Design And Implementation Of Gyro Stabilized Pod Control System

Gyro stabilized pod has developed rapidly in recent years, and it is a complex system composed of optics, mechanism, and electricity. Stabilization of line-of-sight and tracking are the two main functions that should be accomplished in gyro stabilized pod. Based on PC104 embedded computer, control system of gyro stabilized pod is designed in this paper, and some corresponding control algorithms have been presented.At first, a brief introduction of gyro stabilized platform development and different control methods are summarized in the paper. Also, this paper designs the hardware structure and selects corresponding devices, using PC104 embedded computer as the central controller. According to the characteristic of this two-axis four-frame structure of gyro stabilized pod, relationship of the moment of inertia coupling, kinematics coupling and dynamics coupling is analyzed in the paper, in order to provide theoretical basis for system design.Secondly, based on the measurement noise of gyro, amplitude limiting filter, second-order Butterworth filter and wavelet threshold filter is designed in this paper, and results reveals that the three filters can inhibit gyro noise effectively. At the same time, the PID control algorithm and Fuzzy-PID control algorithm are presented and simulation results are compared at the basis of the mathematical model of position loop in the system. The simulation results reveal that Fuzzy-PID control algorithm that combines the advantages of PID control and Fuzzy control can shorten response time of system and reduce system overshoot transient process, so that the dynamic and steady performance of system are enhanced greatly.Finally, software design is carried out in the prototype of gyro stabilized pod, and test results based on PID algorithm are given. The results show that the prototype system can satisfy the basic performance of requirement.