Fuzzy sliding mode control for pan-tilt-zoom system driven by ultrasonic motor

X. Leng, Songsen Wu, Yanli Du, Yuehua Cheng
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引用次数: 2

Abstract

It is difficult for the traditional pan-tilt-zoom (PTZ) system driven by electromagnetic motor to meet the growing demand for video surveillance system. The key bottleneck problem is high positioning accuracy, high dynamic performance and miniaturization of the PTZ system. This paper presents a PTZ system driven by two degree-of-freedom obelisk-shaped ultrasonic motor with single stator, and makes research on its intelligent control algorithm. First, analyses of the structure, driving mechanism and electromechanical coupling system characteristic of the PTZ system are conducted using both the method of simulation and experiment. Then for the sake of solving the complex nonlinear factors, parameter variation and external disturbance, this paper combines the fuzzy logic algorithm and the sliding mode control strategy to improve the control performance. The results of simulation show that this algorithm proposed in this paper has faster response, higher precision and also has a good robustness to prevent the effect of interference.
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超声电机驱动平移-倾斜-变焦系统的模糊滑模控制
传统的电磁电机驱动的平移变焦系统已难以满足日益增长的视频监控系统需求。关键的瓶颈问题是高定位精度、高动态性能和PTZ系统的小型化。提出了一种由单定子两自由度方尖碑型超声电机驱动的PTZ系统,并对其智能控制算法进行了研究。首先,采用仿真和实验相结合的方法,对PTZ系统的结构、驱动机构和机电耦合系统特性进行了分析。然后,为了解决复杂的非线性因素、参数变化和外部干扰,本文将模糊逻辑算法与滑模控制策略相结合,以提高控制性能。仿真结果表明,本文提出的算法具有更快的响应速度、更高的精度和较好的鲁棒性,可以防止干扰的影响。
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