The Research Of Active Vibration Isolation Control System Of Pan-tilt

Visual tracking technology is a branch of ship tracking and three-dimensional positioning technology,which often applies camera as image acquisition module, and gives the real-time tracking position information feedback to the calculation and processing in the system. However, the source of vibration,such as the ship engine and the shipboard equipment, may cause vibration of hull, and lead to the unstability of visual axis tracking camera. Therefore, in order to ensure the effectiveness and accuracy of visual tracking and positioning, it is necessary to development the Pan-tilt which has the function of reducing vibration(Pan-tilt is an installed, fixed camera support equipment). Based on the design of active vibration isolation technology, Pan-tilt can decrease the ship vibration caused by engine and other shipboard equipment, so as to stabilize camera visual axis, and make sure the clarity of film image.The main work of this paper is as follows:1. Firstly, the introduction of the development of active vibration isolation technology, and the feasible and application prospect of the active vibration control system of the Pan-tilt in visual tracking and positioning technology through the comparison of various vibration reduction techniques.2. The structure characteristics of the main shock absorber is studied (including passive vibration isolation and active vibration). By comparing the advantages and disadvantages of the soft shock absorber and hard active damper actively, and taking the complexity of the Marine environment into consideration (sea games to Pan-tilt system level to disturbance), stable structure, is finally chosen to support strong rigidity, superior level of disturbance resistance of the hard active vibration absorber.3. The current mainstream of damping control algorithm are compared and analyzed. The characteristics of the PID control method is not dependent on the precision of the model, and parameters of design and the whole east have mature method, which has certain advantages on the validity, stability and accuracy of control, and fuzzy PID control method based on this, through online setting the three parameters of PID control method, further strengthen the robustness of the system. In addition, considering the complexity of the Pan-tilt active vibration control system modeling, this paper chose from listed algorithm does not depend on accurate models of PID control algorithm and fuzzy PID control algorithm simulation algorithm as anti-vibration effect comparison.4. Build a single shaft vibration isolation model, using the software Matlab2007 write m file for vibration reduction algorithm simulation, first by setting the initial parameters of control algorithm, and then giving the different forms, different frequencies of vibration signal analysis, simulation results show that the fuzzy PI control algorithm of reducing vibration effect is more apparent, damping performance is more in line with the requirements of this subject.5. Based on the single axis model simulation results contrast and Pan-tilt practical application background, we choose the vibration signal detection module, the control unit module, vibration, vibration actuator drive actuator and power module set up a system experiment platform. Use IAR Systems based on vibration reduction of STM32F303 development system, adjustment of the module function of the STM32F303 by friendly serial debugging assistant software serial port data acquisition, finally completed the vibration acceleration detection experiment, A/D conversion test experiment, experiment and vibration damping platform driven part proves the feasibility of active vibration control system research.