Visual axis stability composite control method based on velocity disturbance observer and Fuzzy-PID

Abstract

The invention relates to a visual axis stability composite control method based on a velocity disturbance observer and Fuzzy-PID. An angular rate gyroscope and a photoelectric encoder are arranged onstable platform with two axes and two frames; a signal fed bac by the angular rate gyroscope is sent into a visual axis stability controller, the location information acquired by the photoelectric encoder is sent into a location controller, classic PID control is established on the basis of the fixed controlled object model parameters, but in the actual condition, the parameters such as rotationalinertia and friction torque of the controlled object are not unchanged, a fuzzy-PID controller is designed, the condition that the parameter setting of the PID controller is independent of a mathematical model of the controlled object is improved, and the parameter can be adjusted online, the stability precision, the instantaneity and the robustness of the visual axis stability loop are improved;a disturbance observer based on a velocity signal is added in the system, the disturbance observer is used for observing the disturbance and performing a certain compensation, and the visual axis stability precision is correspondingly improved.

Description

technical field [0001] The invention relates to a compound control method for visual axis stabilization based on a velocity disturbance observer and a Fuzzy-PID. Background technique [0002] In recent years, UAV photoelectric tracking platform, as the payload of UAV, has played an important role in military, police, civilian and other fields. The development of airborne electro-optical tracking platform has made a great contribution especially to aerial reconnaissance. The airborne optoelectronic platform is mounted on the UAV to stare and reconnaissance suspicious areas, so as to obtain image information and location information of suspicious targets, and realize the reconnaissance and measurement of sensitive targets. In the photoelectric imaging tracking system on a moving carrier such as a UAV, to achieve accurate measurement and tracking of the target, the boresight stabilization technology must be used to provide measurement equipment (CCD camera, forward-looking inf...

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Problems solved by technology

[0009] After the fuzzy PID control determines the control rules and membership functions, it is equivalent to the PID controller adjusting its own parameters according to the input within a certain range to control the controlled object, but the fuzzy PID still has some shortcomings in the anti-interference performance. , unable to meet the requirements of a high-precision stable platform

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