Research On The Control Technology Of Airborne Multi-frame Stabilization Platform

Multi-frame stabilized platform is a kind of equipment that installed on a moving vehicle, which can ensure relatively constant within a certain range of space position that the objects install on it, or makes it meet the requirements of the preset adjustment when it under a certain torque and interference. Multi-frame stabilized platform is used for tracking the targets on the ground or in the air. The stable movement tracking platform can isolate the carrier interference to make sure the track detection device tracking the target accurately and quickly when the attitude angle of carrier changes.With the development of the optical, mechanical, electrical technologies and so on, the stabilized platform with two-axis and four-framework also has been developed rapidly, which has become increasingly widespread in the military and civilian aspects. The mainly using for military aspects is the unmanned aerial vehicles, the carrying platform guidance of weapons systems, missile guidance, etc. The mainly using for civilian aspects is monitoring of environmental, telemetry of space, security and fire of public, etc. Taking a type of stabilized platform with two-axis and four- framework as the object of this study, and using the method from theory to practice to discuss the principle of platform, the model of platform, the control strategy of platform and the control system of platform.Firstly, the principle of a stabilized platform with two-axis and four-framework are analyzed with the factors that affecting the stability of visual axis of stabilized platform with two-axis and four-framework. And then proposing several methods of visual axis stabilized according to the corresponding factors such as overall stability, optical stabilization act, electronics stabilization act, momentum and stable method followed by multi-frame analysis of the working principle of a stable platform. The equation of two four-axis kinematic is launched according to the coordinate frame platform stable relationship, while isolating the carrier disturbance theory analyzes.Secondly, the functional requirements for the stabilized platform with two-axis and four- framework is analyzed and designing the corresponding servo control loop. Researching the loop control system of the stabilized platform with two-axis and four-framework such as the rate stabilization loop and automatic tracking loop and position servo loop, and focuses on analyzing the multi-frame automatic tracking circuit. While the control elements of the loop constituent were modeled.Again, the factors that affect the stability and accuracy of the stabilized platform with two-axis and four- framework is analyzed, analyzing the rate stabilization loop structure and proposing the FAKPID Control Act which improving the steady-state performance and robustness of the system. While the automatic tracking loop and position servo loop correction aspects were studied and design the corresponding designer.Finally, we developed the prototype against to the stabilized platform with two-axis and four- framework, and introduce the components of hardware of the prototype. At the same time, we verify the correctness of this study through the experiments of the four stable platform control system.