Research On Control Technology Of Multi-frame Tracking And Stabilization Servo Platform

The stabilization and tracking platform is a servo platform, which is mounted on moving vehicle. The detectors fixed on platform are controlled to stabilize and point at target. When vehicle moves, the platform can isolate the movement of vehicle and ensure the stabilization of detectors.The stabilization and tracking platform has developed rapidly in recent years. It has been used widely in the military area and civil area.It is a complex system composed of optics, mechanisms, and electricity. The research of this paper is associated with four-gimbal airborne stabilization and tracking platform. Based on experimental and theoritcal research, the following respects will be studied deeply in this paper: the principle of stabilization and tracking platform, modeling of the control system, control methods and the realization of prototype, etc.1. A surveyof the principle of stabilization and tracking platforms was done in this thesis. The factors of stabilization and tracking accuracy, and control methods of LOS stabilization were illuminated. Basic principles of platforms using different servo mechanisms, especially redundant gimbals configuration, were analyzed. The phenomenon of zenith blind zone in two-axis platform is analyzed. Base on these analyses, the thesis analyzed the principle of four-gimbal airborne stabilization and tracking platform, including basic principles, coordinate conversion relationship and the isolating principals of the base disturbances.2. The servo control system was designed according to the functions of the platform. The thesis analyzed control loops containing rate stabilized loop, position loop and auto tracking loop. Then, the dissertation constructed the mathematical model of the control system.3. Control methods of control loops are investigated. In the design of rate stabilized loop, a higher-order PI algorithm with an advanced correction was presented. This algorithm can improve the performance of steady-state and achieve zero steady-state error in angular output. In order to improve anti-jamming performance, a new internal model H∞control (IMH) design method was given. Simulation tests were carried out to verify the performance of these methods.4. A prototype of four-gimbal airborne stabilization and tracking platform was designed to verify the control scheme. The thesis illuminated the hardware and software design. The test results showed that the performance of platform had reached the requirements of the design purpose.