基于微惯性传感器的高灵敏度随动控制技术

The current follow-up control equipment is difficult to meet the requirements of real-time, accuracy and stability for sensors and actuators. Problems such as high control delay and low accuracy exist, greatly limiting the applications of such equipment. To address the above problems, this study proposes a low-delay and high-precision follow-up control technology based on MEMS inertial devices and fuzzy control pan/ tilt. This technology uses a micro-inertial unit (MEMS IMU) to obtain high-sensitivity attitude dataand uses the attitude data to perform real-time and high-precision follow-up control of the high-precision pan/ tilt. Compared with traditional technical means, the improved real-time acquisition algorithm optimizesthe high-frequency position closed-loop fuzzy PID control of the pan/ tilt and realizes low-delay and high-precision follow-up control functions at low cost. According to the measurement results, the system achieves a pan-tilt position response accuracy of 1. 478deg (1σ) within 88. 17 ms after the continuous action command is issued, which can meet the needs of high-sensitivity follow-up control. This application is suitable for UAV control and observation, vehicle radar and weapon station control, etc., which can greatly reduce the complexity of equipment control and enhance control characteristics.