基于模糊-PID控制的小型机载摄影稳定平台
Small Aerial Photography Stabilized Platform Based on Fuzzy-PID Control
邱宝梅 1王凤娟 1王建文2
作者信息
- 1. 重庆邮电大学自动化学院,重庆400065
- 2. 中国电子科技集团第26研究所,重庆400060
- 折叠
摘要
由于飞机振动、陀螺漂移、框架耦合等原因,机载摄影稳定平台设计与控制是一个复杂的过程,很难获得精确的控制模型.本小型机载摄影稳定平台采用微机械陀螺、直流伺服电机和减速器的三框架结构设计,改善了现有机载摄影稳定平台存在的结构笨重、适应性差等特点,同时将模糊-PID 混合算法应用于平台的稳定控制,当系统误差大的时候采用模糊控制,而当系统误差小时候,采用PID 控制,实现了两种控制算法的优势互补,经仿真和实测数据表明,其控制静态和动态性能都明显的好于传统的PID 控制,将稳定误差减小了±0.1°左右,得到了较为满意的稳定控制效果.
Abstract
The design and control of aerial photography stabilized platform is a complicated process owing to mechanic vibration, multi-frame coupled and gyro random drift and so on. It is hard to obtain the exact control model. By designing three frames structure with MEMS gyro, DC servo motor and reduction gear, a small aerial photography stabilized platform is applied to improve problems of the existing aerial photography stabilized platform, such as the heavy structure, the lacking of adaptability and so on. A Fuzzy-PID controller is proposed. The fuzzy control is used when the error is large, and the PID is used when the error is small, which takes the advantages of these two methods complementarity. Based on the above mentioned, the designs of Fuzzy-PID controller and hardware circuit and the software structure are presented. The experiment data prove that the dynamic and static performance of control system is obviously improved based on fuzzy-PID. The stabilized accuracy can arrive to ±0.3 degree. It can. satisfy the requirements of high definition aerial photography.
关键词
机载摄影/陀螺稳定平台/模糊-PID控制Key words
aerial photography/gyro-stabilized platform/fuzzy-PID control引用本文复制引用
出版年
2010
NETL
NSTL
维普
万方数据