High-Sensitivity Follow-up Control Technology Based on Micro-Inertial Sensors

doi:10.12382/bgxb.2021.0584

Abstract

Abstract:

The current follow-up control equipment is difficult to meet the requirements of real-time, accuracy and stability for sensors and actuators. Problems such as high control delay and low accuracy exist, greatly limiting the applications of such equipment. To address the above problems,this study proposes a low-delay and high-precision follow-up control technology based on MEMS inertial devices and fuzzy control pan/tilt. This technology uses a micro-inertial unit (MEMS IMU) to obtain high-sensitivity attitude dataand uses the attitude data to perform real-time and high-precision follow-up control of the high-precision pan/tilt. Compared with traditional technical means, the improved real-time acquisition algorithm optimizesthe high-frequency position closed-loop fuzzy PID control of the pan/tilt and realizes low-delay and high-precision follow-up control functions at low cost. According to the measurement results, the system achieves a pan-tilt position response accuracy of 1.478deg (1σ) within 88.17ms after the continuous action command is issued, which can meet the needs of high-sensitivity follow-up control. This application is suitable for UAV control and observation,vehicle radar and weapon station control, etc., which can greatly reduce the complexity of equipment control and enhance control characteristics.

Key words: inertial sensor, follow-up control, complementary filtering, fuzzy control

CLC Number:

TP212

ZHANG Tian, JIN Shuxin, WANG Qiang, DUAN Xiaobo, LIU Tiecheng, NIU Haitao, HOU Zeng, YANG Yi, LIU Tong. High-Sensitivity Follow-up Control Technology Based on Micro-Inertial Sensors[J]. Acta Armamentarii, 2023, 44(2): 566-576.

Figures/Tables 20

Fig.1 DSP28335 minimum system with ADIS16475

Fig.2 Three transformations of the coordinate transformation matrix

Fig.3 Schematic diagram of the small turntable structure

Fig.4 Electrical schematic diagram of the two-axis turntable

Fig.5 Control block diagram of the turntable with DSP28335

Fig.6 Design of the digital PID controller

Fig.7 Attitude accuracy test equipment

Fig.8 Attitude measurement accuracy experiment

Fig.9 Relationship between heading angle error andtime

Fig.10 Head movement measurement equipment

Fig.11 Schematic diagram of the head position measurement test

Fig.12 Data of the ten measurement experiments

Fig.13 Single-time measurement data

Fig.14 Schematic diagram of the gimbal motion response experiment

Fig.15 Experimental equipment for PTZ motion response

Fig.16 Schematic diagram for the calculation of follow-up response delay

Table 1 Follow-up delay time estimation

序号及平均值	延时/ms	标准差/(°)
1	87.04	1.80002
2	76.01	2.28956
3	88.33	2.48999
4	91.18	2.60603
5	93.04	1.65869
6	93.43	2.27194
平均值	88.17

Fig.17 Experiments of location follow-up response

Fig.18 Relationship between course angle velocity and time

Fig.19 Relationship between course angle deviation and time

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