水下二自由度云台系统设计及高精度控制方法

Design and High Precision Control Method of Underwater 2-DOF Pan-Tilt System

为了克服波浪冲击力、水阻力等因素对水下云台系统稳定性和控制精度的影响,设计了水下2自由度云台系统,并进行高精度控制方法研究。针对系统设计问题,依据云台使用工况和国内外产品性能确定相关指标参数,设计云台的三维结构,建立数学模型。为了提高系统稳定性和控制精度,提出1种采用双闭环控制系统和制动器构建的模糊比例积分(PI)控制方法。结果表明:模糊PI控制方法实现云台定位模式控制;双闭环控制系统和制动器提高了反馈精度和控制精度;在静水和水流扰动的2种工况下,云台的控制精度均优于±0.05°,输出角度无超调现象,具有较好的鲁棒性。

In order to overcome the influence of wave impact force,water resistance and other factors on the stability and control accuracy of underwater pan-tilt system,an underwater 2-DOF pan-tilt system was designed and the high-precision control method was studied.Aiming at the system design problem,the related index parameters were determined according to the working conditions of the pan-tilt and the performance of domestic and foreign products,and the three-dimensional structure of the pan-tilt was designed.The mathematical model was established.In order to improve the system stability and control accuracy,a fuzzy proportion integration(PI)control method based on double closed-loop control system and brake is proposed.The method of fuzzy PI control is used to control the positioning mode of pan-tilt.Double closed loop control system and brake improve the feedback accuracy and control accuracy.Under the conditions of static water and flow disturbance,the control accuracy of the pan-tilt is better than±0.05°,and the output angle has no overshoot phenomenon,so it has good robustness.