Research On Control Algorithm Of Two-axis Stabilized Platform

The stabilized platform is a device that combines the servo system with the gyroscope and other sensing equipment to isolate the disturbance of the carrier.It has been widely used in navigation,aerospace and other fields.It mainly plays the functions of tracking,stabilization and aiming,and has wide application and broad development prospects.Taking a two-axis stabilized platform as the research object,combined with the problems encountered in theory and practice,this theis has carried out simulation modeling,disturbance research,friction compensation,speed control algorithm design and other contents,and carried out software simulation and physical experiments.The main research contents of the full text include:1.The kinematics and dynamics of the two-axis stabilized platform are analyzed.Combined with the actual requirements of the stabilized platform in a typical working environment,the maximum torque of the stabilized platform is estimated and the motor selection is carried out.The principle of stable servo control is introduced based on the physical structure.2.The source of the working error of the stabilized platform is analyzed,and the cause of the disturbance is analyzed.The friction,a typical disturbance reason,is further studied.The physical cause of friction and its influence on the servo system are analyzed,and several main friction models are introduced.Based on the Stribeck friction model,parameter identification was carried out using the least squares method and particle swarm optimization algorithm,and a neural network was used to directly fit the friction force,and the effects of the three methods are compared with the simulation experiment of friction compensation.3.The speed controller of the stabilized platform is designed.Firstly,the current inner loop is analyzed and modeled.Based on it,the speed loop algorithm is built using sliding mode variable structure control,and the measurable disturbance in the system is compensated.An observer is introduced to compensate the disturbance.A stable platform model is established in Matlab/Simulink,and the algorithm is verified.4.The experimental software and hardware of the stable platform are built,the experimental program is debugged,and the designed stable platform algorithm is tested through the experiment,and the difference of control effect is compared,which proves the effectiveness of the research in this thesis.