摘要
针对某排爆机器人在执行任务过程中,由于重心偏移,对基座产生干扰力矩,导致自身无法正常工作,需要设计控制器,使基座平台能够隔离载体干扰,在惯性空间保持稳定。通过分析了稳定平台的结构和工作原理,对稳定平台控制回路的主要元器件和控制系统进行了建模,针对常规PID控制算法在伺服系统高精度位置控制和改善系统品质方面的不足,分别设计模糊控制器和模糊PID控制器对稳定平台系统进行控制,并通过MATLAB的Simulink工具箱进行仿真实验。结果表明,模糊PID控制算法具有更好的动态性能和抗干扰性能,具有优于经典PID控制算法和模糊控制算法的控制效果,为无人机稳定飞行提供了保证。
In view of the armed explosive robot in the process of performing tasks, the barycenter offset causes disturbance torque on the base , the disturbance moment causes itself cannot work normally. In the paper, based on the structure and working principle of stabilized platform, the authors analyzed the stable platform of control circuit, modeled the main components and control system based on classic PID control algorithm in high precision position ser- vo system control, improved the quality deficiency of system, and designed the fuzzy controller and fuzzy PID control- ｜er to control the stabilized platform system through MATLAB/simulink simulation experiment. The results show that the fuzzy PID control algorithm has better dynamic performance and anti-interference performance, and is superior to the classic PID control algorithm and the control effect of fuzzy control algorithm.
出处
《计算机仿真》
CSCD
北大核心
2016年第3期288-291,309,共5页
Computer Simulation
关键词
稳定平台
模糊控制
计算机仿真
Stabilized platform
Fuzzy control
Computer simulation
