Design of Shipborne Underwater Inertial Stabilized Pan-Tilt System Based on Fuzzy PID Controller

摘要

When scanning boat worked in the river, the wave would cause boat's attitude change which leaded dual-frequency identification sonar instabil- ity, so we design a self-adaptive and 3D mechanical pan-tilt system. This pan- tilt system based on fuzzy PID controller could compensate the attitude error of sonar actively. And MEMS sensor was used in attitude acquisition system. In order to verify the function of this model, we did some simulation experiments for control system, and the result proved the system was superior to conven- tional system and had the self-adaptation. Finally, we did some real-time scan- ning experiments on scanning boat, and the mechanical structure, sensor system and control system were all feasibility.