Double-shaft photoelectric rotary table compound control system and control method based on fuzzy decision

Abstract

The invention discloses a double-shaft photoelectric rotary table compound control system and a control method based on fuzzy decision. The control system comprises an integrated digital filtering, an estimation unit, a feed-forward control unit, a measuring unit, a change-over switch, a fuzzy-decision unit, a piping and instrument diagram (PID) controller, and a signal superposition unit. The double-shaft photoelectric rotary table position error e is compared with an error threshold K c set in advance, when e is less than K c, the fussy regulation is entered and regulation output controlled quantities delta kp, delta k and delta kd are obtained. PID control and regulation parameters kp, ki and kd are further obtained, and PID calculation is conducted. Otherwise, PID calculation is conducted by the utilization of the fixed regulation parameter set in advance and control signals outputted by PID are obtained. The effects of nonlinearity, time-varying characteristics, and model uncertainty on accuracy of the double-shaft photoelectric rotary table are effectively reduced. The problems of integral saturation and high frequency disturbance in the PID controller are solved, stochastic noise in the given stochastic signals is overcome, and long-term continuous stable work of the double-shaft photoelectric rotary table compound control system is ensured.

Description

technical field [0001] The invention relates to the improvement of the double-axis photoelectric turntable control technology, in particular to a fuzzy decision-based double-axis photoelectric turntable composite control system and control method, belonging to the double-axis photoelectric turntable control technology field. Background technique [0002] The dual-axis photoelectric turntable is used to isolate external disturbances and perform real-time and stable photoelectric tracking of moving objects in the air or on the ground. In order to achieve high-precision photoelectric tracking performance, in addition to rationally designing the mechanical structure of the turntable itself, it is also necessary to carefully design a high-performance control method, and combine position sensors, servo drives and actuators to form a joint that can control the dual-axis photoelectric turntable. Closed-loop servo control system for high-precision servo rotation. [0003] In the cur...

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Problems solved by technology

[0006] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a dual-axis photoelectric turntable compound control system and control method based on fuzzy decision-making. The present invention can overcome the nonlinearity, time-varying and model inconsistency of the controlled object, etc. problem, eliminate the high-frequency noise of the differential link and the overshoot problem of the integral link in the PID controller, solve the contradiction between the stability and high precision of the closed-loop servo system at the same time, greatly suppress the random noise of the system input end, so that the present invention can meet this requirement High tracking accuracy requirements for turntable servo systems

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