Control System Design And Filtering Algorithm Research Of Gyro Stabilized Pod

As an indispensable weapon, gyro-stabilization pod has been widely developed with the Air Force, Navy gradually becoming the dominant military forces in modern warfare. Gyro-stabilized pod maintains pod platform stability in inertial space by gyro sensor sencing the speed perturbation. Through different optoelectronic devices on the platform, it also has tracking, navigation, electronic jamming and other functions.Gyro-stabilized pod system is integrated designed in this paper. First, the structure of two-axle and four- framework pod is analyzed, the control strategy of the inner and outer frame is determined according to these motion characteristics;the types of hardware devices are selectedas based on DSP control system; finally, hardware circuit of pod control system is designed and software of control algorithm is completed.As for the study of filtering algorithm for FOG, its signal characteristic is analyzed firstly, and off-line experiments shows wavelet transform filtering algorithm are more effective than the sliding threshold filtering algorithm. Then the signal of FOG is filtered with FPGA.The stable circuit and the tracking circuit need the control algorithm to design, respectively. With the double loop ring strategy in stable circuit, control design for torque stiffness and isolation can be effectively separated, which is beneficial to design for stable circuit. MATLAB simulation shows that the design of stability circuit meets various given indicators, and the control structure of double loop ring can suppress disturbance torque to effect the stability accuracy of the pod. The simulation also shows that the design of tracking controller that used the variable structure control algorithm with sliding modes which based on index-approaching law has better tracking performance and stronger robustness to disturbance than PD controller in the tracking loop.