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《Opto-Electronic Engineering》 2010-10
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Small Aerial Photography Stabilized Platform Based on Fuzzy-PID Control

QIU Bao-mei1,WANG Feng-juan1,WANG Jian-wen2 ( 1. College of Automation, Chongqing University of Posts and Telecommunications, Chongqing 400065, China; 2. No.26 Research Institute, China Electronics Technology Group Corporation, Chongqing 400060, China )  
The design and control of aerial photography stabilized platform is a complicated process owing to mechanic vibration、multi-frame coupled and gyro random drift and so on. It is hard to obtain the exact control model. By designing three frames structure with MEMS gyro, DC servo motor and reduction gear, a small aerial photography stabilized platform is applied to improve problems of the existing aerial photography stabilized platform, such as the heavy structure, the lacking of adaptability and so on. A Fuzzy-PID controller is proposed. The fuzzy control is used when the error is large, and the PID is used when the error is small, which takes the advantages of these two methods complementarily. Based on the above mentioned, the designs of Fuzzy-PID controller and hardware circuit and the software structure are presented. The experiment data prove that the dynamic and static performance of control system is obviously improved based on fuzzy-PID. The stabilized accuracy can arrive to ±0.3 degree. It can satisfy the requirements of high definition aerial photography.
【CateGory Index】: P231
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