Design of Self-Stabilizing Three-Axis Gimbal Based on Improved WOA
Because the three-axis stabilized gimbal system is characterized by nonlinear time-varying and serious hysteresis,it is difficult for the traditional proportional integral differential(PID)control algorithm to achieve a better control effect.Aiming at this problem,an improved whale optimization algorithm(WOA)is proposed to realize the automatic tuning of PID controller parameters.Firstly,the transfer function model of the three-axis stabilized gimbal system is determined.Then,the algorithm is improved to address the problem that the basic WOA solution has low accuracy and is easy to fall into local optimization.The search ability of the algorithm is improved by introducing a nonlinear convergence factor to avoid falling into local optimization.The introduction of diversity variation operation reduces the probability of premature convergence phenomenon of the algorithm.Finally,Matlab simulation software is used to simulate and test the improved WOA optimized PID,genetic algorithm(GA)optimized PID and traditional PID controller respectively.The test results show that the improved WOA has faster iteration speed and stronger global optimization seeking ability.The improved WOA optimized PID controller has fast response speed and small overshoot,which can effectively control the three-axis gimbal system to operate normally and stably.
Three-axis stabilized gimbalWhale optimization algorithm(WOA)Proportional integral differential(PID)controlParameter optimizationMathematical modelControl strategy
万方数据
维普
