| Most of the highway tunnels in China are located in the mountainous,and it is difficult to inspect the tunnel and the task is heavy.Therefore,the use of tunnel inspection robots instead of manual inspection has become a trend.However,there is jitter in the process of inspection robot movement,which will cause the video to be unclear.Image stabilization platform can keep the visual axis stable,so as to obtain clear and stable video images.In this thesis,we study the inspection robot stabilization platform control system,main controller real-time acquisition platform angle and angular velocity,and use the composite control strategy to control the motor,so as to realize the stability of the image stabilization platform and follow the host computer instruction to complete the tracking movement.Firstly,the control mechanism of the image stabilization platform is described.The mechanical structure of platform is designed by using solidworks software.The inertia load of each frame is calculated to determine the torque motor parameters of the platform.The mathematical model of the whole platform control system is obtained by analyzing the transfer function of each module.Studied the composite control strategy and fuzzy switching method combined with gearshift integral PID and fuzzy adaptive control,build Simulink simulation model of the system,the step response,the sine tracking and the self-stabilization simulation experiment are designed to compare the advantages and disadvantages of gearshift integral PID?fuzzy adaptive control and the compound control strategy.Secondly designed the experimental prototype of the platform,analysis the integrated function of image stabilization platform control system,designed STM32 core system,power supply circuit,drive circuit,inertial sensor circuit and the PCB board,complete the main control board PCB board design and welding.To design the software of platform system,for the PLC of the control system,to determine the main controller program flow,write interrupt service function,develop the data communication protocol;for the PC of the control system,using the VS2012 write the PC control software to display the real-time test data and send control instructions.Finally,through set up the experimental test platform to test system performance.Designed the pitch,roll frame stability experiment and azimuth frame tracking experiment,through collection the data of experimental platform standard gyro sensor module,analysis of the experimental data of gearshift integral PID?fuzzy adaptive control and compound control strategy.The experimental results show that compound control strategy has faster response speed and higher accuracy,which satisfies the performance requirements of the system and reached the technical indicators of relying on scientific research project. |
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