Research On Adaptive Control Method With Disturbance Compensation For Opto-electronic Stabilized Platform

Line of sight(LOS)stabilization is one of the important indexes of unmanned aerial vehicle(UAV)power inspection opto-electronic stabilized platform.The more stable the LOS,the better the imaging effect.Compared with man-machine,the stability of the UAV's attitude is relatively poor.Therefore it has higher requirements for the opto-electronic stabilized platform.The opto-electronic stabilized platform has the capability of isolating the disturbance of the carrier's attitude so as to keep the LOS stable.The control technology determines the platform stability.In this paper,the two-axis twoframe opto-electronic stabilized platform is taken as the research object,and the control method and control system of the stabilized platform are studied.The research contents are as follows:First,in the case of introducing the mathematical model of the opto-electronic stabilized platform,a control method based on Radial Basis Function(RBF)is proposed for unbalanced torque interference.The kernel of this method consists in a dual controller,which combines the state feedback controller and the neural network adapitive controller.One of the neural network training state controller parameters ends after the optimal solution is obtained,so that the state controller can more accurately suppress interference and ensure the overall stability of the system;on the other hand,the neural network adaptive control has targeted to compensate for slow changes and periodic interference,thereby further improving the platform's ability to compensate for interference.The simulation results of MATLAB/Simulink simulation environment show that the proposed method can effectively improve the control accuracy.Secondly,carried out research on the control system of the opto-electronic stabilized platform.According to the performance requirements of the platform control system,a control system based on "DSP+FPGA" is designed,in which DSP realizes the control algorithm and FPGA realizes the functions of data acquisition and data communication of each sensor,which fully utilizes the superiority of FPGA's capabilities of high-speed,parallel computing and powerful data processing capability of DSP.And completed the system software and hardware platform.Finally,some experiments are carried out to test the opto-electronic stabilized platform's performance and function,and the experimental results show that the performance of the platform meets the design target.