【摘要】：在航天、航空等行業(yè)迅速發(fā)展的帶動下，導航系統(tǒng)進入了快速發(fā)展的階段。穩(wěn)定平臺是影響導航系統(tǒng)功能實現以及導航精度的重要組成器件，在現代導航系統(tǒng)的發(fā)展中起到了重要作用。傳統(tǒng)的穩(wěn)定平臺控制方法以模擬電路實現為主，存在體積大、成本高、故障頻繁等缺陷，已經不能滿足現代控制系統(tǒng)對于系統(tǒng)小型化、穩(wěn)定性以及復雜控制能力的要求。在高性能數字芯片迅速發(fā)展的帶動下，數字控制系統(tǒng)代替模擬系統(tǒng)成為主流。現階段，國內大部分穩(wěn)定控制系統(tǒng)的控制芯片為定點型芯片，其浮點運算能力有限，運用浮點型DSP可以提高算法的計算精度，顯效舍入現象，更有利于提高系統(tǒng)的穩(wěn)定精度。 本文根據光電穩(wěn)定平臺系統(tǒng)精度要求，設計了一種基于彈載光電穩(wěn)定平臺控制系統(tǒng)的整體方案，包括光電穩(wěn)定平臺機械結構設計和光電穩(wěn)定平臺控制系統(tǒng)設計，并分析轉動慣量、機械諧振對于系統(tǒng)的影響，完成系統(tǒng)關鍵器件的選型；建立光電穩(wěn)定平臺廣電穩(wěn)定平臺系統(tǒng)數學模型，設計了一種光電穩(wěn)定平臺系統(tǒng)的數字PID控制器，并通過仿真驗證了該數字PID控制器的有效性；對光電穩(wěn)定平臺系統(tǒng)的性能進行分析，驗證本文設計的光電穩(wěn)定平臺系統(tǒng)具有搜索、跟蹤以及空域穩(wěn)定功能。 針對摩擦力對光電穩(wěn)定平臺系統(tǒng)低速性能的影響，建立并分析了影響光電穩(wěn)定平臺系統(tǒng)的摩擦力模型；分析了抑制摩擦力的方法并設計了基于多環(huán)路方式和前饋補償方式的摩擦力抑制方案。仿真結果表明，該抑制方案能夠有效地克服摩擦力矩的影響。 設計并實現了一個基于DSP的光電穩(wěn)定平臺系統(tǒng)的硬件系統(tǒng)，，設計并完成了光電穩(wěn)定平臺系統(tǒng)的軟件部分。最后，制作了一套光電穩(wěn)定平臺控制板作為驗證板，并通過實驗驗證光電穩(wěn)定平臺系統(tǒng)的性能。實驗結果表明，本文設計的光電穩(wěn)定平臺系統(tǒng)響應迅速、定位準確、隔離擾動能力比較強，符合整體設計要求。
[Abstract]:With the rapid development of aerospace, aviation and other industries, navigation system has entered the stage of rapid development. The stable platform is an important component of navigation system, which plays an important role in the development of modern navigation system. The traditional stable platform control method is based on analog circuit, which has many defects, such as large volume, high cost and frequent faults. It can not meet the requirement of miniaturization, stability and complex control ability of modern control system. With the rapid development of high performance digital chip, digital control system instead of analog system becomes the mainstream. At present, the control chip of most stable control systems in China is a fixed-point chip, and its floating-point operation ability is limited. Using floating-point DSP can improve the calculation accuracy of the algorithm, obviously rounding phenomenon, and is more conducive to improving the stability accuracy of the system. According to the precision requirement of the photoelectric stabilization platform system, this paper designs a whole scheme of the control system based on the electro-optical stabilization platform, including the mechanical structure design of the photoelectric stabilization platform and the control system design of the photoelectric stabilization platform. The influence of the moment of inertia and the mechanical resonance on the system is analyzed, and the selection of the key components of the system is completed. The mathematical model of the electro-optical stabilization platform radio and television stabilization platform system is established and a digital PID controller of the photoelectric stabilization platform system is designed. The effectiveness of the digital PID controller is verified by simulation. The performance of the optoelectronic stabilization platform system is analyzed, and it is verified that the optoelectronic stabilization platform system designed in this paper has the functions of searching, tracking and spatial stability. Aiming at the influence of friction force on the low speed performance of optoelectronic stabilization platform system, the friction model of optoelectronic stabilization platform system is established and analyzed. The friction suppression method is analyzed and the friction suppression scheme based on multi-loop and feedforward compensation is designed. The simulation results show that the proposed scheme can effectively overcome the influence of friction moment. The hardware system of the photoelectric stabilization platform system based on DSP is designed and implemented. The software part of the photoelectric stabilization platform system is designed and completed. Finally, a set of photoelectric stabilization platform control board is made as the verification board, and the performance of the photoelectric stabilization platform system is verified by experiments. The experimental results show that the optoelectronic stabilization platform designed in this paper has the advantages of rapid response, accurate positioning, strong ability of isolating disturbance, and meets the requirements of the whole design.
【學位授予單位】：哈爾濱工程大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TN966;TP368.1

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