Design Of Double-degree-of-freedom Targeting System

The land resources have failed to meet the needs of human beings since the rapid development of society and science,so it is more and more important to develop marine resources.The efficiency of exploitation of marine resources has been greatly improved by applying AUV technology.For example,the manual labor intensity can be greatly reduced for the large range and good maneuverability of AUV technology.Therefore,the rapid development of AUV technology has become a hot issue today,which has a very wide range of prospects in the military.AUVs have common control attributes and have certain difficulties in the early stage of underwater experiment control.Therefore,a dual-degree-of-freedom aiming system model with similar aerodynamics is adopted,and sufficient control technology preparations have been made from control hardware to software.A dual-degree-of-freedom aiming system model was built,the corresponding model function was constructed,and the model was simulated,and on this basis,the corresponding controller software and hardware were designed,and the algorithm research was carried out.Finally,the target was reached.Tracking is very effective.A mathematical model of the platform is developed,which is modeled and simulated in Simulink of MATLAB.A double closed-loop PID controller is applied to verify the feasibility of the platform for targeting and tracking.After that,aims to solve the targeting lag caused by the out of range for the rapid movement of targets,the controller was optimized by being modeled and simulated in Simulink.The accuracy of the two-degree freedom targeting system using different algorithms was compared to determine the application of controller using the integral separation fuzzy PID algorithm,which has a better performance for fast-moving targets.A double closed-loop PID controller optimized by an integral separation fuzzy PID algorithm based on the application of the internal-loop is written and programmed to the hardware platform of the two-degree freedom targeting system for indoor experiments.The results show that the system using the integral separation fuzzy PID algorithm controller has a better tracking capability.