Design Of Control System For Shipborne Adaptive Stabilization Platform

Ships are vulnerable to wave and other external factors in the course of navigation,resulting in the sway of the ship hull,which makes the ship-borne equipment unable to maintain stability and reduces its performance.The stabilization platform is just a device used in this field.It can real-time predict the change information of itself,control the servo motor to make timely and accurate compensation movement,and ensure that the relative position of the carrier itself does not change so as to achieve the goal of stabilization.This paper studies the control strategy,device parameter selection,disturbance and noise suppression,aiming at designing a shipboard adaptive stabilization platform control system with good dynamic performance and strong anti-jamming ability.This paper establishes the mechanical structure of the three-axis three-frame of the shipborne stabilization platform,and designs the structural scheme of the control system applicable to it.On the basis of the platform kinematics model,the closedloop feedback control models of current loop,speed loop and position loop are designed respectively according to the design principle of "from inside to outside".Then,combined with the selected servo motor and system parameters,the frequency domain characteristics of the model under different structural links are analyzed,and the optimal parameters which can make the system stable and excellent dynamic performance are selected,and the control structure design of the system is improved.Aiming at the sensitivity of speed loop to disturbance,an improved auto-disturbance rejector with parameters adjusted by genetic annealing particle swarm optimization algorithm and self-adapting is designed as its speed regulator to enhance its anti-disturbance ability.In order to improve the ability of position loop to suppress residual disturbance,noise and external disturbance moment,an improved disturbance observer for position loop is designed by adding disturbance compensation model and matching low-pass filter to the structure ofclassical disturbance observer,so as to further improve the stability performance of stabilized platform system.The simulation results show that the improved ADR has a good suppression effect on the interference of friction moment and measurement noise.Compared with the PID control strategy under the same conditions,the system overshoot is significantly reduced and the response stabilization time is reduced from470 ms to about 50 ms.The improved disturbance observer can better predict and compensate the residual disturbance,noise and external disturbance moment in the inner loop,and the dynamic performance and anti-interference ability of the stabilized platform control system are greatly improved.Finally,the design of hardware and related software for the control system of the stabilized platform is completed.Among them,the hardware circuit is selected according to the best matching degree of the main control core,attitude acquisition unit,servo motor and its driver,power conversion circuit and serial interface circuit with the technical index of the system,which is composed of the main control chip and its peripheral control.The design of control software is mainly used to realize the design idea,control algorithm and working mode of hardware system,and realize the function of human-computer interaction.The system test shows that the design achieves the expected goal.