Research On The Follow-up Control Of The Two-axis Stable Platform Of The Detonation Robot

The control of Stabilized platform can make EOD robot take apart bombs easily isolating the interference of carrier.Based on explosive-handling robot platform,studying on the key technology in the design of the platform and verified the reliability of two-axis stabilized platform servo control theory.Firstly based on the requirements for explosive-handling robot,confirming the design requirements,describes the reason why we chose this kind of platform frame construction.Analysis the principle of stable platform and make the type selection and check of all the circuit diagram of the control parts.Focus on modeling of the EOD robot platform system.The system model of single-axis stabilized platform control loop is obtained by using control engineering theory.Taking lead-lag correction for the stabilized system to eliminate the impact of interference torque.Finally making the performance of the system meet the design requirements.Doing a lot of research on control algorithm.Designed an algorithm named Fuzzy neural network PID.Neural Network algorithms can imitate function of neurons,self-learning and massively parallel processing is allowed.Fuzzy logic is based on fuzzy linguistic rules will match experience and vague language rules,solving the imprecise problems in processing system.Focus on the experiment of the stabilized platform servo control of two-dimensional.Design a control system of stable platfonn based on Arduino,produced a kind of real objective,with the limit help of the equipment in the lab,do a research of the stabilized platform servo control.It shows that when gravity deflects with unbalanced torque platform,platform control system can quickly issued a directive to drive motor to balance the unbalanced torque,keeping the load on the platform level.