An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control...An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control. Based on Lyapunov theory, Smith predictor was analyzed in time domain. The parameters of the fuzzy PID controller can be obtained using traditional linear control theory and sliding mode control theory. The simulation experiments were implemented. The simulation results show that the control performance, robustness and stability of the fuzzy PID controller are better than those of the PID controller in Smith predictor.展开更多
Quadruped robot driven by high power density hydraulic device works in unstructured en- vironment. With variable load and various external disturbance, the hydraulic servo system has fea- tures such as nonlinear, time...Quadruped robot driven by high power density hydraulic device works in unstructured en- vironment. With variable load and various external disturbance, the hydraulic servo system has fea- tures such as nonlinear, time-varying parameters. Traditional control method has some limitation. In order to help the hydraulic servo system of the quadruped robot to adapt to harsh environments, and to obtain high control quality and control precision, an incremental fuzzy adaptive PID controller based on position feedback is designed to solve the related technical problems. Matlab/Simulink sim- ulation and experimental results show that the incremental fuzzy adaptive PID controller improves the dynamic performance of the system, enhances the respond speed and precision of the hydraulic ser- vo system, and has some theory significance and practical value.展开更多
A fuzzy control algorithm of asymmetric fuzzy strategy is introduced for a servo-pneumatic position system. It can effectively solve the difficult problems of single rod low friction cylinders, which are mainly caused...A fuzzy control algorithm of asymmetric fuzzy strategy is introduced for a servo-pneumatic position system. It can effectively solve the difficult problems of single rod low friction cylinders, which are mainly caused by asymmetric structures and different friction characteristics in two directions. On the basis of this algorithm, a traditional PID control is used to improve dynamic performance. Furthermore, a new asymmetric fuzzy PID control with α factor is advanced to improve the self-adaptability and robustness of the system. Both the theoretical analyses and experimental results prove that, with this control strategy, the dynamic performance of the system can be greatly improved. The system using this control algorithm has strong robustness and it obtains desired overshoot and repeatability in both transient and steady-state responses.展开更多
In order to improve the yaw stability of the vehicle with active front steering system, an adaptive PID-type fuzzy control scheme is designed to make the yaw rate tracking the desired values as close as possible. A 2-...In order to improve the yaw stability of the vehicle with active front steering system, an adaptive PID-type fuzzy control scheme is designed to make the yaw rate tracking the desired values as close as possible. A 2-DOF vehicle model with active front steering is built firstly, and then the fuzzy PID controller is designed in detail. The simulation investigations of the yaw stability with different steering ma- neuvers are performed. The simulation results show the effectiveness of the fuzzy PID controller for improving the vehicle＇s yaw stability.展开更多
Aiming at the problem of poor uniformity of maize sowing caused by ground wheel slip,an electronic control seed-metering system(ECSMS)for maize single seed precision sowing was designed and a mathematical model for mo...Aiming at the problem of poor uniformity of maize sowing caused by ground wheel slip,an electronic control seed-metering system(ECSMS)for maize single seed precision sowing was designed and a mathematical model for motor control of the ECSMS was determined.The PID parameters were set by Z-N method and fuzzy control.The fuzzy PID control design and Simulink simulation were completed by MATLAB,which reduced response time of the system by 0.23 s and improved the control accuracy.Experiments on the JPS-12 test bench show that the qualification index(QI)of maize seed-metering device with the ECSMS increases by 4.47%,the multiples index(MI)decreases by 1.96%,the miss index(MIX)decreases by 2.81%,and the coefficient of variation(CV)of qualified seed spacing decreases by 5.06%,and the sowing uniformity has been greatly improved.Test results of the soil-tank test bench show that the system has good sowing uniformity and stability.And the QI is 96.74%,the MI is 2.15%,the MIX is 1.10%,and the CV of qualified seed spacing is 16.24%.Under different setting seed spacing and different sowing operation speed,the change range of seeding quality index was within 10%.The results of field sowing test show that the QI was 84.21%,the MI was 2.63%,the MIX was 7.89%,and the CV of qualified seed spacing was 22.15%,which meet the requirements of JB/T 10293-2013‘Specification for single seed planters(precision planters)’and the agronomic requirements for maize precision sowing.The system runs stably and reliably in practical operation and has good operation performance.展开更多
