Based On The Dynamic Tuning Gyro Stabilized Platform Control System Research

The functions of stabilized platform are eliminating the effect of the carrier’s movement on the platform and tracking object. It’s widely used in artillery, aircraft, missiles and other carriers. So the research of stabilized platform has very important significance. Based on the study of numerous papers, a two-axis stabilized platform control system based on the dynamically tuned gyro and used on vehicles is designed. According to the control signal and the inputs of the gyro and the rotary transformer, a motor control signal is output by the processor to control the motor moving as required.Firstly, the working principle and structure of the two-axis stabilized platform is analyzed to get the disturbance isolation equation of the stable platform. Also, hardwares such as gyroscope, rotating transformer and torque motor are analyzed and selected. Based on the analyses, the hardware control circuit of the platform is designed.Then, the models of all parts of the platform are built and the control algorithm is designed. After that, the whole system is simulated with matlab. In the algorithm design of the tracking mode, first a single loop correction link is designed, and then the nonlinear acceleration feedback and double speed loops correction are designed and analyzed. In the algorithm design of position loop, two solutions of the general PID and fuzzy PID are designed. In the algorithm design of gyro signal filtering. FIR filter is designed and the result is analyzed.At last, the software is divided into four parts of main program, speed loop interrupt program, position loop interrupt program and interface communication program and designed. And then the hardware is debugged.