| Tracking platform can effectively isolate external disturbance and angle swing of carrier's motion produced by itself,it can result in the antenna device installed in tracking platform would not miss target signal,even though external disturbance and the influence of carrier movement,so which can insure the antenna tracking device tack and point target precisely,so as to realize the communication of real-time and stability.Because of these advantages,it's generally used in aerospace and navigation fields.Four-axis tracking platform is the research focus in this thesis,each of the subsystems in the tracking platform is established mathematical model,and the related regulating algorithm is for on-line simulation and analysis based on the built mathematical model,then the hardware and software of the whole control system is designed respectively.Firstly,In this paper the control process of the whole tracking platform system are briefly analyzed,in order to isolate the disturbance and the carrier's own movement,we can solve each axis rotation Angle through the attitude algorithm,And analyze the needs in the design of the core components selection.Secondly,the mathematic models are built on the basis of the features of composition modules.According to MATLAB,the design of three closed loop feedback system is online simulation and analysis respectively in the frequency domain.In the design of relevant system regulating algorithm,the velocity loop selects intelligent partitioning PID regulating algorithm,the position loop selects the fuzzy adaptive PID regulating algorithm.By using simulink,two advanced algorithm designed separately simulated and compared with the traditional PID regulating algorithm.Due to the influence of the external environment,the gyroscope signal contains a lot of noise,the typical filter of IIR is adopted to filter the noise of gyro signal,and show the good performance of designed filter through the corresponding simulation analysis.Finally,the hardware of tracking platform regulating system is syncopated into three section according to the module function,they are the TMS320F2812 core circuit,the detection unit circuit,the AD conversion circuit.Then we separately make the components select and system circuit design.Then making a brief description of the whole regulating system software design,the software of tracking platform regulating system is syncopated into five sections,they are the system initialization,the motor's current,speed and position information acquisition and processing,the communication,the regulating algorithm,the system control,the corresponding design flow chart and part of the source code are given according to the brief analysis of each parts. |
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