Electromechanical Dual-axis Stabilized Platform Servo Control Technology Research In Real Time

With the character of isolating carrier movement, the stabilized platform has been widely used in the military field as well as civil field. But it’s universal property performed not well enough due to the different load and work conditions in different project and the complex technology it demands.In this paper, a real-time stabilized platform servo control system was designed based on the demand of a weapon system. Firstly, the paper introduced the structure of the real-time stabilized platform and it’s working principle as well as the main technical indicators. And the selection of the main hardware was also introduced. Then considering the key technology and the difficults about the system, the real-time stability control technology theories, including the movement function relation of drive mechanism, the processing of the sensor data, the algorithm of motor control, the scheme of real-time stability control and the algorithm of vibration elimination, were studied. And some of the reasonable and effective specific solutions about the problems were put forward for the theoretical support of the design of the control system. In this paper, the angular velocity of the carrier and the angle of moving platform measured by the gyroscope sensor were processed by filtering program in control system. Then, the PID algorithm was used to calculate the motor speed. Thus, the control system could carry out the real-time stability leveling through motor control. In order to realize the real-time stability control, the hardware system of the real-time stabilized platform control system was designed and manufactured base on TMS320F2812. And the real-time leveling software was designed based on the theory of real-time stability control technology. Finally, the hardware and software of the system were debugged. The debugging result showed that the main technical indicators of the system achieves the requirements.