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

Tian ZHANG; Shuxin JIN; Qiang WANG; Xiaobo DUAN; Tiecheng LIU; Haitao NIU; Zeng HOU; Yi YANG; Tong LIU

doi:10.12382/bgxb.2021.0584

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

更新时间：2025-08-18

- High-Sensitivity Follow-up Control Technology Based on Micro-Inertial Sensors
- Acta Armamentarii Vol. 44, Issue 2, Pages: 566-576(2023)
- 作者机构：
  
  1. 中国兵器工业计算机应用技术研究所, 北京 100089
  2. 北京卫星导航中心, 北京 100094
  3. 北京理工大学自动化学院, 北京 100081
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2021.0584
  CLC：
- Received：31 August 2021，
  
  Published Online：10 March 2023，
  
  Published：28 February 2023
- 稿件说明：
移动端阅览
Tian ZHANG, Shuxin JIN, Qiang WANG, et al. High-Sensitivity Follow-up Control Technology Based on Micro-Inertial Sensors[J]. Acta Armamentarii, 2023, 44(2): 566-576.
DOI：

Tian ZHANG, Shuxin JIN, Qiang WANG, et al. High-Sensitivity Follow-up Control Technology Based on Micro-Inertial Sensors[J]. Acta Armamentarii, 2023, 44(2): 566-576. DOI： 10.12382/bgxb.2021.0584.

摘要

目前的随动控制装备因难以满足传感器与执行器对实时性、准确性与稳定性需求

出现控制延迟大、执行精度低等问题

极大地限制了随动控制装备应用空间。针对上述问题

提出一种基于微惯性器件与模糊控制云台的低延迟高精度随动控制技术。该技术使用微机电系统惯性测量单元(MEMS IMU)获取高灵敏度体感姿态数据

并使用该姿态数据对双轴云台进行实时高精度随动控制。相对于传统技术手段

本研究通过传感器的实时采集算法改进与云台的高频位置闭环模糊PID控制设计

用低成本实现了低延迟高精度随动控制功能。实测结果表明

系统在连续动作命令发出后88.17ms时间内达到了1.478°(1

)的云台位置响应精度

可满足高灵敏度随动控制需求;新技术适用于无人机控制与观察、车载雷达与武器站控制等领域

可大幅度降低设备操控复杂度

提升控制特性。

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 m

icro-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 (1

) 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.

关键词

Keywords

references

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