| The gyro stabilized platform has been widely used in both military and civilian areas because of its ability to isolate disturbance and track objects. The accuracy of the gyro plays an important role in developing more precise platform, which is also an attractive field now. After consulting numerous relevant papers and delving into the gyro’s signal processing, a two-axis stabilized platform control system is implemented in this dissertation.First, the development status of the gyro stabilized platform and signal processing are introduced. The strcuture and principle of both the two-axis stablizied platform and its fundamental inertial component, DTG (Dynamically Tuned Gyro), are also descrided.Second, the hardware including signal acquistion module, motor drive module, CAN communication module and DSP mimium system module are designed. This design is consisted of overall scheme design and detailed circuit design. Based on that, experiments are required to test the hardware performance.After the hardware design, DTG’s signal errors are analyzed with building two relevant mathematical modules, static error module and dynamic error module. Then three filtering algorithms are introduced to deal with the stochastic errors in gyro signals. Both the basic prinpicle and detailed implementation are elaborated. These three algorithms are simulated in MATLAB so that the filtering performance and phase delay can be analyzed according to the results.Last, the software of the system is designed. After the integration test, both the validity and reliablity of the control system are verified. |
