Control of Single-Axis Rotation INS by Tracking Differentiator Based Fuzzy PID

摘要

In order to improve the ability of rotating turntable to resist the external disturbance in the single-axis rotation modulation inertial navigation system (SRMINS) and ensure smooth running of the turntable, we designed a dual closed-loop controller. The conventional proportional-integral-derivative (PID) algorithm was employed in the position loop, and a tracking differentiator based fuzzy PID algorithm was proposed and used in the speed loop, to realize the steady speed control of continuous rotation in the SRMINS. The introduction of the tracking differentiator (TD) guarantees the reliability of the differential signal extraction. Furthermore, the combination of the TD and the fuzzy adaptive PID controller leads to the smooth motion of the turntable without overshoot. The robustness and better stability margin of the system can also be achieved while the static error is eliminated and the performance of fuzzy control is improved. Simulation results demonstrate that the system has many merits such as fast response, no overshoot, and better robustness. It is also verified that regulating the PID parameters in real time by the fuzzy control rules effectively improves the dynamic and static performance of the system, and the requirement on stable rotation speed of the SRMINS is satisfied.