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17 May 2019 Design and simulation of decoupling control for attitude angle stabilization device of helicopter-borne LiDAR
Jianjun Wang, Yunlong Li, Jianwei Qiao, Wenshuo Xu
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Proceedings Volume 11170, 14th National Conference on Laser Technology and Optoelectronics (LTO 2019); 111700R (2019) https://doi.org/10.1117/12.2532482
Event: Fourteenth National Conference on Laser Technology and Optoelectronics, 2019, Shanghai, China
Abstract
The attitude angle disturbance of helicopter payload platform can significantly reduce the density distribution and imaging accuracy of laser point cloud measured by airborne LiDAR, so an attitude angle stabilization device is designed to compensate the attitude angle disturbance in real time. In order to eliminate strong coupling effect of the control system of the attitude angle stabilization device, decoupling control based on neural network inverse system is designed. Firstly, the dynamic model of the control system is established; secondly, the neural network inverse dynamic model is built, and a compound control strategy with PID feedback controller and neural network inverse system feed-forward controller is adopted to realize real-time decoupling control and improve the static and dynamic control performance; finally, simulation experiment for the decoupling control is carried out, and results show that the control system has fine static and dynamic performance. The designed compound decoupling control strategy can effectively improve the control accuracy and has excellent anti-jamming robustness against random error disturbance.
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Jianjun Wang, Yunlong Li, Jianwei Qiao, and Wenshuo Xu "Design and simulation of decoupling control for attitude angle stabilization device of helicopter-borne LiDAR", Proc. SPIE 11170, 14th National Conference on Laser Technology and Optoelectronics (LTO 2019), 111700R (17 May 2019); https://doi.org/10.1117/12.2532482
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KEYWORDS
Control systems
Neural networks
Error analysis
LIDAR
Airborne laser technology
Instrument modeling
Laser stabilization
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