Research On The Control System Of Two-dimensional Follow-up Sliding Table

As the carrier of active protection system,the control performance of two-dimensional servo platform plays an important role in automatic aiming and target tracking control.Compared with the traditional control methods,the intelligent control algorithm can achieve high-precision control effect when the accuracy of the control system model is low.In this paper,a two-dimensional servo control system is designed based on the proactive protection system and neural network PID.Using the cross worktable as the structural basis of two-dimensional servo system,according to the functional requirements of the system,the necessary technical parameters are designed and the overall scheme of the servo system is proposed,which includes the STM32 control module,Manifold module and MEMS attitude measurement module.STM32 control module mainly achieve motor driving,data acquisition and data transmission functions;Manifold module achieve the operation of complex algorithms;attitude measurement module is used to measure launch platform attitude angle.In order to achieve precise control of the servo system,the system uses PID algorithm based on BP neural network,in order to solve the shortcomings of slow convergence and easy falling into local extremum,particle swarm optimization algorithm is used to optimize the PID algorithm which is based on BP neural network,The performance of the optimization algorithm is analyzed through simulation.The results show that the algorithm can obviously improve convergence speed of the algorithm with subgroup optimization,and has the characteristics of fast response and good convergence.In order to solve the problem of complex noise of MEMS attitude sensor,an improved adaptive filtering algorithm is proposed.The algorithm uses the Allan variance formula and the predicting state data of Kalman filter to estimate measured noise,and use Sage-Husa adaptive algorithm to estimate the system noise.Then the extended Kalman filter algorithm is used to calculate the accuracy angle precisely.The test results show that the improved adaptive filtering algorithm is more accurate and effective than the conventional adaptive filtering method to calculate the angle and reduce the jump-error.At last,the basic functions of the designed servo control system are verified through experiments,which can meet the requirements of the control of the launch platform.