标题：Design and simulation of decoupling control for attitude angle stabilization device of helicopter-borne LiDAR
作者：Wang Jianjun; Li Yunlong; Qiao Jianwei; Xu Wenshuo
作者机构：[Wang Jianjun; Li Yunlong; Qiao Jianwei; Xu Wenshuo] Shandong Univ Technol, Coll Mech Engn, Zibo 255049, Shandong, Peoples R China.
会议名称：14th National Conference on Laser Technology and Optoelectronics (LTO)
会议日期：MAR 17-20, 2019
来源：14TH NATIONAL CONFERENCE ON LASER TECHNOLOGY AND OPTOELECTRONICS (LTO 2019)
关键词：Airborne LiDAR; attitude angle stabilization device; decoupling control;; neural network inverse system; control system simulation; compound; control
摘要：The attitude angle disturbance of helicopter payload platform can significantly reduce the density distribution and imaging accuracy of laser point cloud measured by airborne LiDAR, so an attitude angle stabilization device is designed to compensate the attitude angle disturbance in real time. In order to eliminate strong coupling effect of the control system of the attitude angle stabilization device, decoupling control based on neural network inverse system is designed. Firstly, the dynamic model of the control system is established; secondly, the neural network inverse dynamic model is built, and a compound control strategy with PID feedback controller and neural network inverse system feed-forward controller is adopted to realize real-time decoupling control and improve the static and dynamic control performance; finally, simulation experiment for the decoupling control is carried out, and results show that the control system has fine static and dynamic performance. The designed compound decoupling control strategy can effectively improve the control accuracy and has excellent anti-jamming robustness against random error disturbance.