Research on Gyro Stabilized and Tracking Platform
|School||Harbin Institute of Technology|
|Course||Control Science and Engineering|
|Keywords||stabilized and tracking platform fiber optic gyro motion servo system|
Gyro stabilized and tracking platform involves several techniques, including optoelectronic sensors, data acquisition and processing, motion control, image processing and so on, which is the organic integration of many subjects. It’s used in abroad field of stabilized sighting system in weapons and so on. Research on the subject has great prospect and practical significance. The paper builds gyro stabilized and tracking platform, which isolates the moving of carrier, meets the stability requirements of line of sight.Firstly, the paper analyzes the structure of motion servo system, and discusses the hardware and software of controller in detail. Servo controller based on computer is formed in the paper, after designing, producing, debugging and realizing of motor control board, programming of interface and motion control program. And then it transplanted in embedded servo controller. And the hardware circuits, software structure, effect of control of the two controllers are compared. The results show that the embedded servo controller remains the original performance.Secondly, the paper designs and realizes of the hardware acquisition and signal conditioning parts based on the characteristics of FOG. The paper analyzes the specialty of data, uses pretreatment and digital filtering algorithms, and compares filtering effects. By analyzing the advantages and disadvantages of each method, it’s showed that FIR filter based of the off-line learning adaptive algorithm is suitable for this system.Finally, based on motion servo system and fiber optic gyro measurement system above, kinds of controllers are used in the test platform to verify the effects, and analysis of results is proposed. On this basis, the issues of multi-axis and tracking are discussed. The results show that the scheme of gyro stabilized and tracking platform is viable.