Grey modeling can be used to predict the behavioral development of a system and find out the lead control values of the system. By using fuzzy inference, PID parameters can be adjusted on line by the fuzzy controller ...Grey modeling can be used to predict the behavioral development of a system and find out the lead control values of the system. By using fuzzy inference, PID parameters can be adjusted on line by the fuzzy controller with PID parameters self-tuning. According to the characteristics of target tracking system in a robot weapon, grey prediction theory and fuzzy PID control ideas are combined. A grey prediction mathematical model is constructed and a fuzzy PID controller with grey prediction was developed. Simulation result shows fuzzy PID control algorithm with grey prediction is an efficient method that can improve the control equality and robustness of traditional PID control and fuzzy PID control, and has much better performance for target tracking.展开更多
In order to overcome the shortcomings of the traditional sling suspension method,such as complex structure of suspension truss,large running resistance,and low precision of position servo system,a gravity compensation...In order to overcome the shortcomings of the traditional sling suspension method,such as complex structure of suspension truss,large running resistance,and low precision of position servo system,a gravity compensation method of lunar rover based on the combination of active suspension and active position following of magnetic levitation is proposed,and the overall design is carried out.The dynamic model of the suspension module of microgravity compensation system was established,and the decoupling control between the constant force component and the position servo component was analyzed and verified.The constant tension control was achieved by using hybrid force/position control.The position following control was realized by using fuzzy adaptive PID(proportional⁃integral⁃differential)control.The stable suspension control was realized based on the principle of force balance.The simulation results show that the compensation accuracy of constant tension could reach more than 95%,the position deviation was less than 5 mm,the position deviation angle was less than 0.025°,and the air gap recovered stability within 0.1 s.The gravity compensation system has excellent dynamic performance and can meet the requirements of microgravity simulation experiment of lunar rover.展开更多
In accordance with the feature of pure delay in monitor AGC system for cold rolling mill, a new fuzzy selftuning PID Smith prediction controller is developed. The position control model is deduced based on a single st...In accordance with the feature of pure delay in monitor AGC system for cold rolling mill, a new fuzzy selftuning PID Smith prediction controller is developed. The position control model is deduced based on a single stand cold rolling mill, and the fuzzy controller for monitor AGC system is designed. The analysis of dynamic performance for traditional PID Smith prediction controller and fuzzy self-tuning PID Smith prediction controller is done by MAT- LAB toolbox. The simulation results show that fuzzy self-tuning PID Smith controller has stronger robustness, faster response and higher static accuracy than traditional PID Smith controller.展开更多
Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close t...Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative （PID）-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error （MAE） of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.展开更多
There are some disadvantages, such as complicated wiring, high cost, poor monitoring flexibility, low accuracy and high energy consumption in traditional greenhouse environment monitoring system which based on previou...There are some disadvantages, such as complicated wiring, high cost, poor monitoring flexibility, low accuracy and high energy consumption in traditional greenhouse environment monitoring system which based on previous wireless sensor networks （WSN）. Aiming at these problems, a greenhouse environmental parameter monitoring system had been designed based on internet of things technology in this paper. A set of control system with good robustness, strong adaptive ability and small overshoot was set up by combining the fuzzy proportion-integral-derivative （PID） control. The system was composed of a number of independent greenhouse monitoring systems. The server could provide remote monitoring access management services after the collected data were transmitted. The data transmission part of greenhouse was based on ZigBee networking protocol. And the data were sent to intelligent system via gateway connected to the internet. Compared to the classical PID control and fuzzy control, the fuzzy PID control could quickly and accurately adjust the corresponding parameters to the set target. The overshoot was also relatively small. The simulation results showed that the amount of overshoot was reduced 20% compared with classical PID control.展开更多
