基于Fuzzy—PID嵌入式平台调平控制器设计

Design of an Embedded Leveling Controller for Inertial Platform Based on Fuzzy—PID

为提高惯性平台调平精度、缩短调平时间，采用FPGA嵌入式技术，运用Fuzzy-PID控制算法，设计完成了平台调平控制器设计；通过电压一频率转换电路将平台加速度计输出的误差电压信号转换为成比例的脉冲串，FPGA对脉冲进行计数，通过内部的Fuzzy--PID控制逻辑，输出占空比可调的PWM波控制作用于陀螺力矩的脉冲电流，实现平台精确调平；实验结果表明该调平控制器能够实现平台全工作角度范围内（-60°～60°）调平，且调平精度小于2角分，调平时间小于10s，相较现有武器系统，调平精度提高10％，调平时间缩短30％。

To improve the leveling precision and shorten the leveling time, a leveling controller for an inertial platform is designed. It is based on FPGA embedded technology and adopts the Fuzzy--P1D control algorithms. Firstly, the error voltage signal from accelerometer in- stalled in platform is invented into proportional impulse through Voltage to Frequency circuit. Then the impulse is counted by a counter inside FPGA. Count value is input to the Fuzzy--PID controller and PWM wave owns variable duty ratio is output. At last, the PWM wave is used to control current which works on gyroscopic moment device and platform is leveled. Test results show that this controller can level the plat- form at any angle among its working range （-60°~60°） and leveling precision is less than 2 and leveling time is less than 10 seconds.