The Design Of Pod Gyro Stabilized Platform Based On Elmo Controller

Airborne Electro-Optics pod has developed rapidly in the recent years, particularly in the detection of warning, target direction, control, tracking, targeting and navigation. As a civilian-used aircraft pod, it is mainly used for power cruising and navigation tracking. Optical sensors, such as TV, infrared imager, are installed on the stable platform. The pod thus obtains a relatively stable platform inertial space by the isolation of vibration through the gyro stabilized platform. And by the control of command instructions, the optical load can obtain the realization on the target search, acquisition, tracking and positioning.This paper, firstly, outlines the current research situation of airborne optical platform both in domestic and in international. And then it states the gaps of accuracy and stability between our country and other countries. Describes the principle and block diagram of the airborne pod .Then it gives a detailed analysis of airborne pod core component parts-the principle and the composition of gyro stabilized platform .And then it has a selection of relevant arguments. This design uses a number of Israeli Elmo's Whistle Servo controller as the core control device. Using Whistle series controller 5 / 100 model as the main controller, in the hardware circuit design part, the design includes a gyro stabilized circuit design, power circuit design, the sensor signal processing circuit and serial communication circuit. In the software design part, the design includes a gyro stabilization program, the sensor signal processing program, and serial communication program.A very important job for using Whistle series controller is to do the design configuration and debugging by using the components of Elmo's Composer and Elmo Studio provided by Elmo Company. This design, firstly introduced the general configuration of Composer component, including the means of communication options, the selected parameters of motor limit, the configuration of the parameters of the drive configuration, Firmware software to import and so on. Then it introduced the PID parameter adjustment in the velocity loop and position loop, the current loop parameters, the direction parameters. The paper then gave a detailed description on a few of more complex steps, accompanied by myself solution practice. By using the Elmo Studio components and the Elmo Recorder component, we make some debug for the whole system and modify some parameters.Finally, our platform gets a performance shown in the following: the stability is 50μrad, the rotation angle is -120°~ +15°, the azimuth angle is 360°continuously, the maximum rotation speed is 60°/s, the maximum rotation acceleration is 200°/s2 , the power consumption is less than 240W.