A Simplified Grey Wolf Optimizer(SGWO)is suggested for resolving optimization tasks.The simplification in the original Grey Wolf Optimizer(GWO)method is introduced by ignoring the worst category wolves while giving pr...A Simplified Grey Wolf Optimizer(SGWO)is suggested for resolving optimization tasks.The simplification in the original Grey Wolf Optimizer(GWO)method is introduced by ignoring the worst category wolves while giving priority to the better wolves during the search process.The advantage of the presented SGWO over GWO is a better solution taking less execution time and is demonstrated by taking unimodal,multimodal,and fixed dimension test functions.The results are also contrasted to the Gravitational Search Algorithm,the Particle Swarm Optimization,and the Sine Cosine Algorithm and this shows the superiority of the proposed SGWO technique.Practical application in a Distributed Power Generation System(DPGS)with energy storage is then considered by designing an Adaptive Fuzzy PID(AFPID)controller using the suggested SGWO method for frequency control.The DPGS contains renewable generation such as photovoltaic,wind,and storage elements such as battery and flywheel,in addition to plug-in electric vehicles.It is demonstrated that the SGWO method is superior to the GWO method in the optimal controller design task.It is also seen that SGWO based AFPID controller is highly efficacious in regulating the frequency compared to the standard PID controller.A sensitivity study is also performed to examine the impact of the unpredictability in the parameters of the investigated system on system performance.Finally,the novelty of the paper is demonstrated by comparing with the existing publications in an extensively used two-area test system.展开更多
As a nonlinear,strong coupling and multi-variable system,the drive performance of bearingless switched reluctance motor(BLSRM)is always limited by its complicated electromagnetic properties.Generally,conventional PID ...As a nonlinear,strong coupling and multi-variable system,the drive performance of bearingless switched reluctance motor(BLSRM)is always limited by its complicated electromagnetic properties.Generally,conventional PID methods are used to achieve the basic control requirement in wide industrial applications,however its inherent operating principle limits its use on suspending control of BLSRM.In this paper,the suspending force system,which is separately controlled from torque system,is built based on an adaptive fuzzy PID controller to limit the rotor eccentric displacement with proper generation of radial force.When compared with a system adopted using conventional PID method for suspending force control,the proposed adaptive fuzzy PID method has superior performance in shortening the response time,reducing the maximum eccentric displacement error and higher speed range of operation due to its online self-turning of controller parameters.Both in simulation and experimental cases,comparison of results of the above two methods validates the effectiveness of the adaptive fuzzy PID controller for BLSRM drive system.展开更多
Thermal print head heating real-time temperature fluctuations are too large,often causing damage to the print head heating point,resulting in poor print quality and unsatisfactory print results.Therefore,to improve th...Thermal print head heating real-time temperature fluctuations are too large,often causing damage to the print head heating point,resulting in poor print quality and unsatisfactory print results.Therefore,to improve the stability of the thermal print head during printing,and at the same time to solve the inefficiency of the traditional single-chip microcomputer control of the thermal print head heating method,a field programmable gate array-based thermal print head heating control method is proposed.To control the core,the intelligent fuzzy Proportional-Integral-Differential(PID)control algorithm is used to ensure that the temperature of the print head can be stabilized quickly.Through simulation and experimental verification,it is shown that the intelligent fuzzy PID control algorithm greatly improves the temperature stabilization effect,and the time required to reach stability short not only improve the printing accuracy but also extend the life of the print head.展开更多
With the coupling among three-axis platform frames of tracking and sighting pod taken into considera- tion, the kinetic equations are set up according to the kinetic characteristic. Moreover, by predigesting the equat...With the coupling among three-axis platform frames of tracking and sighting pod taken into considera- tion, the kinetic equations are set up according to the kinetic characteristic. Moreover, by predigesting the equations, the math model suitable for controller design is gained. An H-infinity controller combining with Kalman filter is designed for stabilizing loop of tracking and sighting pod platform frames. Fuzzy PID controllers corresponding to each tracking loop of three-axis frames are designed. The control system designed in this study, in which the effects of the coupling among frames and parameters variation are taken into consideration, is closer to practical situation. The control system is dynam- ically simulated under the condition of multidisturbance. The simulation results show that the entire stabilization tracking control system has good robustness and high tracking precision, which fulfils the need of stabilizing and tracking control of trackin~ and si^htin~ pod.展开更多
基金Project(70473068) supported by the National Natural Science Foundation of ChinaProject(05JZD00024) supported by the Major Subject of Ministry of Education, China
文摘An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control. Based on Lyapunov theory, Smith predictor was analyzed in time domain. The parameters of the fuzzy PID controller can be obtained using traditional linear control theory and sliding mode control theory. The simulation experiments were implemented. The simulation results show that the control performance, robustness and stability of the fuzzy PID controller are better than those of the PID controller in Smith predictor.
