Design and simulation of decoupling control for attitude angle stabilization device of helicopter-borne LiDAR

摘要

The attitude angle disturbance of helicopter payload platform can significantly reduce the density distribution andimaging accuracy of laser point cloud measured by airborne LiDAR, so an attitude angle stabilization device isdesigned to compensate the attitude angle disturbance in real time. In order to eliminate strong coupling effect of thecontrol system of the attitude angle stabilization device, decoupling control based on neural network inverse system isdesigned. Firstly, the dynamic model of the control system is established; secondly, the neural network inversedynamic model is built, and a compound control strategy with PID feedback controller and neural network inversesystem feed-forward controller is adopted to realize real-time decoupling control and improve the static and dynamiccontrol performance; finally, simulation experiment for the decoupling control is carried out, and results show thatthe control system has fine static and dynamic performance. The designed compound decoupling control strategy caneffectively improve the control accuracy and has excellent anti-jamming robustness against random error disturbance.