Vehicle Stability Tracking System Technology Research And Design Of Software

Stable tracking technology has been widely used in the military field such as MISSILES guidance, airborne, shipboard and the civil area like public security, fire protection, environmental monitoring, etc. In order to achieve precision targeting of the car radar antenna tracking devices, the paper research the stable tracking technology combine with projects.Firstly, design the scheme of stable tracking system based on the introduction of the tracking technology development and existing technology combine with the actual situation of the carrier and antenna mechanical structure. Introduce the core component selection and performance index, analysis the performance of the system hardware.Secondly, elaborate on the stabilize method in two aspect. One is given attitude estimation and gyroscope installation method of two-axis stabilized platform. The other is modeling time series of the gyroscope, research Kalman Filter algorithm and accomplish the filtering simulation of the static and dynamic output of gyroscope.Then, design speed compensation-composite feedforward control structure based on the installation method of gyro above, given the position-speed-current closed-loop control method, analysis smart partition PID algorithm and use it as the position controller, use control simulation to prove that the controlling method can reduce the tracking error. Design the interpolation of target tracking algorithm-reproducing tracking and simulate the algorithm according to the large error in radar vectoring mode, to further improve system accuracy.Next, design the system software, including position control module, speed compensation module, serial communication module, state detection and fault processing module, and external interface driving program, given the software implementation method and process of each part.Finally, carry out a modular debugging in combine with hardware and software environment, complete the data acquisition, control data transmission, motor and the driver debugging, complete the stability speed compensation algorithm.