Simulation of double closed-loop FLC for the compensating platform of LiDAR

摘要

In this paper, a 2D compensating platform was designed to compensate the attitude disturbances of LiDAR platform. a double closed-loop fuzzy logic controller (FLC) which combined PID-type FLC in position loop and fuzzy velocity feed forward control in velocity loop is proposed to accurately control the hybrid stepper motor in the 2D compensating platform. Compared with conventional PID control and PID-type FLC via Matlab Simulink, the performances of the proposed control system was improved significantly, i.e. rising time, settling time and maximum overshoot, especially the oscillation was reduced obviously.