Design And Implementation Of A Two-axis Stabilized Platform Control System Based On MEMS Gyroscop

A stable platform is a servo control system that is mounted on motion carriers such as helicopters,ships and other military equipment,and so on.It collects its own position and attitude signals through sensing components and performs control algorithm on the platform to make it stable.The platform can isolate the disturbance from the moving carrier and keep its visual axis stable.This paper conducts research on the high-precision control system of a twoaxis stabilized platform based on MEMS gyroscope.The main contents are as follows:Firstly,through kinematic analysis of the stable platform,the compensation equation for the stable platform to isolate the external carrier disturbance is derived,and the working principle of the stable platform in the stable mode is obtained.On this basis,the overall design is carried out based on the performance of the stable platform.Secondly,an improved CEEMDAN-LWT denoising algorithm is proposed in the way of selecting distinguishing wavelet threshold function and wavelet threshold.Experimental results indicate that compared with CEEMDAN filtering algorithm and LWT filtering algorithm,this algorithm is more effective in denoising processing of MEMS gyroscope output signal.Thirdly,the improved BFO algorithm is proposed against the parameter identification of the Hammerstein nonlinear model of the stable platform where ameliorate the chemotaxis and migration operations,and apply the improved BFO algorithm to the Hammerstein standard test function for parameter identification experiments.The experimental results show that the identification algorithm has better effect than the traditional BFO algorithm and the LS.Fourthly,for satisfaction with the high-precision and strong anti-disturbance performance,a dual-loop controller of FOPID-PID is proposed.In order to solve the problem regarding inconvenient parameters adjustment of the FOPID controller,the PSO optimization algorithm is applied to it.The experimental results show that compared with the traditional PID controller,this control strategy has better control performance and stronger anti-interference ability in the stable platform system studied in this paper.Finally,a specific design of the stable platform software system is carried out,which mainly includes the main control program,system initialization and subroutines called by interrupt.Through test experiments,the feasibility of the above theoretical research is illustrated.