一种复合控制器在陀螺稳定平台中的应用

简述了双轴陀螺稳定平台的基本原理和比例、积分、微分(PID)控制方法。针对传统PID控制器在双轴陀螺稳定平台的应用,提出一种模糊决策复合控制方法。该方法在传统的PID控制中加入模糊决策控制,使得PID控制器的调节参数具有模糊自适应性。利用综合数字滤波与估计环节的结果构成前馈控制支路,克服了闭环控制回路中的高增益与稳定性间的矛盾,并在双轴陀螺稳定平台中应用,取得了较好的效果。

Compound Control Method is Applied in The Gyro Stabilized Platform

This paper briefly describes the basic principle of two axis gyro stabilized platform and PID control method. In view of the application of two axis gyro stabilization platform to the traditional PID controller, a fuzzy decision compound control method is proposed in this paper. By adding the fuzzy decision control into the conventional PID control method, the proposed method enables the adjusting parameters of PID to be fuzzy adaptive. The integrated digital filtering and the estimation results are used to constitute the feedforward control branch, thus the contradiction between the high gain and stability of the closed control loop has been overcome. The method has been applied to the two axis gyro stabilized platform and good results have been obtained.