CMAC/PD-based compound control of inertially stabilized platform for aerial remote sensing

ZHOU Xiang-yang; YUE Hai-xiao; JIA Yuan; ZHAO Bei-lei

doi:10.3788/OPE.20152313.0305

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CMAC/PD-based compound control of inertially stabilized platform for aerial remote sensing

更新时间：2020-08-13

- CMAC/PD-based compound control of inertially stabilized platform for aerial remote sensing
- Optics and Precision Engineering Vol. 23, Issue 10z, Pages: 305-312(2015)
- 作者机构：
  
  1. 北京航空航天大学惯性技术重点实验室新型惯性仪表与导航系统技术国防重点学科实验室北京,100191
  2. 北京航空航天大学仪器科学与光电工程学院北京,100191
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20152313.0305
  CLC： TP273.3;V243.5
- Received：20 March 2015，
  
  Revised：17 May 2015，
  
  Published：14 November 2015
- 稿件说明：
移动端阅览
周向阳, 岳海潇, 贾媛等. 航空遥感惯性稳定平台的改进型小脑模型神经网络/比例微分复合控制[J]. 光学精密工程, 2015,23(10z): 305-312

ZHOU Xiang-yang, YUE Hai-xiao, JIA Yuan etc. CMAC/PD-based compound control of inertially stabilized platform for aerial remote sensing[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 305-312
周向阳, 岳海潇, 贾媛等. 航空遥感惯性稳定平台的改进型小脑模型神经网络/比例微分复合控制[J]. 光学精密工程, 2015,23(10z): 305-312 DOI： 10.3788/OPE.20152313.0305.

ZHOU Xiang-yang, YUE Hai-xiao, JIA Yuan etc. CMAC/PD-based compound control of inertially stabilized platform for aerial remote sensing[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 305-312 DOI： 10.3788/OPE.20152313.0305.

摘要

针对航空遥感惯性稳定平台高稳定和高精度控制要求

研究了基于变置信度的改进型小脑模型神经网络控制器(CMAC)和比例微分(PD)控制器的复合控制方法。首先

建立了航空遥感三轴惯性稳定平台框架伺服系统模型。其次

建立了改进型CMAC/PD复合控制器

将改进型CMAC控制器和PD控制器分别加入到惯性稳定平台伺服系统的前馈通道和反馈通道

以提高控制系统精度。最后

整定伺服系统及改进型CMAC/PD复合控制器参数。实验结果表明:使用改进型CMAC/PD复合控制算法后

平台的俯仰框架角位置误差峰值为0.2154°

角位置RMS值为0.0775°

相比PID控制器分别减小了42.97%和29.86%。与传统PID控制相比

改进型CMAC/PD复合控制方法可显著抑制多源扰动对稳定平台伺服系统的影响

从而有效提高系统控制精度。

Abstract

For improving the standard of stability and precision of an Inertially Stabilized Platform(ISP) for aerial remote sensing

this paper introduces a modified Cerebellar Model Articulation Controller(CMAC)/Proportional and Derivative controller(PD) compound control method of the ISP frame servo system for aerial remote sensing based on variable confidence coefficient. First

the frame servo system model of ISP three-axis is established for aerial remote sensing. Then the modified CMAC controller and the PD controller are established. In order to enhance the precision of servo system

the modified CMAC controller and PD controller are respectively added in the feedforward and feedback paths. Finally

the parameters of modified CMAC/PD compound controller are adjusted. Experimental results indicate that the pitch frame angular position maximum precision of the system's by modified CMAC/PD compound controller is 0.2154°

and the RMS of angular position is 0.0775°. As compared to the normal PID control method

they respectively reduce by 42.97% and 29.86%. The mentioned modified CMAC/PD compound control method of ISP frame servo system observably reduces the influence of unknown disturbances

and efficiently improves the control precision of ISP servo system for aerial remote sensing.

关键词

Keywords

references

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