Research On Control Technology Of 3 DOF Stabilized Platform

Stabilized platform is a kind of special equipment, using computer and special physical equipment as a tool, control theory, similar principle, system technology and information technology as a basis, used by the instruments and equipment as stable working platform.Stabilized platform is widely used in the field of aviation, aerospace and transportation because it’s merits such as good control performance, no damage, safety, no weather conditions limits and environmental constraints, etc. In this paper, in order to overcome the disadvantageous of low bearing capacity, low the structure stiffness, low precision and poor stability when the stable platform working in the small angle and the rotational speed .On the basis of the structure of parallel platform, the design of mechanism, control system, modeling and simulation, control system and so on has been detailed analysis and experimental research.In this paper, firstly analyze the meaning of design and development of stabilized platform,according to the characteristics of the stabilized platform and its servo system, introduces the stabilized platform, parallel platform, the servo control about its development history, present situation and development trend. Summarizes the key technology of stabilized platform.According to the characteristics of the mechanism and system requirements,Stable platform structure scheme and control scheme is designed.According to the structure of the stabilized platform design, finish the Kinematics simulation, servo control simulation and optimizing the controller of the system. According to the control system hardware design. Completed designing the system drive circuit, decoding circuit and other circuit work, the chip power consumption and power device heat dissipation problems are analyzed in the design.After the simulation and analysis of the system,the prototype of the drive is made and debugged. On the basis of hardware, software is detailed design, completed the PC and the driver program and the control system security protection design. Based on DSpace semi physical simulation platform, driving system has been the experimental study. Improved control algorithm according to the characteristic of analysis system. Based on the prototype,the performance of the system is verified by the experiments.