Design Of Active And Passive Vibration Isolation&Stabilization Platform Control System Based On Characteristic Model

In recent years,near-Earth space(20?100km from the ground)has increasingly become the focus of Earth observation environment for scientists.Due to its low cost,flexible operation and recyclable recycling,the stratospheric airship has a very wide application value in the near-space completion of military detection,disaster relief,patrol investigation in coastal areas.With the continuous updating of control science and technology,the wide application of computers in processing image vision,and the precision and miniaturization of load equipment,the sensitivity of sensors has been continuously improved.The visual tracking equipment placed on the airship carrier platform has also emerged,and has been scientifically worked in countries all over the world.Extensive research and attention.However,the inertia of the airship is greatly affected by disturbances,which will cause large amplitude vibration of the load.Therefore,achieving suppression of amplitude vibration and accomplishing good visual tracking has become a series of scientific problems that need to be solved.In this paper,the airship is used as the carrier,and the upper layer is the main passive vibration isolator,and the lower layer is the stable tracking cloud platform:(1)For the active and passive vibration isolation integrated platform,the super magnetostrictive actuator with large energy ratio,high efficiency and fast response speed is selected,so that when the table surface is interfered by a large amplitude vibration source,it can respond quickly and output.Large torque suppresses vibration.(2)For the lower-level visual stability platform,the dual-axis vision stabilization gimbal is used as the camera carrier to isolate the hull disturbance and respond to the control signal quickly,so that the camera can obtain a good shooting environment and take a picture with good definition.First of all,this paper understands the development status and research signifi-cance of the load platform,which makes a preliminary understanding of the research object and content.Next,it introduces the generation and development of the adaptive control method based on the feature model,and its related concepts and control rates.The algorithm is discussed.For the stable pan/tilt,the f86 aerial camera is selected as the load camera,and the DC brushless motor is selected as the driving servo motor of the two-axis stable pan/tilt control frame.The gimbal isolation is derived accord-ing to the coordinate system principle and the dynamic equation.The compensation equation of the relevant disturbance is modeled according to the relevant parameters of the aerial camera used in this subject,combined with the physical characteristics of the stable control of the gimbal;through the simulation analysis of the control link in the frequency domain,the feature model is controlled and corrected for the stability link.The Golden-section adaptive control and the tracking control rate are improved.After the simulation,compared with the classical theoretical controller,the overshoot and dynamic performance are greatly improved.Next,the mechanism and model of the giant magnetostrictive actuator are analyzed,and it is mathematically modeled as the active vibration isolation system actuator.The active passive integrated vibration isolation platform based on displacement control is established,and the passive analy-sis is analyzed.The effect of vibration isolating components on system performance.For the two control links of active and passive integrated vibration isolation and sta-bility gimbal,the intelligent adaptive control method of feature model is introduced,combined with the design of Golden-section adaptive control based on feature model,logical differential control,and traditional force control vibration isolation platform.In comparison,this method demonstrates good control effects in the field of vibration isolation.