Research And Development Of Control System For Vehicle Mounted Two Axis Stabilized Turntable

The purpose of this paper is to apply the automatic control principle and technology to the physical products,focusing on the mechatronics rotating platform,including the hardware and software design of the servo system of the DC torque motor,the stability function design of the gyroscope,the structural design of the two axis rotating platform,etc.The significance lies in the purpose of using high-precision position and attitude sensors with direct drive motors in special fields to reduce intermediate transmission links and maximize the positioning accuracy of the platform.It can isolate carrier disturbance under transportation or some vibration environment,so that the platform load equipment can stably track the target.It is of great significance in national defense,military industry and other fields.The theoretical method of the research:the permanent magnet torque motor is driven based on the vector control theory,that is,the field oriented control(FOC)theory,and the motor end feedback adopts the resolver for closed-loop control,which has high reliability and adaptability to harsh environment;The space velocity sensor uses fiber optic gyroscope to measure the velocity,and the angle information is obtained by integration for reverse compensation;At the same time,the software and hardware are designed based on ARM platform,including current sampling circuit,speed sampling circuit,interface circuit,power supply circuit,power drive circuit,etc.the three loop control of servo is realized by embedding FOC control program;Through the id=0 control strategy,the classical optimal setting control theory is used to correct the current loop and adapt the speed loop,so as to realize the three loop control and achieve a high-precision position servo system。In this paper,through the structural design of the double axis platform,the selection of key devices and the design of the schematic diagram,the parameters of the current loop and speed loop are optimally adjusted based on the classical control theory,the reverse position compensation is carried out through the data of the gyroscope,the processing of the real object is finally completed,the data is collected,and the stable accuracy is verified.Through the realization of the design work of the principle prototype;It has certain practical significance for the study of theory;In the design work,the actual software,hardware and structure design can not be separated from the guidance of theory,and the theory can not be moved into the actual design work.There are many approximate treatments.