Designing Optimal Fuzzy PID Controller for Position Tracking of a Two-Axis Gimbal System
Subject Areas : journal of Artificial Intelligence in Electrical Engineering
Hamed Mohammadi
1
,
Hamed Khodadadi
2
*
,
Hamid Ghadiri
3
*
1 - Department of Electrical Engineering, Kho.C., Islamic Azad University, Khomeinishahr, Iran
2 - دانشکده مهندسی برق و کامپیوتر، دانشگاه آزاد اسلامی واحد خمینی شهر، اصفهان، ایران
3 - گروه مهندسی برق، واحد قزوین، دانشگاه آزاد اسلامی، قزوین، ایران
Keywords: Two-axis gimbal, Fuzzy PID controller, Genetic algorithm, Optimal fuzzy PID controller,
Abstract :
A two-axis gimbal system is designed by two perpendicular single-axis gimbal systems. The optimization objectives for controlling this system are to obtain the optimal rotation paths around the y and z axes with the requirement of covering all the lines of sight (LOS) in the area of LOS. To achieve the objectives of the above two control inputs as DC motor voltages, the angles of the two axes serve as the outputs of the system, which efficiently tracks the reference points. In this paper, a fuzzy logic PID controller is proposed for precise path tracking for gimbal movement in two axes. The control objectives of this system are to obtain the best time required for achieving the desired rotation path and to reduce the steady-state error of the system. In order to optimize the performance, the centers of fuzzy membership functions are modeled with the genetic algorithm (GA) method. Simulation results show that the proposed controller outperforms both the PID and fuzzy PID controller when tracking various command signals. Additionally, in the presence of uncertainty in the system, the optimal fuzzy PID controller is the most effective for the best performance. It confirms the robustness of this controller in dynamic operating conditions.
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