In response to the high dynamic position tracking control requirements of a mechanically stabilized platform for a USV radar antenna,a PID+feedforward composite controller is designed to calculate the feedforward control quantity in real-time based on the pitch and roll angle informa-tion of the USV from the inertial navigation equipment to correct the output of the PID control quantity,achieving fast,stable and high-precision position compensation control of the mechanical-ly stabilized platform.The PID-based composite controller has achieved good control effects in terms of robustness,rapidity,stability and control accuracy,and meets various specification re-quirements of the system through the simulation and physical verification.
关键词
无人艇/雷达天线/稳定平台/前馈控制/PID控制
Key words
USV/radar antenna/stabilized platform/feedforward control/PID control
维普
万方数据