Yuntai Stability System Research

Gimbal system plays the role of isolating a variety of free vibration and interference of UAV,and compensating for the motion of the load itself,and thus keep the load is stable,so that make the load can play a maximum performance.In this paper,the following research work has been carried out for the development of a stable gimbal system used by UAV:(1)In this paper,the mathematical model of the two axis stabilized gimbal is established,and the control methods of the two axis tilt tower are analyzed.(2)Based on the analysis of Euler angle and quart number to form a gesture of the advantages and disadvantages of methods and its applications,and deduces the relationships between two kinds of attitude between.(3)In order to accurately control the position of the rotor,a magnetic field oriented control method of permanent magnet synchronous motor is proposed.The field oriented method of permanent magnet synchronous motor is a motor control method based on coordinate transformation theory,by converting the current three-phase stator coordinate current in the rotating coordinate system,which can realize the control of permanent magnet synchronous motor which has nonlinear characteristics of higher order.The control method can adapt to the wide speed range,and has the advantages of high efficiency,good accuracy and low computational requirements.(3)A sensorless rotor position estimation method based on wavelet neural network is proposed.The traditional method has a lot of inconvenience because of the need to obtain the rotor electrical angle in the field oriented control.By using the three-phase stator voltage and rotor electric angle has a certain relationship,the motor three-phase stator voltage and rotor electric angle data of wavelet neural network is trained through a lot of training,the neural network technology on the rotor voltage input gives the correct rotor electric angle information.At the same time,on the basis of the above research work,a two axis steady gimbal prototype is been manufactured and tested.