The Design And Implementation Of Two-DOF Servo Stable Platform

In this paper,a ship-borne projectile miss distance radar system is taken as the research background.When the ship is disturbed by ocean waves and sea breeze,its attitude will change,which will affect the stability and reliability of the data of the Ship-borne Radar to detect the miss distance of the projectile.The radar installation base must be installed in a stable level which can isolate the disturbance of the carrier to ensure the radar base coordinate system is stable relative to the inertial coordinate system.Based on this requirement,this subject takes the two-degree-of-freedom servo stabilized platform as the object,and completes the overall design,scheme demonstration,engineering design and inspection acceptance test.Firstly,the isolation equation of the self-stabilization principle of the stabilized platform is deduced,and the structure design of two-dof stabilized platform with parallel structure is introduced,then the compound control structure suitable for this topic is proposed by analyzing the steady-state error.Secondly,based on the design index,the key parts and components such as mechanical transmission parts(electric cylinder and motor),inertial measurement(attitude instrument and gyroscope)and control system parts(servo driver,motion controller and control box)are selected according to the parallel structure scheme and servo control structure,andcompleted the design and selection of hardware in the project design.Then,starting with the overall control structure,the current loop,speed loop and position loop are corrected and analyzed,and the correctness of hardware selection in engineering design is verified theoretically by the overall simulation of the system and the precision analysis of Engineering practice.Based on the design concept of software parameterization and modularization,the software is developed according to GJB5000 A software development standard.The software realization of data acquisition,CANopen bus communication and PIcompound control algorithm program is introduced respectively,and the design of software part in engineering design is completed.Finally,the error analysis of the data measured by the two-dof servo stabilized platform on the rocking platform and on the actual sea condition ship is carried out,and the work of this subject is summarized and the direction of further research is put forward.