Research On Control Law Of The Ocean Buoy Optical Stabilization System

Optical stabilization system is a complex system which is a collection of mechatronics,target monitoring recognition, automatic control technology as the content and involve manydisciplines and technology. In recent years, along with the high speed development ofelectronic and information technology, optical stabilization system technology has madetremendous progress and is more and more widely used in the military as well as civilianareas. In the military field, it is mainly used in missile guidance, satellite remote control,vehicle, airborne and shipborne weaponry; In the civil context, it is mainly used in the field ofremote environmental monitoring and fire relief. Ocean buoys monitoring device is aimed tocomplete the work on the the suspicious target at sea listener forensics. In order to ensure onthe LOS stabilization of the ocean buoys photoelectric tracking devices as well as to completethe real-time tracking of suspicious targets, three-axis optical stabilization system is the objectof the study in this paper. We make a thorough study on System modeling and analysis, servocontrol of the system, filtering and prediction of the state of motion of the moving targetwhich are involved in this paper.In this paper, the work of the buoy optical stabilization system is studied as follows:Firstly, the paper presents the overall design of the entire optical stabilization system,presents the mechanical structure of the buoy stable platform under the institutionalcharacteristics of each frame, stabilize the tracking system design into three operating modesand, analyzes the movement mechanism of three-axis stabilized system and then completedthe establishment of the stability equation.Secondly, this paper analyzes the various aspects of the stabilization system, presents theoverall design of the entire optical stabilization system, establish a correspondingmathematical model, introduced the main components of the optical stabilization systemstructure and its work mode, presents the mechanical structure of the buoy stable platform.The mathematical model of the entire optical stabilization system is established on the basisof control system structure, makes a detailed analysis of sources of error of the entire systemunder different operating modes from the aspect of the system architecture, studies thecoupling problem between the moment of inertia and the rotation relationship of between therotating inertia of each frame.After that, his paper study the problems of the optical stabilization system in the mode ofself-stabilizing. The characteristics of the entire control system are analyzed from the perspective of torque rigidity and isolationm, the lead-lag correction and a new multi-modecontroller is designed based on the design principles of the lead-lag and fuzzy control. Thenew multi-mode controller perform better in these areas of dynamic response characteristics,isolation effect, anti-interference from simulation. From the experiment, we can get theconclusion: the nonlinear disturbance torque makes a great impact on the dynamiccharacteristics of the stabilization system. This paper also proposed a new integral slidingmode variable structure controller to suppress the nonlinear torque, and make good inhibitoryeffect.Finally, This paper points out that the time lag department tracking system will bringreal-time tracking of suspicious targets, puts up the general requirements of the signal samplesof the tracking system criteria and hysteresis parts. The results showed that the Kalman filtergets a higher prediction accuracy. The adaptive Kalman is proposed to predict the motion stateof tracking targets detected by the photodetector on the basis of the "current" statistical modelto track the target.We conclude that this method not only can overcome the impact of randomnoise, but also achieve a satisfactory prediction accuracy from the simulation curve. At thesame time, it can overcome the mutations of the state of motion with strong robustness, andbe better able to predict the trajectory of suspicious target, and then complete the trackingtask.