| The stable platform has been widely used in the military and civilian applications because it is available to isolate carrier interferences. It is necessary and meaningful to carry out the research on key technologies of the stable platform.The dissertation presents a dual-axis stable platform based on MEMS gyroscope for the need of key equipment in caddies carriers. The accuracy and detail design information are also illustrated in the paper. The miniaturization of the platform has been achieved with the application of MEMS gyroscopes sensitive framework, whose signal is processed by digital servo control system under improved PID control algorithm.Theoretical analyses and simulations have been carried out for accuracy factors, such as mechanical structure, interference torque and gyro installation errors, to platform stabilization. Further, the composition of MEMS gyroscope random errors are illustrated with the Allan variance. The corresponding ARMA model has been built. The MEMS gyroscope’s output noise was reduced by the Kalman filter. The improved PID control algorithm has been applied in the system optimized by the anti-windup differential saturation algorithm. The algorithm has been verified by the dual-axis control systems established by MATLAB/SIMULINK. Finally, the servo control circuit has been made based on DSP (TMS320F2812DSP) which was used as the master controller. The circuit consists of the gyro signal acquisition module, main controller module and the drive motor interface module. The platform interference isolation has been addressed through the speed and position control to the motor, where the PWM pulse width modulated signal was produced by the Event Manager (EV)2812.The debugging and characterizations have been carried out to the dual-axis stable platform. The results indicate the stability of platform azimuth axis and pitch axis is available with the rotation ranging from0°to360°and-45°to45°respectively. Both has the accuracy of1.0°. |
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