Research On Servo Control And Line Of Sight Stabilization Technology Of Border And Coastal Defense Patrol Vehicle-mounted Opto-electronic Stabilized Platform

The opto-electronic stabilized platform is a servo system mounted on a moving carrier.The platform is equipped with ground or air detection devices,such as cameras or infrared thermal imagers,for tracking ground or air targets.When the attitude Angle of the carrier changes,the platform can isolate the interference movement of the carrier and ensure that the detection equipment always points to the target.In recent years,the opto-electronic stabilized platform has been developed rapidly and is widely used in airborne,shipborne and vehicle-mounted weapon systems,missile and arrow guidance and other military fields,as well as in space telemetry,public security fire protection,environmental monitoring and other civilian fields.It is a complex system integrating light,machinery and electricity.In this paper,a two-axis and four-frame border and coastal defense patrol vehicle-mounted opto-electronic stabilized platform is taken as the research object.Based on theoretical and experimental analysis,the stability mechanism,system modeling,control strategy and servo control system implementation of the platform are studied in depth.Firstly,the mechanism of border and coastal defense patrol vehicle-mounted optoelectronic stabilized platform is studied.The system composition and frame structure of the platform are summarized,the working principle of the two-axis and four-frame platform is studied,and the installation mode of rate gyro is determined.On this basis,the mechanism of the platform is analyzed,including the working principle,coordinate transformation relationship,isolation mechanism of carrier disturbance,etc.,and the speed stabilization loop,position following loop and line of sight stabilization loop control model of the composite frame are analyzed emphatically.Secondly,the measurement noise of MEMS gyro is filtered and controlled.By analyzing the power spectral density of gyro noise signal,the source of noise and its influence on system performance are determined.The time series method was used to model the pretreated gyro data,and the Kalman sliding mode filtering control algorithm based on dynamic model was proposed.The filtering effect of the system was tested by simulation experiment and the statistical characteristics of the data were analyzed.Thirdly,the disturbance suppression strategy of visual axis stabilized system is studied.A mathematical model is established for the main units of the line of sight speed stabilization loop of the platform,and the control model of the line of sight speed stabilization loop is studied.The stability accuracy of optic axis and disturbance isolation degree of the system are analyzed.In the design of the correction link of the speed stabilization loop,the active disturbance rejection control strategy of RESO based on leader-lag correction is studied and simulation experiments are carried out.Finally,the experimental device of two-axis and four-frame border and coastal defense patrol vehicle-mounted opto-electronic stabilized platform is developed and its servo control system performance is tested.The main components of the servo control system were selected,and according to the working mode of the photoelectric stabilization platform,the hardware circuit of the servo control system was designed with GD32 as the core controller,and the software test of the servo drive system was carried out through Keil5 platform.The stability accuracy test and simulation tracking test of the opto-electronic stabilized platform control system are carried out on this experimental device.The experimental results verify the effectiveness of the control mechanism analysis and servo controller design of the border and coastal defense patrol vehicle-mounted opto-electronic stabilized platform in this paper.