Research on Fuzzy Adaptive Control Algorithm with Extended Dimension for Disturbance Torque

In order to solve the problem that friction, wire-wound, wind resistance and other disturbing moments seriously affect the stability tracking precision during the task of the photoelectric pod system, the fuzzy adaptive control algorithm with extended dimension is proposed in this paper. In this method, an accelerometer is first installed on the reflector of the pod. After obtaining the linear acceleration information and transforming it into angular acceleration, the fuzzy adaptive controller is designed according to the characteristics of wind resistance pulsation torque. The controller takes the mirror angular velocity, angular acceleration and target miss distance as input, and further adjusts the output of the controller according to the change of input and the fuzzy rule base of training. This algorithm was applied to the stable tracking experiment of a certain type of pod, and the results show that the tracking accuracy is improved from $59.7\mu\text{rad}$ to $32.4\ \mu\text{rad}$ . It is proved that the algorithm proposed in this paper can effectively suppress the disturbance torque and significantly improve the tracking accuracy and speed stability in the process of pod mission. This algorithm can be used in other servo control systems as a general method of disturbance torque suppression.