Gyro-stabilized Servo Platform Design

The gyro stabilized platform developed very rapidly in recent years, it is widely used in the military area and civil area such as missile seeker, airborne weapon, shipborne weapon, vehicular weapon, industrial systems, photography etc. this paper based on the actual project as the background, made out the theoretical research and experimental verification on some key technology, which included the three-axis space coupling relations of gyro stabilized platform, stability control algorithms and how to achieve stabilized platform etc.This paper researched the three-axis stabilized platform architecture, analyzed the three-axis stabilized platform on the part of mechanism and servo control system, derived the three-axis stabilized platform kinetic equation. thus the three-axis Multiple-input Multiple-output system could be converted into three connected Single-input Single-output system. A single-rate stabilized loop method is used to curb disturbance, ensured visual axis stabilizing at some disturbance and tracking target accurately. Analyzed the single-rate stabilized loop in all sectors of central, thus built the single-rate stabilized loop model, and built the three-axis stabilized loop based on the single-rate stabilized loop, simulating in the MATLAB, the model got a better simulation results. Reasonable planning control system hardware, the hardware was entered into input board, control board and output board. the control board's control chip was DSP2812, it has powerful computing power and complete peripherals, because the extent of system calculate was very complex and the rate of system calculate was very fast, the Double DSP processing way was used, it put the input signal processing and control operation in the different DSP, ensured finishing the process that from signal processing to control output. The system software design was under the Double DSP processing way, it was divided into three part which was acquisition DSP program and control DSP program, in this way, the program was more clarity and clear, and it was easy to debugged and maintenanced.