적응퍼지제어기를 이용한 스테빌라이저 시스템의 자세제어에 관한 연구

Abstract

A tracking system equipped on a fixed body needs the positional information of the target and the control apparatus to follow the azimuth angle and the elevation angle of the moving object, when the tracking system is equipped on the moving vehicle like a ship, it requires a stabilizing system to flat the tracking system against the moving vehicle as well as the positional information and the control equipment.

The stabilizer system compensates the tracking system for the vertical, horizontal and directional deviations between the tracking system and reference frame.

This stabilizer system can be applied to a satellite antenna on ships, a sun tracking system on moving vehicles, and a camera servo control loop to take a stable image against the vibration.

In this paper, a stabilizer system using an active stabilization method is composed. An adaptive fuzzy controller is also suggested, which is applicable to systems with structural and parameter uncertainty. It is the 2nd/1st-type adaptive fuzzy control algorithm using advantages of 1st-type and 2nd-type adaptive fuzzy algorithm. Several simulations are executed for verifying the performance of the suggested method. Through experiments using a composed stabilizer system, tracking performances are evaluated.