陀螺稳定平台视轴稳定系统自适应模糊PID控制

 在运动载体上的光电跟踪系统中，需要采用建立在陀螺稳定平台上的视轴稳定控制。分析了平台结构和惯性稳定隔离原理。针对系统机械谐振、力矩耦合及电气参数波动等非线性不确定因素的影响，设计了复合自适应模糊PID控制器。引入自适应调整因子进行控制规则和参数的在线修正，采用复合控制克服模糊控制固有的盲区，实现无差调节。在光电跟踪转台上的实验结果显示该方法能够有效地隔离载体扰动，减小扰动造成的误差，保证视轴对目标的准确瞄准，具有快速的动态响应和较强的抗干扰性。

Adaptive Fuzzy PID Control for LOS Stabilization System on Gyro Stabilized Platform

The LOS (line of sight) stabilization control based on gyro stabilized platform is required in opto-electronic tracking system.The pl atform configuration,stabilization theory and control structure are analyzed par ticularly.An adaptive fuzzy PID controller is proposed for the servo system with nonlinear property and some uncertain factors.The self-tuning factors are made to modify the rules and parameters of controller online.To eliminate the static error that fuzzy controller inheres and fulfil non-error control,the hybrid co ntrol is designed to achieve the requirements for real-time and high stabilizat ion precision.The experiment results show that the proposed method can reduce er ror and is proved to be effective in bating carrier disturbance.