Research On Stability Control Method Of Photoelectric Pod

As the carrying frame of the photoelectric detection equipment,the photoelectric pod can be installed on helicopters,unmanned aerial vehicles,early warning aircraft and other flying equipment to achieve image capture of the target state.Because of its ability to carry photoelectric detection equipment with different functions,it is more widely used in various fields such as the military,police,and civilians.The photoelectric pod is installed outside the body,and the stability of the pod during normal flight of the body will be interfered by different factors such as internal and external factors,which will affect the final imaging effect of the photoelectric detection equipment.In this paper,the stability control method of the optoelectronic pod will be researched on the basis of the stability target of the specific project.First,this article analyzes the interference factors that affect the stability of the optoelectronic pod system,which are model error interference,carrier attitude interference,torque interference,friction interference,and noise interference.The corresponding suppression methods are selected according to the source and characteristics of the interference.This article adopts a double-speed closed-loop stable control structure composed of a motor,a gyroscope,and a photoelectric encoder,in which the inner loop is a speed loop and the outer loop is a position loop.The system is modeled and simulated.At this time,the stability accuracy of the control system is 142?rad.Secondly,in the constant velocity tracking experiment,the speed has large fluctuations,and changing the PID parameters multiple times has no effect on the final result.According to the experimental analysis,there is greater friction between the shafts when the pod system is moving at a lower speed.In order to suppress friction interference,the Lu Gre model is used to identify the friction,and the corresponding friction force is calculated by measuring the movement speed,so as to control the friction.Compensation,the stability accuracy of the control system at this time is 118?rad.Finally,in addition to the interference factors that can be estimated by establishing the model,there are also uncertain interference factors,such as winding torque,wind resistance torque,unbalanced torque,etc.;this article uses active disturbance rejection technology to deal with interference factors that cannot be estimated by the model.Observe and compensate.Finally,the stability accuracy is increased from 142?rad to 45.1?rad,which has met the requirements of stability control,and the method has a simple structure for application in engineering.