The Design And Research On Upper Reflector Aim-stabilization Servo System Controller

Upper reflector aim-stabilization system can isolate the disturbance of the vehicle so that the aiming device installed on the vehicle will not lose the target due to the disturbance when the vehicle is moving,ensuring that the aiming device can accurately aim and track the target when the vehicle is still or moving.Based on the existing upper reflector image-stabilization fire control system,the servo controller of the image stabilization system is redesigned to improve the accuracy of the image stabilization system.On the basis of studying a great deal of information about the upper reflector aim-stabilization servo system,the author designed an upper reflector aim-stabilization servo controller based on ARM7 microprocessor,and the servo control algorithm involved in the controller is simulated and analyzed.The main work of this paper is as follows:Firstly,Upper reflector aim-stabilization servo control system is described in general.The composition and stability mechanism of the upper reflector aim-stabilization servo control system are introduced,and the technical specifications of the upper reflector aim-stabilization servo control system are given.Secondly,the simulation control scheme and the possible interference of the upper reflector aim-stabilization servo system are analyzed.On the basis of determining the control scheme of the servo system,the simulation model of each functional module of the servo system have been established,and the disadvantages of the classic PID control algorithm are analyzed,and the application of the nonlinear PID algorithm,the disturbance observer idea and the active disturbance rejection control algorithm are proposed and applied to the design of the servo controller of the upper reflector aim-stabilization system;the disturbance of the servo system is analyzed,and the influence of road roughness on the control accuracy of aim-stabilization system is emphatically considered,which provides a theoretical basis for the follow-up simulation analysis of the upper reflector aim-stabilization Servo system.Then,the design of the hardware and the software of the upper reflector aim-stabilization servo controller is introduced.The hardware circuit of the servo controller includes the minimum system circuit of the microprocessor,the communication module circuit and the motor drive circuit.According to the hardware design of the servo controller for the upper reflector aim-stabilization servo controller,the software programs of each hardware module of the servo controller is given,which provides software solutions for the hardware modules of the servo controller,such as data communication,analog-digital conversion and motor drive.The software programs of each hardware module are tested,and the test results meet the functional requirements of the servo controller.Finally,the servo control system of the upper reflector aim-stabilization is simulated and analyzed;nonlinear PID algorithm,disturbance observer idea and active disturbance rejection control algorithm are respectively applied to the design of the servo controller of the upper reflector aim-stabilization system.and the disturbance isolation performance and robustness of the stabilization system are verified by simulation.The simulation results show that the servo control system based on nonlinear PID algorithm and disturbance observer have high accuracy of the servo system;The servo control system based on active-disturbance rejection control algorithm can effectively suppress the external disturbances of the simulation system,and can also improve the disturbance isolation performance and robustness of the whole control system.