基于凯恩方法的双轴稳定吉姆巴尔的建模和控制
Qixuan Huang1,2, Jiaxing Zhou1,2, Xiang Chen3
1School of Electrical Engineering and Automation, Xiamen University of Technology, Xiamen 361024, China.
Sensors (Basel, Switzerland)
|June 19, 2024
概括
本研究介绍了凯恩方法,用于建模双轴稳定杆,提高计算效率. 一个新的粒子优化比例集成差异化 (NPSO-PID) 控制器提高了跟踪性能和参数优化.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 机械工程 机械工程
- 应用数学 应用数学 应用数学
背景情况:
- 经典力学 (牛顿-欧勒,拉格朗日) 在模拟复杂的动态系统方面存在局限性,例如双轴稳定杆.
- 精确的动态建模对于确保传感器稳定性和移动平台的指向精度至关重要.
研究的目的:
- 提出和验证凯恩方法,以建立一个动态模型的两个轴稳定平台.
- 设计和评估一个新型粒子优化比例集成差异化 (NPSO-PID) 控制器,以提高吉姆巴的性能.
主要方法:
- 使用一般化坐标系来推导一般化速度,偏移速度和角速度.
- 对关节起作用的通用活性和惯性力的分析.
- 应用凯恩方程来导出动态模型.
- 使用粒子群优化 (PSO) 算法的NPSO-PID控制器的设计.
- 在 MATLAB/Simulink 中与经典的 PID 控制器进行模拟和比较.
主要成果:
- 凯恩方法为动态建模双轴稳定平台提供了有效和高效的方法.
- 与传统的PID控制器相比,NPSO-PID控制器表现出优越的对象跟踪性能.
- 与传统的PSO-PID控制器相比,NPSO-PID控制器提供了更好的参数优化.
结论:
- 凯恩方法是模拟双轴稳定杆的合适替代方案,克服了经典方法的局限性.
- 开发的NPSO-PID控制器显著提高了双轴稳定平台的指向精度和稳定性.
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