Gyroscope stabilized platform adaptive composite control method

A gyro-stabilized platform and composite control technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve problems such as out-of-control of the platform, rough adjustment of the fuzzy controller, frequent shaking of the platform, etc.

Active Publication Date: 2014-04-09
SOUTHEAST UNIV
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Problems solved by technology

[0002] The domain of conventional fuzzy control is established and unchanged. If the domain of discourse is too large, the adjustment of the fuzzy controller will be relatively rough when the input variable is small, which will cause the platform to oscillate near the zero point; if the domain of discourse If the range is too small, the input variable will easily exceed the domain of discourse, which will l...

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  • Gyroscope stabilized platform adaptive composite control method
  • Gyroscope stabilized platform adaptive composite control method
  • Gyroscope stabilized platform adaptive composite control method

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Embodiment Construction

[0042] The present invention is described in detail below in conjunction with accompanying drawing and embodiment of description:

[0043] In the self-adaptive composite control method of the gyro stabilization platform of the present invention, the applied gyro stabilization platform adopts a double-loop control structure jointly controlled by the position loop and the stability loop, the position loop adopts proportional integral differential control, and the stable loop adopts adaptive fuzzy-proportional integral differential control compound control. The control methods in the pitch direction and the roll direction are the same, and now the control process in the pitch direction is taken as an example to illustrate the control method proposed by the present invention, and the specific steps are as follows:

[0044] Step 1) Set the desired pitch angle P of the gyro-stabilized platform 0 ;

[0045]Step 2) The inertial measurement unit is installed in the center of the inne...

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Abstract

The invention discloses a gyroscope stabilized platform adaptive composite control method. A double-loop control structure controlled by a position loop and a stability ring collectively. The position loop adopts the proportion integration differentiation control mode. The stability ring adopts the adaptive fuzzy-proportion integration differentiation composite control mode. A self-adjustment factor is used to realize the online adjustment of the fuzzy control basic domain. A composite control adaptive factor is used to realize the composite of fuzzy control and proportion integration differentiation control. The gyroscope stabilized platform adaptive composite control method of the invention can be used to make the gyroscope stabilized platform has advantages of fast response, high servo accuracy and good anti-interference ability.

Description

technical field [0001] The invention relates to an adaptive composite control method for a gyro-stabilized platform to realize the control of the gyro-stabilized platform, belonging to the field of automatic control. Background technique [0002] The domain of conventional fuzzy control is established and unchanged. If the domain of discourse is too large, the adjustment of the fuzzy controller will be relatively rough when the input variable is small, which will cause the platform to oscillate near the zero point; if the domain of discourse If the range is too small, the input variables will easily exceed the domain of discourse, resulting in loss of control of the platform. When the existing composite control method combines the two control methods A and B, most of them adopt mechanical switching. When the error is greater than or equal to the threshold value, the A control method is used, and when the error is smaller than the threshold value, the B control method is used...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 程向红朱倚娴陆源
Owner SOUTHEAST UNIV
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