Research on controller of simulation rotary platform based on self-adaptive Fuzzy-PID compound algorithm

摘要

Simulation rotary platform which has six DOF (Degree of Freedom) is a semi-physical simulation system of some institute, and is often used to simulate the motion of objects. Simulation rotary platform is one of the key equipments which were used to do semi-physical experiment, it was often used in the performance testing experiments, and the performance of the rotary platform directly affects the precision and the reliability of the experiments. In order to get higher control precision and robustness, a Self-adaptive Fuzzy -PID compound controller was proposed in this paper, the Self-adaptive Fuzzy algorithm was adopted when the error ε is large, and the PID algorithm was adopted while the error ε is small. The effectiveness of this controller was proved by simulations.