Abstract
Aiming at the problem of low control efficiency of small stable platform due to frame coupling, an intelligent control algorithm (fuzzy-PID) combining fuzzy controller with traditional PID is designed. The fuzzy PID controller is added to the position closed loop of the stable platform control system, and the motor position signal is collected and analyzed. Compared with the traditional PID control algorithm, the fuzzy PID control algorithm has the advantages of small overshoot, high control precision and strong anti-interference ability. The simulation test in Simulink environment shows that the overshoot of the system is reduced under the algorithm σ, which can be controlled within 1% and the adjusting time t is controlled within 0.5s, which can realize the stable control of the yaw angle, pitch angle and roll angle of the stabilized platform.
Highlights
Attitude control is the most important part of the stable platform control system, and the motor position control accuracy will directly affect the stable platform's attitude control accuracy, which is related to the stable platform's operating quality [1]
Aiming at the problem of low control accuracy of the micro-small stable platform due to frame coupling, this paper proposes a fuzzy control algorithm that can quickly overcome external interference and self-frame coupling errors to achieve the purpose of highprecision control
The experiment shows that fuzzy PID parameter control algorithm can make the stable platform motor position reach the target value in the fastest time, the system overshoot can be controlled within 0.5%, and the adjustment time can be controlled within 1s
Summary
Attitude control is the most important part of the stable platform control system, and the motor position control accuracy will directly affect the stable platform's attitude control accuracy, which is related to the stable platform's operating quality [1]. The control system is not an ideal linear system model, and it is difficult to complete the establishment of mathematical model. Traditional PID algorithms mostly rely on empirical adjustment methods for debugging, and the control parameter correction effect is not ideal. The fuzzy control intelligent algorithm can realize fast tuning of control parameters [2]. Aiming at the problem of low control accuracy of the micro-small stable platform due to frame coupling, this paper proposes a fuzzy control algorithm that can quickly overcome external interference and self-frame coupling errors to achieve the purpose of highprecision control
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