摘要
Abstract
Aiming at the difficulty that the guidance accuracy of lightweight infrared imaging guidance platform was reduced by the impulsive moment disturbing, this paper analyzes the torque stiffness of stabilized platform then selects sensors and actuators according to the results of the analysis. Then we use the classical control theory to design the speed closed-loop common PID controller. After analyzing the shortcomings of common PID control, to get the anti-saturation integral, timely incomplete differential resistance and nonlinear optimization, on the basis of introducing the error rate of the observation, the expert PID controller is designed against the large impact torque disturbance. Finally the algorithm is simulated and tested on the hardware-in-the-loop simulation test platform based on dSPACE. The simulation test results show that the expert PID control reduces the impact of disturbance error and angular position error caused by angular rate, which makes the stabilized platform has better dynamic torque stiffness.关键词
小型稳定平台/力矩刚度/专家PID控制/红外成像制导Key words
lightweight platform/torque rigidity/expert PID control/infrared imaging guidance分类
信息技术与安全科学
