Modeling And Control Of Three-axis Self-stable Holder

Self-stable Pan-tilt one of the hot research topics at home and abroad.The stability of high precision Pan-tilt can effectively isolate carrier's disturbance,maintain the stability of the airborne camera visual axis,in obtaining high quality plays an important role on the low altitude remote sensing image.Pan-tilt technology is also widely used in target detection system,missile and the kinetic energy weapons precision guiding systems.The development of high-precision Pan-tilt technology is great significance to our economic and national defense construction.About the three-axis self-stable Pan-tilt,this paper carried out the following research work:(1)Established the mathematical model of three axis self-stable Pan-tilt.Putting three-axis self-stable Pan-tilt as the research object,analyzed its structure in detail,set up ground,carrier,the line of sight and the rotating coordinate system of the system,seed to the Newtonian mechanics principle self-stable Pan-tilt mathematical model is established.(2)Analysis of the three-axis self-stable Pan-tilt various disturbance factors,lay a foundation for subsequent precise control.And the classical PID was used to simulate system.(3)As classical PID controller's structure is simple,cannot meet the demands of the precision of the complex control system,the BP neural network PID control system is proposed.It has strong adaptability,fast response and global optimization ability.The simulation results show that the system has a higher steady precision than classic PID,and the system has no overshoot and adjustment time is short.It can adjust the parameters according to the real-time situation.It has a good effect to the three-axis self-stable Pan-tilt.