The Design Of Two-axis Stabilized Platform Control Algorithm Based On MEMS Gyro

MEMS is the fine processing technology that can achieve a small size,cost-effective micro sensor.It is a modern information technology constantly updated on the basis of continuous improvement of technology.Currently,the cro-inertial sensors attract more and more attention in the field of inertial navigation all over the world and have been applied to the stability and targeting areas.In this paper,the MEMS gyroscope is used as the sensitive component of the space angular rate,It implemented the function of inertial space stability of stable platform.The stable platform system based on MEMS gyro takes MEMS gyro as the sensitive element of the system,which is installed on the platform body and used for the angular rate information of the sensitive platform body.The torque motor is used as the executive element to control the rotation of the platform frame,so as to make the platform body stable relative to the inertial space and isolate the disturbance of the platform base.This paper mainly designs the control algorithm to make the platform meet the requirements of rapidity and stability.Firstly,the MEMS gyroscope is modeled and the related parameters are identified.The sensor filtering algorithm is designed according to the need of the stable platform.Secondly,the stable platform system is modeled and the model parameters are identified by the method of frequency sweep.At last,design the PID control algorithm.Use the PID algorithm for the system's speed and stability.Do simulation of PID algorithm.This paper introduces the design process of the conventional controller,and design the fuzzy control algorithm of the stabilized platform's azimuth frame stabilization loop.And simulation experiment under different input signals is done using the GUI toolbox included in the MATLAB.The simulation results of the fuzzy control algorithm which is designed meet the design requirements.After that,the characteristics of the error curve and the cause of it are analyzed.Then,the relevant theoretical knowledge of adaptive control and the design process of its controller are introduced.The Narendra adaptive control algorithm mainly for the stabilized platform is designed,and programmed design and simulation experiments are carried out by MATLAB.While verifying if the performance of the designed adaptive control algorithm meets the design requirements,the problems and characteristics of the sine tracking curve from the perspective of the effect of control optimization are also analyzed.