| The " Satcom on the move " stabilization platform is an electromechanical system that is mounted on a moving carrier and tracks the target in real time during motion to establish a stable communication channel.The stabilization platform needs to collect its own attitude signal and servo control the system to isolate the carrier from disturbance while tracking the target in real time to ensure that the antenna is always pointing at the target.This paper studies a new type of vehicle-mounted " Satcom on the move " stabilization platform for tracking UAVs,which is still in its initial stage,but has been included in China’s "14th Five-Year Plan" scientific research projects,and efforts should be made to promote the development of this technology in the next five years.Therefore,the research on this type of " Satcom on the move " stable platform is of great significance.In this paper,we mainly focus on the servo control system of the vehicle-mounted " Satcom on the move " stabilization platform,and its main contents and results are as follows.Firstly,the overall structure and performance indexes of the vehicle-mounted " Satcom on the move " stabilization platform servo system are designed,based on which the main components are selected.Then,the workflow of the stabilization platform is explained,and the capture,stabilization and tracking strategy of the " Satcom on the move " antenna is illustrated.Then,an improved VMD adaptive gyro signal filtering algorithm is proposed in order to improve the noise effects in the MEMS gyroscope signal.The noise contained in the data output from the MEMS gyroscope is first analyzed by the Allan variance method to identify the main error source coefficients of the MEMS gyro.On this basis,the gyro signal filtering scheme based on VMD algorithm is studied,and its parameters are rectified by using whale optimization algorithm.After that,the Kalman filtering algorithm,the conventional VMD adaptive filtering algorithm and the improved VMD adaptive filtering algorithm are used for filtering experiments respectively,and finally it is shown that the improved VMD adaptive filtering algorithm proposed in this paper has better filtering effect for gyro data.Then,the servo control algorithm of the stabilized platform " Satcom on the move " is studied and designed.In order to improve the complexities of ADRC tuning,the parameters of the self-tampering controller are adjusted by using an improved particle swarm optimization algorithm;the effectiveness of the servo control algorithm is illustrated by simulation.After that,different position tracking strategies are proposed for different cases of UAV with or without positioning system,and solutions are proposed for the over-the-top tracking problem in position tracking.Firstly,we discuss the causes of the over-the-top blind area generated by the " Satcom on the move " and calculate the size of the over-the-top blind area.When the UAV has a positioning system,a nonlinear equation is established based on the kinematic model of the three-axis " Satcom on the move ",and then a sequential quadratic programming algorithm is used to obtain the angular increments of the three axes of the stable platform during tracking.When the UAV has no positioning system,the tracking strategy of switching tracking axes is adopted,and the Kalman filter-based UAV trajectory prediction method is studied.Finally,the effectiveness of the two tracking strategies is illustrated by simulation experiments.Finally,the hardware and software parts of the stabilization platform were designed,including the hardware circuits of the sensor acquisition board and the servo control board as well as the related programs,and then the engineering prototype of the stabilization platform was built.The feasibility of the above research results of the thesis is illustrated by the analysis of the data collected during the operation of the system. |
PDF Full Text Request