Design And Research Control System For Two-axis Shipborne Stabilized Platform

The stability of the shipboard equipments such as radar and communications system will be affected when the ship receives the waves, sea breezes and other marine disturbances. The shipborne stabilized platform can isolate the disturbance of the carrier and ensure the stability of the equipment in the inertial frame. This paper conducts a design and research on the control system of the two-axis shipborne stabilized platform.First of all, the general design of the control system of stabilized platform was introduced. After the analysis of stabilizing principle of the two-axis stabilized platform in theory, the composition of the whole system was proposed in detail, and then the double-feedback control structure with velocity loop and position loop was established. Considering the feature of the shipborne stabilized platform and the limit of the traditional PID controller, a fuzzy adaptive PID controller was employed in this paper.Secondly, the mathematical models of each elements of system were built and simulated by MATLAB software according to the general design scheme, and the control algorithm was demonstrated by comparing the results of simulation for uncorrected and corrected system.Thirdly, based on the general design and the analysis of simulation for mathematical model, the paper discussed the hardware and software design of system in detail. The whole control system was completed after designing the circuit of the attitude detection unit based on MEMS inertial device and DC torque motor driver, programming system control program based on Lab VIEW which could realize the friendly user interface and display parameters and data of the system in real time.Finally, the stable platform control system was test for the major parameters of the steady-state error, dynamic performance tests and the stable precision through using the experiment equipment which is used to simulate sea motion. The results of test show that the technical indicators of stable platform control system is basically satisfying the request, the accuracy of azimuth axis is 1.5°and pitch axis is 1.0°.