基金Supported by the Ministerial Level Advanced Research Foundation(65822576)
文摘Quadruped robot driven by high power density hydraulic device works in unstructured en- vironment. With variable load and various external disturbance, the hydraulic servo system has fea- tures such as nonlinear, time-varying parameters. Traditional control method has some limitation. In order to help the hydraulic servo system of the quadruped robot to adapt to harsh environments, and to obtain high control quality and control precision, an incremental fuzzy adaptive PID controller based on position feedback is designed to solve the related technical problems. Matlab/Simulink sim- ulation and experimental results show that the incremental fuzzy adaptive PID controller improves the dynamic performance of the system, enhances the respond speed and precision of the hydraulic ser- vo system, and has some theory significance and practical value.
文摘A fuzzy control algorithm of asymmetric fuzzy strategy is introduced for a servo-pneumatic position system. It can effectively solve the difficult problems of single rod low friction cylinders, which are mainly caused by asymmetric structures and different friction characteristics in two directions. On the basis of this algorithm, a traditional PID control is used to improve dynamic performance. Furthermore, a new asymmetric fuzzy PID control with α factor is advanced to improve the self-adaptability and robustness of the system. Both the theoretical analyses and experimental results prove that, with this control strategy, the dynamic performance of the system can be greatly improved. The system using this control algorithm has strong robustness and it obtains desired overshoot and repeatability in both transient and steady-state responses.
基金Supported by the National Natural Science Foundation of China （No.50705008）
文摘In order to improve the yaw stability of the vehicle with active front steering system, an adaptive PID-type fuzzy control scheme is designed to make the yaw rate tracking the desired values as close as possible. A 2-DOF vehicle model with active front steering is built firstly, and then the fuzzy PID controller is designed in detail. The simulation investigations of the yaw stability with different steering ma- neuvers are performed. The simulation results show the effectiveness of the fuzzy PID controller for improving the vehicle＇s yaw stability.
基金supported by Hebei Agriculture Research System(HBCT2024020205)The State Key Laboratory of North China Crop Improvement and Regulation(Grant No.NCCIR2024ZZ-12)+1 种基金The Sci-Tech Program of Hebei(Grant No.23567601H)The Central Government Guides Local Funds for Scientific and Technological Development(Grant No.236Z7202G).
文摘Aiming at the problem of poor uniformity of maize sowing caused by ground wheel slip,an electronic control seed-metering system(ECSMS)for maize single seed precision sowing was designed and a mathematical model for motor control of the ECSMS was determined.The PID parameters were set by Z-N method and fuzzy control.The fuzzy PID control design and Simulink simulation were completed by MATLAB,which reduced response time of the system by 0.23 s and improved the control accuracy.Experiments on the JPS-12 test bench show that the qualification index(QI)of maize seed-metering device with the ECSMS increases by 4.47%,the multiples index(MI)decreases by 1.96%,the miss index(MIX)decreases by 2.81%,and the coefficient of variation(CV)of qualified seed spacing decreases by 5.06%,and the sowing uniformity has been greatly improved.Test results of the soil-tank test bench show that the system has good sowing uniformity and stability.And the QI is 96.74%,the MI is 2.15%,the MIX is 1.10%,and the CV of qualified seed spacing is 16.24%.Under different setting seed spacing and different sowing operation speed,the change range of seeding quality index was within 10%.The results of field sowing test show that the QI was 84.21%,the MI was 2.63%,the MIX was 7.89%,and the CV of qualified seed spacing was 22.15%,which meet the requirements of JB/T 10293-2013‘Specification for single seed planters(precision planters)’and the agronomic requirements for maize precision sowing.The system runs stably and reliably in practical operation and has good operation performance.
