Research On Three-Degree-of-Freedom Gyro Stabilization Platform Based On B&R PCC

According to the needs of the actual project,designing a stable platform enables the carrier to be free from external interference during movement,and can track the target in a timely and stable manner.The gyro-stabilized platform with three degrees of freedom is taken as the research object.In this paper,a three-degree-of-freedom gyro stabilization platform based on B&R PCC is designed to achieve a good effect on system control.The three-degree-of-freedom gyro-stabilization platform has extensive applications in navigation,aerospace,aerospace and defense.Firstly,the concept,development level,and domestic and international technology development of the stable platform were introduced.Then,the overall design scheme based on the B&R three-degree-of-freedom gyro-stabilization platform was proposed and the controllers,angle-measuring elements,and motors were selected.Gives a stable platform system hardware wiring diagram.According to the mechanical relationship,the three axis stability platform is mathematically modeled and simulated,and its dynamic relationship and kinematics model are obtained.Simplified conditions are used to simplify the model.The stable platform control model and fuzzy control model are introduced.The fuzzy control rules are set according to the parameters setting rules and membership functions.In order to realize the automatic generation of the code,the stable platform system control model in Matlab/Simulink was imported into the application development software Automation Studio by adding the B&R interface module,which saved the engineering personnel a lot of labor and development costs.A stable platform human-machine control interface(HMI)was designed to easily implement the control system through the man-machine interface.The VNC remote function was introduced and the remote control of a stable platform was easily achieved.The fuzzy adaptive control algorithm is compared with the classical control algorithm.The digital control adjustment time is about 0.45 s,and the system bandwidth is about 14 HZ.The adjustment time of fuzzy control is about 0.35 s,which is1 s faster than the traditional control algorithm.After the fuzzy control is improved,the system bandwidth should be around 21 HZ.The simulation results show that the fuzzy adaptive control algorithm achieves a certain improvement in the adjustment time andsystem bandwidth than the classical control algorithm,which promotes the anti-interference performance and response speed of the stable platform control system are optimized.