Design Of The Control System Of Adaptive Stabilization Platform For Small Ship

When a ship is traveling at sea,it is easily affected by wind and waves,causing the ship to shake,which causes the equipment on the ship to be unable to maintain stability,thereby affecting the normal operation of the equipment.However,small ships are more severely affected by the impact of wind and waves because of their small size and light weight.Therefore,ensuring the stability of shipboard equipment is a problem that we urgently need to solve.As a device that can isolate external disturbances,stabilized platforms can be used on ships to keep shipborne equipment stable.This paper mainly studies from the perspective of model establishment and algorithm design,aiming to design a small ship-borne adaptive stable platform with fast response speed,high control accuracy and meeting system performance indicators.Based on the performance indicators and actual needs of the stable platform,this paper first selects the dual-axis stable platform as the research object,determines the mechanical structure of the stable platform with two axes and two frames,and develops a three closedloop cascade based on current loop,speed loop and position loop Overall control plan.Then a mathematical model was established for the control structure of the stable platform,and the accuracy of the model was verified by simulation.Secondly,the control algorithm for the stable platform is studied.The control algorithm is the core of the stable platform control system.An excellent control algorithm can greatly improve the response speed and control accuracy of the system.This paper first study the principle and design process of classical PID control,fuzzy control,and adaptive control respectively,and then adopt a fuzzy adaptive PID compound control algorithm,and then simulate and verify it through MTALAB,which proved the fuzzy adaptive PID compound control algorithm satisfies the design requirements,and compared with a single control algorithm,the control effect of the compound algorithm is significantly better.Finally,the software and hardware design of the stable platform control system was completed and the system test was carried out.Among them,the hardware circuit is selected based on the best matching degree of system performance indicators.The hardware system is mainly composed of the STM32F407IGT6 main control core,MPU9250 attitude acquisition module,servo motor and its driver and power supply module,etc;the software of the control system mainly completes the control of the hardware circuit,the human-computer interaction interface between the hardware system and the host computer,and the realization of the control algorithm on the basis of the hardware..Finally,the system test results show that the design meets the performance indicators of the system and has a better control effect.