Research On Fractional System Modeling And Control Method Of Gyro Stable Platform

Because the gyro stabilization platform can eliminate the disturbance of the carrier motion to the platform and realize the tracking function,it is widely used in the carrier such as artillery,aircraft,missile,it can overcome the interference caused by vehicle engine vibration and stabilize the platform's own nonlinear friction.The disturbance factor has important significance in the national defense industry.In this paper,a vehicle control system based on gyro stabilization platform is designed.The system is composed of a closed loop composed of correction,power amplification,gyroscope and permanent magnet synchronous motor.The motor control is realized by controlling motor motion.The main contents are as follows:First of all,the paper discusses the fractional theory,the discretization of the fractional operator and the numerical implementation,the parameter tuning method of fractional order controller is analyzed.Then,the working principle and the platform structure of the biaxial gyro stabilized platform are analyzed,and the hardware devices such as gyroscope and permanent magnet synchronous motor are analyzed.The whole structure model of gyro stabilized platform system is established,and the current loop and velocity loop are analyzed.In this paper,the fractional.order model of permanent magnet synchronous motor(PMSM)is established by using system identification method.The electromagnetic torque,nonlinear friction torque and mechanical resonance are analyzed theoretically.Finally,the FOPI model of the current controller and the speed controller is designed,and the tuning method of the controller parameters is studied and the system is simulated and compared with the traditional integer order(IOPI)controller.FOPI controller with fractional order is better than integer.order IOPI controller.The innovation of this paper is to establish the fractional model of gyroscope stabilization platform,which makes it closer to the real model,which lays a good foundation for the future research.