Research On Key Algorithms Of Three-axis Inertial Stabilization Platform For Moving Through Antenna

In the rapidly developing information society,communication has become an indispensable part of people's lives,efficient and stable communication is more able to meet human needs.However,in practical applications,carriers such as ships or vehicles may cause the spatial orientation of the carrier antenna to deviate from the target satellite in a sloshing and bumpy motion environment,the measurement error compensation of low-cost MEMS inertial sensor components is insufficient,the data fusion effect is poor,the motor control accuracy is not high,and the response speed is slow,which cannot guarantee normal and stable communication,aiming at such problems,this paper proposes attitude detection algorithm for MEMS inertial sensing error compensation and a fractional-order PID control algorithm for antenna turret motion on a three-axis inertial stabilization platform based on STM32F4 micro-control chip.Among them,the three-axis inertial stabilization platform of the moving antenna includes a miniature inertial attitude detecting system and an antenna turntable motion control system.The main research work and innovation of the thesis are as follows:(1)The measurement error compensation strategy of MEMS inertial sensor is studied.Aiming at the problem that the tilt sensor is susceptible to motion acceleration and affecting the measurement accuracy,the dynamic disturbance acceleration error compensation strategy is proposed for the first time,by giving the reverse equivalent acceleration compensation,the purpose of eliminating the detection error due to the interference acceleration is achieved.The angle data measured by the tilt sensor is combined with the angle data collected by the azimuth rate gyroscope to perform Kalman filter fusion processing to obtain the actual motion attitude angle of the carrier.(2)The motor control algorithm was studied.Aiming at the rotation precision and response speed of the motor step angle control in the antenna rotary motion control system,a fractional-order PID control algorithm is proposed,two adjustable parameters are added on the basis of the conventional PID control algorithm,through the adjustment of five control parameters and the design of the fractional-order PID controller improve the flexibility and control accuracy of the turntable control system.The experimental results show that the attitude detection accuracy is improved by 1.29° by the dynamic inertia acceleration compensation of the tilt sensor compared to the uncompensated miniature inertial attitude detection system.The fractional-order PID control of the motor in the antenna turntable is improved by 6.865 s compared with the conventional PID control,and the other control performance indexes of the system are superior to the conventional PID control algorithm.Therefore,this thesis realizes the efficient and stable communication between the three-axis inertial stabilization platform of the moving antenna and the target satellite during the motion.