摘要
为了缩短惯性平台的调平时间提高调平的精度,本文首先建立了平台的数学模型,在此基础上建立了基于PID(Propor-tional-Integral-Derivative)神经元网络控制的平台调平系统,该系统主要由水平传感器、PID神经网络控制器、D/A和A/D转换模块、变频器和电机组成,四条支腿同时升高调平。仿真结果表明,在x方向和y方向水平偏差角度分别不超过2°时,调平时间小于50s,调平精度小于2,调平过程中平台稳定,无虚腿现象,实现了机电式四点调平。经过长期使用,系统运行稳定,可靠性高。该控制器可应用于不同的调平系统中。
To shorten the leveling time and improve the leveling precision, this paper developed an automatic leveling system based on the research of the platform model. The system constructed by the horizon sensor, the PID nerve network controller, the D/A and the AID conversion module, the transducer and the electromotor. Emulation results？show that The leveling time is less than 50 seconds and the leveling precision is less than 2＇ when the horizontal angle of the x direction and the y direction does not exceed 2°. Achieving the anticipated result, a decouple control method to platform automatic leveling system is present. The system is proved to be steady and reliably through long use. The controller can be widely applied to different kinds of leveling system.
出处
《微计算机信息》
北大核心
2008年第34期283-285,共3页
Control & Automation
基金
山西省"先进制造技术"重点实验室资助基金项目(SZZ0708)
中北大学青年科学基金资助项目
关键词
调平系统
比例积分微分神经元网络控制
性平台
leveling system
Proportional-lntegral-Derivative nerve network control
inertial platform
