Research On The Two-axis Stabilized Platform System Based On Initial Device

Stabilized platform can be used effectively to isolate the disturbance from the motion platform and to maintain the stability between dynamic load and inertia space, so it has broad prospects and exists in many fields such as line-of-sight stabilization, relative attitude stabilization, orientation tracking. Attitude information of the existing stabilized platform system is detected by more expensive optical gyro as the main detection element, so this method is not conducive to the popularization of stabilized platform. By means of large scale investigation and accumulation of data, MEMS inertial with the characteristics of lower prices and easy to mass production can be used as an attitude detection unit. Just under such backgrounds, a miniaturized platform stabilization system based on MEMS inertial is designed. In this system, MEMS gyro and accelerate are used to detect attitude information of the platform, according to the two sensing information, platform attitude angle can be computed, and then the controlled power system maintain stable platform by control strategies.Firstly, the structure and working principle of the designed two-axis stabilized platform are described and presented in this paper, including a detailed description of this platform’s control system. Secondly, the design of attitude detection, attitude calculation and control shall be discussed separately.In its hardware design, we focus on the device selection and circuit design including minimum system of the master controller, signal acquisition circuit of inertial instruments, data transmission circuit, power system control circuit of the platform, etc. In software, noise analysis and signal processing methods of MEMS inertial devices are proposed, a lot of attitude angle calculating methods based on gyro and accelerometer are analyzed theoretically. And an experimental test are carried out to compare the effect of different attitude algorithms. According to the results, a data resolving method based on complementary filter data fusion algorithm are proposed. Then the control model and implementation method, which take advantage of the attitude angle to control the posture of the stabilized platform, are discussed.The calibrating and testing method of attitude detection unit and MEMS gyroscope are introduced in detailed. The experimental results are given to compare the effect of gyroscope before and after data deal. In the end, a base test about the stabilized platform is introduced in detailed, and the analysis of the test result are presented.