Research On Error Compensation Technology Of Servo Control System Of A Certain Stable Platform

Stable platform is a kind of active vibration isolation,which can isolates attitudes disturbance from carrier.In order to isolate the disturbance of the attitude of the weapon system from the carrier such as the ship,this paper studied the key technology of stabilized platform servo control system.Stable platform is a typical electromechanical equipment,affected by various error in the working process.This paper designed the hardware structure of the system,and analyzed the error sources in detail.For compensating error from the angle of algorithm,this paper established mathematical model of AC permanent magnet synchronous motor and dynamitic model of the stable platform.On the basis,the paper modeled the servo control system of the stable platform.Given the greater influence from the friction torque on the control accuracy,raised classical friction model analyzing friction characteristics of the system,and designed a control system for compensating error and improving suppression capability for high frequency sensor measurement noise,based on improved disturbance observer.The effectiveness of the compensation algorithm is verified by simulink software simulation,semi-physical simulation and physical simulation.In order to eliminate the system control error caused by positioning jitter in attitude adjusting process,s-type speed planning algorithm was used to plan the running speed of the sable platform in this paper.The comparison of the physical experiment showed that the control system using the speed plan algorithm,improved the control precision and stability greatly.