Design Of Optoelectronic POD Control System Based On DSP

With the development of UAV industry,the optoelectronic pod has been widely used in power line inspection and other detection fields.Researchers both concerned that how to maintain the stability precision of optoelectronic pod to promote the imaging effect of Photoelectric equipment.In this paper,Auto Disturbance Rejection Control Technology(ADRC)is applied to maintain the high stability precision of the power line inspection photoelectric pod in the harsh environment.In the process of design,many functional devices are selected with design scheme trade-off according to application requirements and environment,such as TMS320F28335 Digital Signal Processer(DSP),IG-500 E gyroscope and 90LYX01 torque motor and so on.The mechanical structure of photoelectric pod adopts the classic two axis and two frameworks to reduce the mechanical vibration from the vehicle.The design of system hardware platform is based on the idea of modular design.Both functional circuits are designed with the Electrical characteristics.According to system function,the system software platform mainly included the host computer data interaction,sensor data acquisition and control algorithm.In order to meet high real-time,the part of sensor data acquisition adopts the interrupt processing mechanism to ensure the ra PID acquisition of data and provides fast and stable data flow for the controller.The host computer data interaction adopts serial asynchronous communication mode to transfer control data for the stability of the data exchange between the control system and the host computer.According to the test of shaking table,the ADRC algorithm works well,can effectively suppress the external disturbances,the stabilization precision can reach 30 ?rad can satisfy the control requirements,and will not influence the running speed of DSP.