基金the Ministerial Level Advanced Research Foundation (061103)
文摘Grey modeling can be used to predict the behavioral development of a system and find out the lead control values of the system. By using fuzzy inference, PID parameters can be adjusted on line by the fuzzy controller with PID parameters self-tuning. According to the characteristics of target tracking system in a robot weapon, grey prediction theory and fuzzy PID control ideas are combined. A grey prediction mathematical model is constructed and a fuzzy PID controller with grey prediction was developed. Simulation result shows fuzzy PID control algorithm with grey prediction is an efficient method that can improve the control equality and robustness of traditional PID control and fuzzy PID control, and has much better performance for target tracking.
基金the National Natural Science Foundation of China(Grant Nos.51305384 and 52075466)。
文摘In order to overcome the shortcomings of the traditional sling suspension method,such as complex structure of suspension truss,large running resistance,and low precision of position servo system,a gravity compensation method of lunar rover based on the combination of active suspension and active position following of magnetic levitation is proposed,and the overall design is carried out.The dynamic model of the suspension module of microgravity compensation system was established,and the decoupling control between the constant force component and the position servo component was analyzed and verified.The constant tension control was achieved by using hybrid force/position control.The position following control was realized by using fuzzy adaptive PID(proportional⁃integral⁃differential)control.The stable suspension control was realized based on the principle of force balance.The simulation results show that the compensation accuracy of constant tension could reach more than 95%,the position deviation was less than 5 mm,the position deviation angle was less than 0.025°,and the air gap recovered stability within 0.1 s.The gravity compensation system has excellent dynamic performance and can meet the requirements of microgravity simulation experiment of lunar rover.
基金Item Sponsored by National Natural Science Foundation of China (50634030)
文摘In accordance with the feature of pure delay in monitor AGC system for cold rolling mill, a new fuzzy selftuning PID Smith prediction controller is developed. The position control model is deduced based on a single stand cold rolling mill, and the fuzzy controller for monitor AGC system is designed. The analysis of dynamic performance for traditional PID Smith prediction controller and fuzzy self-tuning PID Smith prediction controller is done by MAT- LAB toolbox. The simulation results show that fuzzy self-tuning PID Smith controller has stronger robustness, faster response and higher static accuracy than traditional PID Smith controller.
基金co-supported by the National Natural Science Foundation of China (61175104)National Science and Technology Support Program of China (2012BA114B01)
文摘Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative （PID）-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error （MAE） of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.
基金Supported by the 13th Five-year National Key R&D Program:Development and Verification of Information Perception and Environment Intelligent Control System for Dairy Cattle and Beef Cattle(2016YFD0700204-02)Quality and Brand Construction of "Internet+County Characteristic Agricultural Products"(ZY17C06)
文摘There are some disadvantages, such as complicated wiring, high cost, poor monitoring flexibility, low accuracy and high energy consumption in traditional greenhouse environment monitoring system which based on previous wireless sensor networks （WSN）. Aiming at these problems, a greenhouse environmental parameter monitoring system had been designed based on internet of things technology in this paper. A set of control system with good robustness, strong adaptive ability and small overshoot was set up by combining the fuzzy proportion-integral-derivative （PID） control. The system was composed of a number of independent greenhouse monitoring systems. The server could provide remote monitoring access management services after the collected data were transmitted. The data transmission part of greenhouse was based on ZigBee networking protocol. And the data were sent to intelligent system via gateway connected to the internet. Compared to the classical PID control and fuzzy control, the fuzzy PID control could quickly and accurately adjust the corresponding parameters to the set target. The overshoot was also relatively small. The simulation results showed that the amount of overshoot was reduced 20% compared with classical PID control.
