Research On The Three-Axis Gyro Stabilized Platform With Heavy Loading

Three-axis gyro stabilized platform is mainly used to isolate its load from the carrier angular disturbance, with a wide range of applications in military and industrial systems. At present, with the continuous emergence of new technology and new equipment, platforms dedicated to a specific equipment show advantages in adapting to the complex working environment. The aim of this paper is to develop a system of three-axis gyro stabilized platform with heavy loading for airborne gravity gradiometers.This thesis starts with analyzing the demand of airborne gravity gradient measurement system by principle modeling, and then discusses the coupling and isolation process of the carrier disturbance to the platform, ensuring the optimal installment position of gyroscope under the stable compensatory conditions; to meet the requirements of simulated load 60 kg and the platform' directional precision 0.5°, the mechanical structure is designed by combining the empirical design and the finite element analysis, the component is determined based on the analysis of torque motor, fiber-optic gyro, photoelectric encoder and so on, and finally all the considerations are accommodated into a virtual prototype and verified; then the engineering prototype is built up, and the feedback-control functions of the single channel and the closed-loop feedback are tested, such as current loop, speed loop, stabilization loop and the position loop.The static testing result indicates that the steady tracking error of each axis is better than 0.00±0.01°, and pointing stability better than 0.001°/?Hz@1Hz. The best performance achieved by the inner gimbal is 0.000±0.003° and 0.0001°/?Hz@1Hz. This result demonstrates the designed stabilized platform prototype has realized the functions of single channel and four closed-loops feedback, laying the foundation for realizing the function of three-axis stabilization in the future.