| 惯性稳定平台变置信度优化平滑CMAC复合控制 |
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| 引用本文： | 周向阳,贾媛,岳海潇,赵蓓蕾. 惯性稳定平台变置信度优化平滑CMAC复合控制[J]. 仪器仪表学报, 2016, 37(4): 764-771 |
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| 作者姓名： | 周向阳 贾媛 岳海潇 赵蓓蕾 |
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| 作者单位： | 北京航空航天大学 仪器科学与光电工程学院北京100191,北京航空航天大学 仪器科学与光电工程学院北京100191,北京航空航天大学 仪器科学与光电工程学院北京100191,北京航空航天大学 仪器科学与光电工程学院北京100191 |
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| 基金项目： | 国家自然科学基金（51375036、51205019）项目资助 |
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| 摘 要： | 提出了一种基于变置信度(MC)及优化平滑算法(OS)的改进型小脑模型关节控制器(CMAC)复合控制方法,用于提高航空遥感惯性稳定平台控制系统指向精度及稳定性。首先,以CMAC学习过程中存储单元被激活的次数为依据,对存储单元设置不同的置信程度,提高了CMAC控制器的学习效率与控制精度,避免了系统动态跟踪中过学习发散现象而导致的控制系统精度下降甚至崩溃;其次,针对常规CMAC算法系统输出波动较大问题,加入优化权值算法,改善系统输出平滑性,提高了CMAC控制器的稳定性,避免了系统输出波动对电机及传动系统损害;最后对提出方法进行了仿真分析并利用实验室某三轴惯性稳定平台进行实验验证。实验结果表明:采用基于MCOS的改进型CMAC复合控制方法后,稳定平台系统控制精度、响应速度及输出平滑稳定性均得到有效提高,动基座推车实验框架角位置水平跟踪误差RMS值为0.021 6°,相对PID与常规CMAC控制方法分别降低了55.09%和30.55%。
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| 关 键 词： | 惯性稳定平台；伺服控制系统；变置信度；优化平滑；小脑模型关节控制器 |
MC & OS based CMAC compound control of inertially stabilized platform for aerial remote sensing |
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| Zhou Xiangyang,Jia Yuan,Yue Haixiao and Zhao Beilei. MC & OS based CMAC compound control of inertially stabilized platform for aerial remote sensing[J]. Chinese Journal of Scientific Instrument, 2016, 37(4): 764-771 |
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| Authors: | Zhou Xiangyang Jia Yuan Yue Haixiao Zhao Beilei |
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| Affiliation: | School of Instrumentation Science & Opto electronics Engineering, Beihang University, Beijing 100191, China,School of Instrumentation Science & Opto electronics Engineering, Beihang University, Beijing 100191, China,School of Instrumentation Science & Opto electronics Engineering, Beihang University, Beijing 100191, China and School of Instrumentation Science & Opto electronics Engineering, Beihang University, Beijing 100191, China |
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| Abstract: | To improve the pointing accuracy and stability of inertially stabilized platform (ISP) control system for aerial remote sensing, a modified cerebellar model articulation controller (CMAC) compound control method is proposed based on the modified credit (MC) method and optimized smoothness (OS) method (MC & OS). Based on the number of the memory unit activation during the CMAC study process, different credit degrees are set to the memory units, which enhances the study efficiency and control precision of the CMAC, and avoids the precision degradation even collapse of the control system due to the diffusion of over study in the system dynamic tracking process. Then, aiming at the problem of large system output fluctuation of conventional CMAC algorithm, the optimized weight algorithm is put forward to improve the smoothness of system output, enhance the stability of CMAC, and avoid the damage of the motor and transmission system caused by system output fluctuation. Finally, simulation analysis and experiment verification on a certain 3 axis inertial experiment platform in the laboratory were conducted to verify the proposed method. The experiment results show that after adopting the MC & OS based CMAC compound control method, the control precision, response speed and output smoothness stability of the ISP control system are all improved effectively; the angular horizontal tracking error (RMS) under the moving base vehicle condition is 0.0216°, which is decreased by 55.09% and 30.55%, respectively compared with those for the PID control method and conventional CMAC control method. |
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| Keywords: | inertially stabilized platform servo control system modified credit optimized smoothness cerebellar model articulation controller |
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