Design And Analysis For The Control System Of Image Stabilization Platform

Image stabilization platform is a stable platform based on electronically controlled signals,which can be used to carry high precision optical instruments to realize a wide range of monitoring,communication and detection functions.It's because the motion of the carrier and other external disturbances can easily interfere with the posture of the image stabilization platform that the stability of optical instruments will be affected,it is necessary to study the control system of the image stabilization platform.In this thesis,the vehicle image stabilization platform is taken as the control object.In order to realize the functional requirements of high precision positioning and stable following motion of the image stabilization platform,the control system of the image stabilization platform is analyzed and designed.Firstly,the control architecture of image stabilization platform system is analyzed based on the background of vehicle application in this thesis.In order to meet the two-degree-of-freedom positioning and following motion function,the structure and working principle of image stabilization platform with two axes and two frames are studied.The overall control scheme of image stabilization platform is designed,and the high precision direct drive scheme based on permanent magnet synchronous motor is proposed.In order to meet the demand of following motion stabilization control,the dynamic model of two axis and two frame image stabilization platform is analyzed,the following motion control method of image stabilization platform is studied.Aiming at the phenomenon of rigid impact and high-frequency rate disturbance under vehicle operating conditions,the motion planning design is carried out,and the compound servo control strategy is put forward,which realizes vibration reduction at high frequency and stable tracking at low frequency through position loop parallel speed loop.Secondly,in order to meet the requirements of high integration,the drive and control system of image stabilization platform is analyzed and realized.Aiming at the driving requirement of image stabilization platform system with low speed,large torque and stable output,the vector control model and space voltage vector pulse width modulation technology are analyzed,and the PID compound control method based on vector control is proposed.Aiming at the demand of drive control integration and high current drive capability,the system of drive control integration is analyzed,and the key circuit processing are expounded.In order to meet the realtime control requirements of the drive control system,the real-time processing method of the control system is studied.A hierarchical real-time software architecture composed of hardware layer,functional module layer and framework layer is proposed.The initialization of system parameters,storage layout and multi-task scheduling are studied and designed.Finally,the experimental platform is built,the test of the hardware performance and the whole system control ability are carried out.The experiment verifies that the image stabilization platform control system studied in this thesis meets the performance design of signal processing and servo drive,and the related performance indicators of the whole system meet the project requirements.