Research On The Control Strategy Of The Servo System Of A Reconnaissance Vehicle's Stable Platform

At present,there is a big gap in performance of stabilized platform servo system between China and developed countries.Whereas,there is a great demand for high performance stabilized platform servo system.In this paper,the reconnaissance vehicular photoelectric aiming and stabilizing platform servo system is taken as the research object,and the data filtering processing approaches and control strategies of the system are studied elaborately.First,each component of the servo system is introduced in detail while the design of the reconnaissance vehicular photoelectric aiming and stabilizing platform servo system is being conducted as a whole.On this foundation,the dynamic mechanism of the servo system of the reconnaissance vehicular photoelectric aiming and stabilizing platform is analyzed,the mathematical model of permanent magnet synchronous motor is established,and the key nonlinear factors that affect the stability of the visual axis of photoelectric aiming equipment are explored at length.Next,aiming at the drift error contained in the output data of MEMS gyroscope applied in the system,the Allan variance method is used to identify various performance indexes of the gyroscope,and the error model is established.The secondary Kalman filtering method is proposed to filter the output data of the gyroscope,and the MATLAB software is used to simulate and verify the designed filtering algorithm.Then,Active Disturbance Rejection Controller(ADRC)optimized by BP neural network is proposed for the servo system.In view of the difficulty in setting the parameters of ADRC,BP neural network is used to self tune the parameters of ADRC.In order to avoid the deficiencies that BP neural network is easy to fall into local optimum and that the initial value of parameters related to neuron are difficult to determine,genetic algorithm is used to optimize the initial weight and threshold of BP neural network,and MATLAB simulation verification is carried out on the designed controller.Finally,the servo system is mounted on the simulated disturbance platform and the swing platform to test,and the overall control strategies are verified.The results show that the servo system designed in this paper can not only meet the accuracy requirements but also is robustness to some disturbances.