Research And Design Of Control System Of Pod Stabilization Platform

As the "eyes" of the unmanned aerial vehicle(UAV),the photoelectric detection system is the main tool for the UAV to capture,identify,track and aim at the target,and the pod stabilization platform is an important part of the photoelectric detection system,which can isolate the pod carrier various disturbances ensure that the photoelectric imaging device can obtain high-precision target images by stabilizing the sight axis line of sight.This paper takes the control system of a certain pod stability platform as the research object,mainly about the design and development of the control system.This dissertation mainly studies as follows:(1)According to the requirements of the system development,the overall design scheme of the control system of the pod stabilized platform was proposed.By estimating the load of the system,the appropriate components were selected for the control system,and the hardware circuit of the control system was designed.(2)Design the regulator of the system control loop by analyzing the mathematical model of the pod stability platform,and study and analyze the closed-loop control performance of the system based on the establishment of the Simulink simulation model of the system,and verify the feasibility of the control system design scheme of the pod stabilization platform.(3)Aiming at the inherent shortcomings of the classic PID control technology and considering the complexity of the disturbance factors of the pod stable platform,the ADRC is introduced.Design the ADRC controller of the pod stabilization platform control system by studying the composition of ADRC and implementing the algorithm,and compare the simulation analysis of the system characteristics based on PID control and ADRC control,and focus on exploring the effect of ADRC control strategy on the isolation of the control system and the ability to suppress carrier disturbance.improve.(4)Firstly,by establishing the space coordinate system of the visual axis of the pod,analyzing the mechanism of visual axis stabilization from the kinematics point of view and deriving the calculation formula of disturbance compensation.At the same time,the Kalmanbased gyro data filtering and noise reduction algorithm is studied,and its simulation experiment is verified.Effectiveness.Then,by analyzing the software design requirements of the control system,the main body design framework of the system software is established.Finally,the DSP-based control system software development is completed according to the single responsibility software design principle,which mainly includes the main module,the servo function module,the control algorithm module and the drive module.(5)Take the pod stabilization platform as the experimental object,carry out the whole machine joint test and adjustment of the control system,and verify whether the control system meets the design requirements through the performance and function of the test system,and complete the acceptance and delivery of the project finally.