID parameters at different moments when the output deviation changes. The fuzzy controller adjusts the PID parameters in real time to make the system have good dynamic and static characteristics and achieve high stability and accuracy control of the inertial stable platform under multi-source perturbation. The methods are analyzed and verified by simulation and static dynamic experiments respectively. Experimental results show that fuzzy / PID composite controller has superior disturbance rejection and high stability compared with conventional PID control and simple fuzzy control. Compared with the traditional PID control, the static root mean square error (RMS) values of roll and pitch frames decreased by 51% and 73% respectively, while the dynamic RMS values decreased by about 20% and 30% respectively.