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Radar pitching motion control method based on prediction RBF feedforward compensation type fuzzy PID

A feedforward compensation and pitching motion technology, applied in electric controllers, controllers with specific characteristics, adaptive control, etc., to achieve the effect of reducing system output error and reducing steady-state error

Active Publication Date: 2020-06-12
HOHAI UNIV CHANGZHOU
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Problems solved by technology

[0003] In order to overcome the deficiencies in the prior art, the present invention proposes a radar pitch motion control method based on predictive RBF feedforward compensation type fuzzy PID, which can effectively control the radar pitch motion to solve the problem of radar in such three-dimensional laser scanning systems. Pitch servo motion control problem

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  • Radar pitching motion control method based on prediction RBF feedforward compensation type fuzzy PID
  • Radar pitching motion control method based on prediction RBF feedforward compensation type fuzzy PID
  • Radar pitching motion control method based on prediction RBF feedforward compensation type fuzzy PID

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Embodiment Construction

[0067] In order to enable those skilled in the art to better understand the technical solutions in the application, the technical solutions in the embodiments of the application are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the application, and Not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0068] Such as figure 1 As shown, a radar pitching motion control method based on predictive RBF feedforward compensation type fuzzy PID includes the following steps:

[0069] Step 1: Establish a mathematical model of the system according to the two-dimensional lidar pitching motion system;

[0070] Step 2: According to the system model established in step 1, design a PID control law with feedforward compensation;

[0071] Step 3: Based on the...

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Abstract

The invention discloses a radar pitching motion control method based on prediction RBF feedforward compensation type fuzzy PID, and aims at a two-dimensional laser radar to three-dimensional laser scanning system to control the swinging or pitching motion of a two-dimensional laser radar. Firstly, a PID algorithm with feedforward compensation is adopted to eliminate nonlinear factors in a radar pitching motion system; PID parameters are set in a fuzzy self-adaptive mode, then for unknown parts in nonlinear factors, the unknown parts are fitted through the universal approximation characteristicof a radial basis function neural network (RBF), and on the basis, generalized predictive control based on a state equation is adopted to optimize the control system in a rolling mode so as to further reduce the output error of the system. According to the control method provided by the invention, the steady-state error, the response time and the adjustment time of the system can be reduced, so that the control method can effectively control the pitching motion of the two-dimensional laser radar.

Description

technical field [0001] The invention relates to a radar pitch motion control method based on predictive RBF feedforward compensation type fuzzy PID, which belongs to the field of servo motion control. Background technique [0002] With the development of laser technology, two-dimensional laser radar has been widely used in various fields such as path planning, map navigation, and unmanned driving. However, with the advancement of navigation technology and robot technology, the exploration of the environment requires more Dimensions of information and a more holistic perspective. Therefore, three-dimensional laser radar came into being, and the mature multi-line three-dimensional laser radar device is complex and expensive. It is more cost-effective, and the obtained point cloud data is more intensive, which can greatly reduce the cost. For this type of 3D laser scanning system, the pitch motion control of 2D LiDAR is particularly critical. Contents of the invention [0...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42G05B13/02G05B13/04G01S7/48
CPCG05B11/42G05B13/0285G05B13/048G05B13/042G01S7/48
Inventor 徐孝彬赵鸣晖张磊熊轶旸骆敏舟谭治英
Owner HOHAI UNIV CHANGZHOU
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