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首页> 外文期刊>Sensors Journal, IEEE >A Fuzzy PID Controller-Based Two-Axis Compensation Device for Airborne Laser Scanning
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A Fuzzy PID Controller-Based Two-Axis Compensation Device for Airborne Laser Scanning

机译：基于模糊PID控制器的机载激光扫描两轴补偿装置

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摘要

In this paper, a two-axis compensation device was designed to eliminate the impact of the attitude deviations of the moving platform on the laser point cloud. In order to improve the dynamic performance of the compensation device, the fuzzy proportional-integral differential (PID) controller was employed for the compensation device. Then, a semi-physical simulation experiment was carried out to quantitatively evaluate the dynamic performance of the compensation device using a three-axis turntable and a high-accuracy inertial measurement unit (IMU), which was used to measure the attitude deviations of the three-axis turntable in real time. As a result, the roll and pitch deviations of turntable measured by IMU can be compensated using the two orthogonal frameworks of the compensation device controlled by fuzzy PID controller. The experimental results showed that the fuzzy PID controller compensated the attitude deviations more accurately than the traditional PID controller and the laser pointing direction could be remained within 0.2° using the compensation device.
机译：本文设计了一种两轴补偿装置，以消除移动平台的姿态偏差对激光点云的影响。为了提高补偿装置的动态性能，采用模糊比例积分微分（PID）控制器作为补偿装置。然后，进行了半物理模拟实验，使用三轴转盘和高精度惯性测量单元（IMU）定量评估了补偿装置的动态性能，该惯性测量单元用于测量三个装置的姿态偏差轴转盘实时。结果，可以使用由模糊PID控制器控制的补偿装置的两个正交框架来补偿IMU测量的转盘的侧倾和俯仰偏差。实验结果表明，与传统的PID控制器相比，模糊PID控制器对姿态偏差的补偿更为准确，使用该补偿装置可使激光指向保持在0.2°以内。

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