文摘A Simplified Grey Wolf Optimizer(SGWO)is suggested for resolving optimization tasks.The simplification in the original Grey Wolf Optimizer(GWO)method is introduced by ignoring the worst category wolves while giving priority to the better wolves during the search process.The advantage of the presented SGWO over GWO is a better solution taking less execution time and is demonstrated by taking unimodal,multimodal,and fixed dimension test functions.The results are also contrasted to the Gravitational Search Algorithm,the Particle Swarm Optimization,and the Sine Cosine Algorithm and this shows the superiority of the proposed SGWO technique.Practical application in a Distributed Power Generation System(DPGS)with energy storage is then considered by designing an Adaptive Fuzzy PID(AFPID)controller using the suggested SGWO method for frequency control.The DPGS contains renewable generation such as photovoltaic,wind,and storage elements such as battery and flywheel,in addition to plug-in electric vehicles.It is demonstrated that the SGWO method is superior to the GWO method in the optimal controller design task.It is also seen that SGWO based AFPID controller is highly efficacious in regulating the frequency compared to the standard PID controller.A sensitivity study is also performed to examine the impact of the unpredictability in the parameters of the investigated system on system performance.Finally,the novelty of the paper is demonstrated by comparing with the existing publications in an extensively used two-area test system.
文摘As a nonlinear,strong coupling and multi-variable system,the drive performance of bearingless switched reluctance motor(BLSRM)is always limited by its complicated electromagnetic properties.Generally,conventional PID methods are used to achieve the basic control requirement in wide industrial applications,however its inherent operating principle limits its use on suspending control of BLSRM.In this paper,the suspending force system,which is separately controlled from torque system,is built based on an adaptive fuzzy PID controller to limit the rotor eccentric displacement with proper generation of radial force.When compared with a system adopted using conventional PID method for suspending force control,the proposed adaptive fuzzy PID method has superior performance in shortening the response time,reducing the maximum eccentric displacement error and higher speed range of operation due to its online self-turning of controller parameters.Both in simulation and experimental cases,comparison of results of the above two methods validates the effectiveness of the adaptive fuzzy PID controller for BLSRM drive system.
文摘Thermal print head heating real-time temperature fluctuations are too large,often causing damage to the print head heating point,resulting in poor print quality and unsatisfactory print results.Therefore,to improve the stability of the thermal print head during printing,and at the same time to solve the inefficiency of the traditional single-chip microcomputer control of the thermal print head heating method,a field programmable gate array-based thermal print head heating control method is proposed.To control the core,the intelligent fuzzy Proportional-Integral-Differential(PID)control algorithm is used to ensure that the temperature of the print head can be stabilized quickly.Through simulation and experimental verification,it is shown that the intelligent fuzzy PID control algorithm greatly improves the temperature stabilization effect,and the time required to reach stability short not only improve the printing accuracy but also extend the life of the print head.
基金supported by the National Defense Key Laboratorythe Program for Youth Skeleton Teacher in University of Henan Province
文摘With the coupling among three-axis platform frames of tracking and sighting pod taken into considera- tion, the kinetic equations are set up according to the kinetic characteristic. Moreover, by predigesting the equations, the math model suitable for controller design is gained. An H-infinity controller combining with Kalman filter is designed for stabilizing loop of tracking and sighting pod platform frames. Fuzzy PID controllers corresponding to each tracking loop of three-axis frames are designed. The control system designed in this study, in which the effects of the coupling among frames and parameters variation are taken into consideration, is closer to practical situation. The control system is dynam- ically simulated under the condition of multidisturbance. The simulation results show that the entire stabilization tracking control system has good robustness and high tracking precision, which fulfils the need of stabilizing and tracking control of trackin~ and si^htin~ pod.
