Research On Intelligent Control Algorithm For The Sphere Motion Stabilized Platform

When Shipboard, submarine, high-precision automotive equipment in the process of moving and implement the car emergency surgery in bumpy road, they also need stabilization to improve the stability of precision instruments. According to the requirements laboratory designed the sphere motion stabilized platform, it can guarantee the stable of the stability of platform in geographic coordinate system by measuring the position of the platform, to respond accordingly to isolate interference, it can make the equipment on the platform track the target accurately. This paper conducts a research on the control system of the sphere motion stabilized platform.Firstly, the general design scheme of the sphere motion stabilized platform is described.described.The feedback control mode of the stable platform system based on position loop,speed loop and current loop is determined by the analysis the kinematics and dynamics of the stabilized platform.According to the characteristic of the sphere motion stabilized platform and the limitation of the traditional PID controller, This paper presents a control structure of the sphere motion stabilized platform which is designed based on PID controller optimalized by genetic algorithms. Then use MATLAB software doing simulation experiments for the design of genetic algorithm PID controller system,the simulation results proved that the control structure can improve the dynamics of the system, enhance the ability of inhibiting the external disturbance and reduce steady error.Finally, introduced the hardware and software which are constituted of the sphere motion stabilized platform control system, in terms of hardware the design of the servo controller and the hardware choices of each module was introduced in detail; In terms of software proposed a mixed programming which combines Quarc and Simulink software.Experimental platform to do a experimentally test for the performance of the sphere motionstabilized platform PID control system which is existed,the results show that the sphere motion stabilized platform control system which has been designed can satisfied the request.