Research And Implementation About The Stblility And Tracking Of The Visual Axis Of Eco-platform

When the moving carrier is under external disturbance, visual axis of the loadplaced on it will become unstable because of the coupling of its frame. To ensure thatthe load in a moving carrier works normal, it’s necessary to research the OptoelectronicPlatform stabilized control technology.According to the project requirementsin my laboratory, this paper designs a digitalplatform stabilized control system whose core is based on DSP+FPGAò. In thissystem, TMS320F2812runs as the main chip, and reads out the gyro rate informationand encoder angle information stored in the dual-port RAM inside the FPGA via anexternal bus, and then solves the control law. PWM outputted from DSP is amplifiedby driver and then adjusts the visual axis of the two-axis stabilized platform to achievethe stability of the visual axis. FPGA runs as a co-processor whose main job iscollecting and pre-processing the information of gyro rate and encoder angle.Considering former requirements, this paper works in the following four domains:Starting from Newtonian mechanics, this paper establishes a model of stabilizedplatform control system and analysesthe key factors affecting the stability of the visualaxis and their solutions;This paper takes advantage of methods of classic control theories to get thecontrol systeminitialization parameters and combines them with adaptive PID controlalgorithm-"unfalsified" control, to design a stabilized platform controller.This paper builds the hardware system of a DSP+FPGA dual-core servocontroller, and shows the flow chart of the program and hardware debuggingprocedures.From the simulation and the hardware debugging, this paper gives the simulationresult of the intelligent control and PID control algorithm’s hardware implementation.The experiment result shows that the stabilized platform has an accuracy of4.7mrad insimulation and the visual axis can be steady in hardware implementation. The last part of this paper summarizes the entire servo control system, and points out deficiencies inthe system design.