| The photoelectric pod is a kind of airborne device which can carry infrared detection equipment,it also has the ability to suppress carrier interference,and has the functions of stable tracking and target detection.Due to the special working environment,during use,the photoelectric pod is susceptible to external interference such as carrier shaking and air friction,which will affect the imaging accuracy of the detection equipment.In severe cases,it will cause blurred imaging of the detection equipment.Therefore,the isolation of the photoelectric pod needs to be improved.Carrier disturbance ability,so as to improve the accuracy and working efficiency of the detection equipment.This paper takes the design and development of a certain photoelectric pod servo control system as the research background,firstly expounds the functional requirements and performance requirements of the servo control system,secondly according to the system requirements,the overall design of the servo control system is proposed,and then isolates the carrier from the system disturbance the capability was studied,and the software design and development of the control system DSP software and hardware debugging were completed on the basis of the foregoing content,which verified the feasibility of the pod servo control system scheme design.The main contents are as follows:(1)According to the development requirements of the system,the overall design scheme of the photoelectric pod servo control system was formulated.The load calculation of the system was completed,and the selection of the main components of the system was determined based on this.The design scheme of the hardware circuit of the system was given.(2)Based on the overall design of the photoelectric pod servo control system,the system is modeled,and the performance of each loop of the system is simulated and analyzed according to the loop control principle of the motor.In the simulation tool matlab,the proportional-integral controller is used to adjust the loop performance.Then,based on the definition of isolation,the isolation of the system was modeled and analyzed,and a method for testing the isolation of the system without a swinging platform was derived.(3)The influence of gyro noise on system performance is analyzed.First,collected the gyro data used in this system and analyze the system noise from the perspective of power spectral density,then used the arithmetic mean filtering method to compensate the gyro noise,so as to reduce the effect of gyro noise on the system isolation.Finally,through simulation methods the compensation method of gyro noise is verified.(4)The photoelectric pod servo control system needs to have the ability to suppress carrier interference,so the stability mechanism of the pod servo control system is analyzed,and the carrier disturbance compensation formula is derived using the directional cosine method.A brief overview of the PID control algorithm used in the system is given.And according to the requirements of the servo control system,the system DSP software development was completed using the idea of sub-module design.The design and development of the DSP software initialization module,self-check module,and function module of the control part and the development of the driving DSP software are completed.(5)Based on the software and hardware development,the system was debugged through experiments,the selection of the PID control parameters of the three loops of the system was completed,and the functional design of the system was tested.Finally,the rationality of the control system scheme design was proved. |
