Design And Implementation Of A Pod’s Attitude Stability Control System

The pods cover many disciplines such as precision machinery,optical design,sensor technology,signal processing,image processing,and automatic control.The pods play an important role in the military field,and theqy have also achieved considerable development in the civilian field.In a variety of application scenarios,they can quickly and efficiently cope with unexpected situations and accomplish tasks such as reconnaissance and search and rescue.This article first takes the pod as the research object,and carries on the overall plan design to the system.According to the requirements of the main specification of the pod in the design mission book,the main components of the servo stability platform such as the main control chip,speed detection element,position detection element,motor drive execution unit and optical sensor are selected.The mathematical model of the motor was calculated and analyzed according to the force of the pod,and the system transfer function was obtained.The dual loop design of the speed loop and position loop was completed,and the corresponding control system model was established.Secondly,the system hardware circuit with TMS320F28335 chip as the core is set up and designed.The main chip data processing circuit design,power circuit design,speed detection circuit design,serial communication circuit design,motor drive circuit design,current detection circuit design,power control circuit design,over-temperature protection circuit design and optocoupler isolation circuit design.Thirdly,taking the azimuth axis as an example,the classical PID controller is added to the system for correction,and the system accuracy is significantly improved.However,the ability to suppress strong disturbances is still insufficient to meet the technical specifications.Therefore,the fuzzy PID control algorithm is derived and compared with the results of the classic PID control algorithm through digital simulation and the superiority and effectiveness of the fuzzy PID control strategy are verified.The software design of the pod control system was completed.The main program design flow,each interruption program design flow and the fuzzy PID control algorithm program design flow were described.Finally,the pod and the hardware board were introduced.And completed the rotation range,rotation speed,speed accuracy,positioning accuracy and other rotation control test,completed the system of optical sensor imaging test and debugging,and in different fields of view of different targets for the tracking function test,the performance indicators all meet the technical requirements of the design task book.