Research On Intelligent Security Servo PTZ Based On DSP

The servo PTZ is used to carry working equipment,which can increase the freedom of the equipment and expand the working space of the equipment.With the development of PTZ technology,the integrated servo PTZ is gradually applied to the security field,which promotes the intelligence of security equipment.The intelligent security system studied in this paper needs to track the reciprocating motion of the target under the working condition of environmental interference,and requires the PTZ system to have high precision and strong robustness.Therefore,based on the actual needs of the security field,this paper takes the intelligent security PTZ servo system as the research object,takes the anti-jamming control technology as the main research content,and aims to achieve the precise tracking of the target,and deeply researches the anti-jamming control strategy of the system.This paper first analyzes and designs the overall structure of the servo PTZ,and establishes a solution model for the spatial angle of the servo PTZ based on the overall structure.The control and drive integrated circuit is designed with the DSP control chip as the core.The motion mechanism and the physical characteristics of the permanent magnet synchronous motor are used to establish the mathematical model of the PTZ system,and the corresponding electromagnetic compatibility design is made for the electromagnetic interference in the circuit.In view of the wind resistance interference of the security PTZ during actual work,the paper studies the anti-interference control strategy and designs a high-precision and strong-robustness controller.Firstly,the characteristics of ambient wind are analyzed,and the two main disturbance modes are extracted: turbulent disturbance and gust disturbance.Secondly,in view of the situation that the control accuracy of the PID controller cannot meet the design index when the turbulent disturbance and gust disturbance are disturbed,two kinds of controllers are designed.One is a fuzzy self-tuning PID controller that uses the cuckoo search algorithm for offline optimization,and uses a fuzzy controller to tune the PID controller parameters in real time during the tracking process;the other is an improved ADRC controller that combines control methods such as hybrid differentiator,extended state observer(ESO),and active disturbance rejection controller(ADRC)for feedforward compensation and disturbance compensation.Finally,the control effect of the above controller is verified by Simulink simulation.The simulation results show that the improved ADRC controller has small steady-state error,high dynamic tracking accuracy and strong anti-interference ability under ambient wind disturbance.Finally,experiments are carried out on the hardware-in-the-loop simulation platform to verify the control effect of the improved ADRC controller.The experimental results show that the servo gimbal designed in this paper has good anti-interference ability to environmental wind interference,and can meet the accuracy requirements of the system.