The invention relates to a decoupling control method of an airborne
LiDAR attitude angle compensation device. In order to compensate effects on airborne
laser radar measurement point cloud imposed byhelicopter-borne platform attitude angle change, an attitude angle compensation device is designed. The device is a tri-axle turntable, and there is control
coupling, so a decoupling control method isprovided. The method comprises steps of firstly, establishing a
mathematical model of an attitude angle compensation device dynamic
system and proving the reversibility of the attitude angle compensation device dynamic
system; then, establishing a neural network
inverse system model of the attitude angle compensation device dynamic
system, acquiring
neural network learning data and carrying out offline training on the neural network; then, comparing output of the neural network
inverse system with an expected input value, and sending the differential value into a feedforward controller to beused for correcting a control
voltage signal of the attitude angle compensation device dynamic system; and finally, by combining a fuzzy-
PID controller of a closed-loop
feedback loop, forming a feedforward-feedback
composite controller. Thus, real-time decoupling of the attitude angle compensation device dynamic system is achieved, control precision and anti-interference are improved and
dynamic control performance is improved.