The Research Of Stabilized Platform Control Algorithm

The stabilized platform is a servo system with isolation disturbance and tracking function.It is used in national defense equipment,aviation and space flight,industrial production and civil facilities because of its unique function.As the core of stabilized platform's isolating disturbance and stabilizing operation,the control algorithm is directly related to the responding speed and accuracy of the platform servo system.Therefore,the control algorithm of the stabilized platform has considerable practical significance in the current background of the development of high technology.Aiming at the problem of control algorithm of the stabilized platform,mainly studies of this paper is as follow:Firstly,a biaxial rectangular coordinate stabilization platform based on MEMS micromechanical gyroscope is chosen as the object of this study.This paper clarifies the internal structure and working principle of the stabilized platform.After putting forward the design criteria of stabilized platform based on the stabilized platform performance requirements,the simulation experiments about the uncorrected stabilized loop and the stabilized loop with conventional PID control are carried out.The simulation results show that the two states do not meet the design criteria requirements,so other control algorithms are needed.Secondly,this paper introduces the design process of the conventional controller,and design the fuzzy control algorithm of the stabilized platform's azimuth frame stabilization loop.And simulation experiment under different input signals is done using the GUI toolbox included in the MATLAB.The simulation results of the fuzzy control algorithm which is designed meet the design requirements.After that,the characteristics of the error curve and the cause of it are analyzed.Then,the relevant theoretical knowledge of adaptive control and the design process of its controller are introduced.The Narendra adaptive control algorithm mainly for the stabilized platform is designed,and programmed design and simulation experiments are carried out by MATLAB.While verifying if the performance of the designed adaptive control algorithm meets the design requirements,the problems and characteristics of the sine tracking curve from the perspective of the effect of control optimization are also analyzed.Finally,the fuzzy adaptive PID control algorithm mainly for stabilized platform is studied and designed,and simulation experiments are carried out by MATLAB.The results show the designed fuzzy adaptive PID control algorithm can meet the design requirements.What's more important is that,through the comparison and analysis of the simulation results of the three control algorithms of the stabilized platform,the fuzzy adaptive PID control algorithm of the stabilized platform is better than the other two.