The invention provides an equipment self-
stabilization control system and method, and the
system comprises a data collection module and a control module, and the control module comprises a data preprocessing unit, a
speed loop feedforward
control unit, a
speed loop instruction generation unit, a
position loop feedback control unit, and a carrier-pointing motion
coupling model calculation unit. The
speed loop control comprises carrier
gyroscope feedforward input, fuzzy self-tuning and first-order low-pass filtering
processing;
position loop control comprises fuzzy self-adaptive PID and
gradient descent method optimization, collaborative optimization of motion compensation and accurate pointing of an equipment
station body is achieved through independent control over a speed loop and the
position loop, the
station body pointing overshoot is reduced to 12% from 35%, the adjusting time is shortened by 60%, the steady-state error is reduced to 0.12 mrad from 0.75 mrad, and the speed loop and the position loop are independently controlled. The problems of insufficient dynamic response and reduced pointing precision of a traditional
system in a complex motion environment are solved. According to the invention, a position-speed double-
loop control architecture is adopted, and Kalman filtering and fuzzy parameter self-tuning technologies are combined, so that the stability and adaptability of the system are improved.