Design Of Airborne Photoelectric Pod Control System

Airborne optoelectronic pod has been continuously developed in recent decades and has become an indispensable technical equipment in the military field.It also plays an irreplaceable role in various civil fields such as transportation,electricity,forestry,police and disaster relief.Pod is integrated electrical,machinery,electronics,communications,optics,control of multiple disciplines for the integration of precision equipment,the internal use of gyro sensitive carrier disturbance,feedback pod carrier attitude changes to the controller and processing,by controlling the electric motor to keep the stability of load in inertial space,realize the pod equipment on the target object real-time surveillance,search and tracking function.For airborne optoelectronic pod at work due to the carrier aircraft attitude change,wind force,mechanical friction,uneven quality of many factors such as interference caused by the problem of the stability variation of the control system based on airborne optoelectronic pod as the research object,through the analysis of its stability mechanism,photoelectric payload angular velocity compensation equation is deduced,and established the mathematical model of the pod.The Fuzzy-PID control method based on genetic algorithm(GA)is adopted to improve the stability of the pod.MATLAB simulation results show that compared with conventional PID and FuzzyPID methods,the Fuzzy-PID control effect after GA optimization is more ideal,so that the pod has stronger robustness,so as to meet the pod control technical requirements.On this basis,the control scheme of the pod is designed.DSP+ARM dual CPU is used as the controller of the pod.The pod control system is composed of dc motor,goniometer,gyroscope and power driver.The DSP controller mainly executes the closed-loop control algorithm of position and speed and collects the information measured by each sensor.The ARM controller receives and forwards the serial port protocol data sent by the upper computer.The DSP controller and the photoelectric load are assisted to complete the specified work.Then design the hardware circuits of the pod,such as DSP control board,ARM communication board,gyroscope module,driver module,serial port communication,etc.,and explain the circuit and the selection of some components in detail,and give the corresponding schematic diagram and physical object of each circuit.According to the functional requirements of the pod,the DSP servo control program and ARM serial port communication program are designed by modularization.Finally,the hardware modules and control functions of the pod system are tested according to performance indicators,mainly including serial port communication,PWM signal generation,video image acquisition of visible and infrared cameras,selfinspection,manual,back to zero,gyro calibration work mode inspection,camera mode switch and zoom effect detection.The experimental data show that the performance of each unit of the pod is good,the accuracy conforms to the design index,and the visual axis stability is high,which verifies the feasibility of the control scheme based on DSP+ARM.