1、 15 2 S8/ Vol.15 No.2 2007 M 4 Journal of Chinese Inertial Technology Apr. 2007 cI| 1005-6734(2007)02-0171-06 e“d !9 LC 2v 1 2 210096 K1 ;“d y a j1 p !9 q b | jh !9VW% Fa1 q# q LCbs !9 e “dFs ey “d iv sE !9 e Eb |. 25 !9 lo roZErh“ Q |. 24 “d eb kV h“d !9S1 p 6 ? L iHq/ j6 E LL= !4 Lr b 1 o M q DSP
2、e ms | U666.1 DS M A Design and realization of control system for three-axis gyro stabilized platform YANG Pu, LI Qi (Research Institute of Automation, Southeast University, Nanjing 210096, China)Abstract: In view of the requirements of isolating disturbances and stabilizing optical axis of high-pre
3、cision photoelectric guidance system, a three-axis stabilized platform system centering on the rate gyro was designed. Based on the design process of a TV guidance header, the mechanical structure constitution, main components selection and software and hardware realization were introduced. The dist
4、urbance-isolation theory of the stabilized platform was analyzed and the control structure including multiple closed-loops was designed. Each part of the control system was modeled, and then by simplifying their equations, the whole system model was founded and the control method was designed accord
5、ing to the frequency domain analysis method. To eliminate the gyros noise signal, a wavelet threshold filter was proposed, which can depress the feedback noise signal effectively and improve the control precision. The testing results on the equipment show that the gyro stabilized platform system mee
6、ts the presetting performance demands and has higher tracking precision. Many kinds of TV tracking simulation experiments can be implemented in the laboratory, and this provides real and effective data for the development of practical equipments. Key words: stabilized platform; rate gyro; DSP; servo
7、 control j !T8 s “S “ Es1TbfVs? b E y Y8 S) (|/ jh“d |m b / .E “Sm j6 ?TyN Hq/ b m j“dB1o5b o bWp+ r 8o“dY j V i61b1 7? l jh 8 “d e“d !9 3 LCb L= kV “d ? y h“ z ?b !9 j6“d98 !91 p 1 v V L H h l 20060508 20070206Te 1977i 3 p V 3 1Z_ 6 e“da ? ea M eb E- “ 1963i 3 qp V 3 =b E-mail liq_172 S8/ 2007 M 4
8、j h “S y 6b LC?1? O TV8 O Tb m 1 U bW M“dT H O q V4 - 1Z_ s i y rrppaa = = = b“L P OaZZ_ ( ,h“ 8 “dY S jb e“d !9 e“dZa aO Os“dFb s“d eM m 2Ze“dmb V “d ?Tab.1 Performance of different kinds of platforms Z T Z T Z T l ! % ! s 7 ( = eX 2 l y z f /1 v H FM 4 l 4 ha a qZ O+ j 120 mm80 mm30 mm9 2.5 kgb V9
9、 Z 9 0.012 kgm2/sV7 | 60LY008H T 0.3 Nmb q B8 b Y f / s E q E ZE6- “ bW5 “ bW bZ KT-H 1A174 S8/ 2007 M 4 q b 8l e 0 V L1/ sO q 0.003 (o)/s S 0.003j120 (o)/s HWl 30 sb “dq LC6 e“dq1 ea e a q a e e“dq)b DSP e TI 3 DSP TMS320LF2407 CPUcr 32KB FLASH i% 192KB V Zi% H = 10 ? ADC HW ?r 500 ns V4r16 E bN Yq
10、5 vEVMdL LC 3 eb eqF m m 3 Ub . q DSP e g ZgRAM j m6 vY lm6 v. “S |b1 %B5 % ) B HWg RAMB bW f b5E % ) t+ S3TX SX |Sb L B ) YVSSVb eYV RS-232 1 g e Y LC “aA U ib DSP e = Bs1 g UARTyN q SN75LV4737A RS-232 UART b e1 e O DSP =c Yq5 v 6 PWM| yN EVMA sY eO EVMB B eZb“d z q ST ? q z L6032b DMOS/ B q z“ TTL
11、Y g?ZL e gbN w CC“d H B PWM e T“ P w H9 ,7 Oa zM w VBM VP? 3 hl b “d q LC e“d DSP TMS320LF240X 7?I1 a01 gYxpl+sb“d1 e“d SYVg RAM | 1 j m6 v e E e q? 7iTM ) b0 HB H= HB 50 ms 3BQ l1 a 16 7 H= 20 ms 3BQ1“) O b !9 0; 9+ yb A B YaC i Sb+ y y 5)a 3*$ 3* 8 b“d H= Vu9 V 3* HB HB ? 3* H= b |) q T Q q erT1oB
12、7 | s1 6“d / “d LCBrZEb L=W% “d !9 LCi| lh !9“d !9a e“d qa !9a|) 1os W%sb“d kV q “d h !91 pr z ? ! 7?4 B*rZEb ID References 1 Walter R, Danny H, Donaldson J. Stabilized inertial measurement system(SIMS)J. Proceedings of SPIE, 2002, 47(24): 5768. 2 . j“d j6/ J. / 20021(1) 34-38. WU Jin-zhong. Optical
13、 axis stabilization and tracking technology of TV guidance systemsJ. Tactical Missile Technology, 2002, 1(1): 34-38. 3 WANG Hai, REN Shun-qing, WANG Chang-hong. Research on identifying the dynamic error model of strapdown gyro on 3-axis turntableJ. Journal of Harbin Institute of Technology, 2005, 12
14、(6): 630-640. 4 U? + . . C e/ # “d !9 M. b . EN / 8“d q k J. 9 / 2003(3) 34-36. LIU Fang, CHEN Ming, LUO Xing-win, etc. The application of virtual instruments in the software test of strapdown inertial navigation systemJ. Computer Technology and Application, 2003(3): 34-36. 3 . CPLD“d !9/ M. 0 W . 8“d_ !9 J. S/ 2004(7) 40-42. LIU Zhu, CHEN Qin, GAO Wei, etc. Design of strapdown inertial systems emulatorJ. Applied Science and Technology, 2004(7): 40-42.
