基于LabVIEW的平台平衡控制系统的研究

Balancing Control System Research Based on LabVIEW

对于非稳定平台平衡控制的研究,提出了基于多传感器数据融合的补偿滤波器融合方案。针对倾角传感器的滞后性和角速度传感器的零点漂移,进行了一系列的试验,校正了补偿滤波器的参数。最后,基于LabVIEW对补偿滤波器的性能进行了试验验证,试验结果证明,补偿滤波器输出倾角可以有效实现非稳定平台的平衡控制。

With the general research on multi-sensor data fusion,the fusion precept of complementary filter based on multi-sensor data fusion for balancing control of unstable platform was introduced. A series of tests based on LabVIEW is made for the inclinometer sensor lag and the angular velocity sensor drift in order to ad- just the complementary filter parameter. Experiments prove that the inclinometer data from the complementary filter is effective for the unstable platform control.