Design Of Attitude Regulation System Based On Adaptive Fuzzy Controller

Flexible systems are widely used in various industries,among which precision loads in defense construction require precise level or multi-attitude adjustments to provide safe protection for the transportation and assembly of precision loads.Because the rope is a flexible body and coupled with each other,the modeling and control of the system are difficult.Therefore,it is of great theoretical and practical significance to design a system with automatic attitude adjustment and to model and control it.Based on the analysis of the attitude adjustment system method,a set of rope load attitude adjustment devices was designed.The main work involves the following: The composition and linkage method of the prototype of the four-rope adjustment system are introduced in detail,and a three-dimensional mathematical model is establish.Then the three-dimensional system models is decomposed into two two-dimensional independent sub-systems based on the XY axis coordinate system,and a genetic algorithm,a BP neural network and a least-squares algorithm are respectively designed.The embedded control platform is adopted and the hardware selection is performed.The angle acquisition module and the motor drive module are mainly included.The corresponding software is written according to the algorithm,and the interface of the upper computer is designed with LabVIEW,realizing the real-time display of the adjustment process.The simulation experiment uses experimental level adjustment data to train the designed adaptive controller using MATLAB.By comparing the output of the network with the experimental output and adjusting the curved surface,a comparatively consistent conclusion is obtained.In addition,a small load is used to verify the system: The preset attitude and disturbance state are adjusted.The experimental results show that precise attitude adjustment can be achieved within the system load range,and the response speed is fast.This adjustment method provides a fast and effective method for precise adjustment of the load attitude.