Study of fuzzy PID controller for velocity circuit of optical-electronic theodolite

Abstract

Two-axis stabilized turntable is an important part of optical-electronic theodolite, it carries various of measuring instruments. In order to improve the response speed of the optical-electronic theodolite when tracking high speed target. In the same time, improve the stability and precision when tracking low speed target. The traditional servo controller is double close-loop structure. On the basis of traditional structure, we use the fuzzy control theory to design the servo control speed loop adjuster as a fuzzy PID controller, and the position loop is designed as a traditional first order adjuster. We introduce the theory and characteristics of PID control and fuzzy control, and discussed the structure of the speed loop fussy controller and the tuning method of the PID parameters. The fuzzy PID controller was studied with simulation on the MATLAB/Simulink platform, the performance indexes and the anti-jamming abilities of the fussy PID controller and the traditional PID controller were compared. The experiment results show that the fussy PID controller has the ability of parameter self-tuning, and its tacking ability is much better than the traditional PID controller.