Stable-platform peak self-inhibition control method

Abstract

The invention discloses a stable-platform peak self-inhibition control method. The stable-platform peak self-inhibition control method refers to improvement of a traditional stable PID algorithm; whenthe deviation value is large, system gain is automatically reduced according to the absolute value of the deviation value, and overshoot and oscillation are prevented, so that the stability and reliability of the system are guaranteed; when the deviation value is small, the system gain is automatically increased according to the absolute value of the deviation value, so that the dynamic performance index and the stability precision of the system are improved. According to the method, the peak effect occurring when a speed curve approaches zero in the swinging process is effectively overcome,the stability precision can be improved, and the reliability of the system can also be ensured.

Description

technical field [0001] The invention belongs to the field of automatic control of platform stabilization, in particular to a platform stabilization peak self-inhibiting control method suitable for vehicle and ship stabilization. Background technique [0002] At present, many patrol cars or ships have photoelectric reconnaissance equipment. In order to facilitate the observation and tracking of targets during the movement of the car or ship, it is necessary to use a stabilizer. The function of the stabilizer is to stabilize the photoelectric load in a fixed inertial space when the moving base disturbs the angle of the photoelectric load. When the supporting shaft of the photoelectric load does not have any disturbance torque, the stabilizer remains in its original position relative to the inertial space. When the photoelectric load deviates from the original orientation due to the action of the disturbance torque, the sensor will measure the angular rate of the shaft change ...

AI Technical Summary

Problems solved by technology

[0003] In the process of swing test and actual motion use, the traditional PID control method is adopted. Because the integral link will lag behind, when the gyro velocity curve of the stabilization platform crosses zero, a peak will be generated. At this time, the image stabilization effect is poor, that is, the so-called The spike effect, obviously the traditional PID control method cannot overcome this spike effect

[0004] In 2014, Hebei Hanguang Heavy Industry Co., Ltd. applied for the patent "A Spike Adaptive Stable Control Platform". In this patent, it added an accelerometer and an inclination sensor to the platform, and overcome the swing through the acceleration closed loop and the inclination closed loop. In the process, the speed curve is close to the peak effect near zero. This method can also achieve the effect, but the cost is high, and the accelerometer and the inclination sensor themselves may introduce a problem of zero bias.

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