Research On High Precision Stabilized Platform Based On Adaptive Inverse Control

Stabilized platform is an important component of vehicle-mounted, airborneand shipboard weapons and radar antenna servo system. It is a timely manner toisolate the disturbance caused with the continuous measurement of the carriervelocity and position changes that it could ensure the tracking accuracy andstability of the target for the platform. Therefore the application of stable platformis so wide that it has been the hot content of the national research. With its rapiddevelopment in recent years, stabilized platform has been widely used in themilitary field such as guidance, vehicle-mounted, ship-board and airborne weaponsas well as environmental monitoring, space remote sensing and other civilian areas.In recent years, the development of stable platform have become faster andfaster, the structure has become more and more complex, the function has becomemore and more powerful, the requirements of precision has also become higher andhigher. Therefore some traditional control methods such as lead-lag correction, PIDcontrol can’t meet a series of demands of the platform for the high response speedand tracking accuracy in the tracking process. In this paper, adaptive inverse controlis introduced to the control of the stable platform in order to improve the responsespeed and tracking accuracy with its open-loop characteristics. Main researchcontents and results are as follows:Firstly, the model of the stabilized platform has been built, the speed andposition loop correction devices have been designed for it to complete the lead-legcorrection control in the Matlab/Simulink environment.Secondly, this paper conducts in-depth theoretical study of adaptive inversecontrol theory. Then we set up the object model, inverse model and the model of thefiltered-adaptive inverse control. The simulation results between the lead-legcorrection control and adaptive inverse control have been compared and analyzed toverify the effectiveness of the adaptive inverse control.Thirdly, we design the hardware part of stabilized platform and the drivecircuit for the DC torque motor. The hardware experimental platform including theAD5435simulation system, DC torque motor and its drive circuit and the powersupply module has been set up to lay the foundation of half-practicality simulation.Finally, we modify the model of lead-leg correction and-filter adaptiveinverse control established previously and utilize the MD and VCDesigner ofAD5435to design the GUI on the computer side and the AD5435side. Theexperimental results of the two control methods have been compared and analyzedto verify the effectiveness of the adaptive inverse control algorithm by doing half-practicality simulation on the hardware platform established.