摘要
为提高无人机视轴稳定平台的抗扰动能力,提出一种定量反馈理论(QFT)和PID复合并行控制的视轴稳定方法。首先采用回路整形法设计QFT视轴稳定控制器,然后以QFT为主控制器,采用PID实现QFT的动态补偿。最后对该方法进行仿真实验,结果表明,QFT和PID并行的控制系统相比独立的QFT控制系统,阶跃响应稳定时间缩短了57%,平台的扰动隔离度提升了75%。实验结果验证了该方法可以满足无人机对视轴稳定性的要求,且优于QFT单独控制的方法。
In order to improve the anti-disturbance ability of the unmanned aerial vehicle Line of sight stabilization platform, a method of visual axis stabilization for the quantitative feedback theory(QFT) and PID composite parallel control is proposed. First, the QFT stabilization controller is designed by loop shaping method, then the QFT is used as main controller and PID is applied to realize the dynamic compensation of QFT. Finally, the simulation experiment is carried out. The results show that the QFT and PID parallel control system reduces the step response stabilization time by 58% and the platform disturbance isolation by 75% compared with the independent QFT control system. The experimental results verify that the method can meet the requirements of the unmanned aerial vehicle for the stability of the visual axis and is superior to the QFT control method.
作者
王秀
侯宏录
唐瑞
任梦茹
Wang Xiu;Hou Honglu;Tang Rui;Ren Mengru(School of Optoelectronic Engineering,Xi’an Technological University,Xi’an 710021,China)
出处
《电子测量技术》
2019年第3期45-48,共4页
Electronic Measurement Technology
基金
陕西省教育厅重点实验室科研计划项目(15JS035)
陕西省工业科技攻关项目(2016GY-051)资助
关键词
无人机
视轴稳定
并行控制
定量反馈理论
PID
unmanned aerial vehicle
line of sight stabilization
parallel control
quantitative feedback theory(QFT)
PID
