Decoupling control method of airborne LiDAR attitude angle compensation device

Abstract

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.

Description

technical field [0001] The invention relates to a decoupling control method for realizing an airborne LiDAR attitude angle compensation device control system by using a neural network inverse system. Background technique [0002] As a new and effective 3D imaging technology, airborne LiDAR has been widely used in many fields such as terrain mapping and urban modeling. During the working process of airborne LiDAR, the attitude angle of the airborne platform will change in real time, which will affect the quality of the measured laser point cloud and reduce the accuracy of subsequent 3D imaging. Therefore, it is necessary to design an airborne LiDAR attitude angle compensation device that can compensate in real time the adverse effects of changes in the three-axis attitude angle of the airborne platform on the airborne LiDAR measurement. However, the airborne LiDAR attitude angle compensation device is a complex multi-input multi-output, strong coupling system. In order to im...

AI Technical Summary

Problems solved by technology

Traditional decoupling uses pre-compensation, which is more suitable for linear steady systems; adaptive decoupling is to identify the controlled object to realize the decoupling control of unknown parameters or time-varying systems, mainly to solve the dynamic decoupling of nonlinear and strongly coupled systems , but due to the requirement of online identification of the system model, the algorithm is complex and the amount of calculation is large, so it is not suitable for the fast response control system

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