Research On Control Of Serial Triaxial Stabilized Platform

The main function of the stabilized platforms are to isolate the disturbance of the external movement,provide a stable working environment for the equipment installed on the platform,prevent the loss of the target or positioning error caused by the movement of the carrier,and achieve accurate positioning.Based on the function,stabilized platforms have been widely applied.In this paper,our major work is to design and manufacture a kind of stabilized platform and control system for optical devices of ship light landing system to ensure the optical devices can working normally under complex sea state conditions.Based on the background of the research,development and application of the stabilized platforms,combining with the actual work requirements,this paper proposes a series 3-DOF stabilized platform,which including the overall structural and controller design.In addition,the drive mode and sensor type are selected according to the design scheme.According to the scheme of structure design,the kinematics and dynamics model of the stabilized platform are established.Based on the analysis of the motion law and the stress of the main part,the drive capability of the selected motor is checked.On this basis,the control system model of the stabilized platform is established to analysis the performance of the pitch and roll system.The controller design of the system is accomplished and the parameters of it are tuned.According to the system running function,the hardware circuit of servo driver is designed,including circuit board layout,circuit debugging and et al.The overall workflow and sub-workflow of platform reset,current detection and et al are designed,the code of the software is written through the Matlab/Simulink.The experiment platform is constructed utilizing the dSPACE semi-physical simulation system.The experiment and research on the stabilized platform are carried out,mainly including the system model identification,servo dynamic accuracy,stability and etc.The reliability of controller parameters and dynamic accuracy of the system are validated in the experiment.Through the tuning of the parameters to meet design requirements.Finally,the comprehensive experiment is conducted.In order to simulate the actual sea state the stabilized platform is installed on a swing platform.Thus the debugging of the whole prototype system is finished.