Development Of Stabilized Platform On Electro-Optical Pod And Research Of Key Technology

Optoelectronic pod stability platform is an on-board equipment that can carry photoelectric detection equipment,and has functions such as step search,fast tracking and precise pointing.During the movement of the flying carrier,the stable platform is interfered by factors such as,vibration of the body,air flow,friction,etc,causing the problem that images captured by the photoelectric detection apparatus blurs.Therefore,it is necessary to stabilize the platform to isolate the carrier disturbance.In this paper,with the background of the development of a servo control system for an optoelectronic pod,the overall scheme and circuit design of the stable platform servo system are first completed.Secondly,the factors affecting the stability of the visual axis stability are studied.Finally,the system software is desiged and joint debugging is performed.The main accomplishments are as follows:(1)According to the function requirements and performance indexes of the pod servo control system,the overall scheme of the servo system is proposed.Core components are selected according to the load calculation results,and hardware circuit for the system is designed.(2)Based on the principle of the visual axis stability of the two-axis and two-frame structure,the Euler transformation method is used to derive the carrier disturbance compensation equation.The mathematical model of the electro-optical stability platform servo system is established,and current loop,speed loop,stability loop and position loop of the control system are designed based on simulation results using Matlab simulation tools.A mathematical model of the isolation of the servo system is established.Simulation tests shows that the amplitude-frequency characteristics figure for the system isolation exhibits band-pass characteristics.(3)The influence of frictional disturbance on the stability of the visual axis is analyzed.To handle the problem of low-speed bouncing caused by frictional disturbance,two disturbance compensation methods based on double-speed-loop disturbance compensation and nonlinear acceleration feed-forward compensation are presented.Simulation analysis results show that the former effectively improves the stability index of the system,and the latter effectively solves the peak problem of stable error angle when the system runs at low speed.To reduce the affect caused by gyro noise interference,the second-order low-pass filter method of Butterworth is used and simulation results proved that high-frequency noise is effectively suppressed and isolation effect of the stable system is improved.(4)According to the function requirements of the system,the software requirements analysis is completed and the system software flow is designed.The initialization module,communication module,control algorithm module,function module,and parameter binding module were designed for the system.An optoelectronic stability tracking test system is designed.A disturbance compensation program is developed for the isolation problem.The feasibility of the disturbance compensation algorithm is verified through experiments.According to the performance index,the joint debugging of the system is carried out,and reqiured functions of the system were provided normally and the technical indexes for the system were verified.