多功能MEMS稳定平台实验仪设计
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摘要
稳定平台是一种具有稳瞄稳像、目标跟踪、防抖隔震等功能的测试仪器,它包括角速率测量系统和伺服回路稳定控制系统,涵盖自动化、控制、电子科学等学科。设计一台多功能微机电系统(micro-electro-mechanical systems,MEMS)陀螺稳定平台,主要实现平台的稳定控制功能和转台的测试功能。首先,结合国内外研究现状及稳定平台的应用现状,从稳定平台的陀螺稳定平台和测试转台功能出发,对多功能MEMS陀螺稳定平台进行机械结构设计;然后,结合平台的技术指标,对稳定平台的硬件控制系统进行设计;最后,将平台放置于无磁转台上进行动静态测试。结果表明,平台满足静态下姿态稳定精度1°的要求,验证了所设计的稳定平台各项性能指标的合理性。
Stable platform is a kind of stabilizing on image stabilization,target tracking,image stabilization testing instrument with isolation and other functions. Stable platform includes angular rate measurement systems and servo loop stability control system,and it covers automation and control,electronic science and other disciplines of knowledge. A multifunctional micro-electro-mechanical systems (MEMS) gyro-stabilized platform with the experimental teaching undergraduate background was designed,and its main control functions was to achieve a stable platform and turntable testing. Firstly,based on the current situation of domestic and foreign research status and application of stable platform,the multifunctional MEMS gyro-stabilized platform mechanical was designed to realize the gyro-stabilized platform and turntable function test stable platform; secondly,the hardware platform of stable control system was designed combined with the platform technical indicators; finally,the static and dynamic tests were carried out with the platform placed on the non-magnetic turntable. The results showed that the platform could meet the stabilization accuracy requirements of 1° under static attitude,and this proved the reasonability of the performance indexes of the designed stable platform.
Stable platform is a kind of stabilizing on image stabilization,target tracking,image stabilization testing instrument with isolation and other functions. Stable platform includes angular rate measurement systems and servo loop stability control system,and it covers automation and control,electronic science and other disciplines of knowledge. A multifunctional micro-electro-mechanical systems (MEMS) gyro-stabilized platform with the experimental teaching undergraduate background was designed,and its main control functions was to achieve a stable platform and turntable testing. Firstly,based on the current situation of domestic and foreign research status and application of stable platform,the multifunctional MEMS gyro-stabilized platform mechanical was designed to realize the gyro-stabilized platform and turntable function test stable platform; secondly,the hardware platform of stable control system was designed combined with the platform technical indicators; finally,the static and dynamic tests were carried out with the platform placed on the non-magnetic turntable. The results showed that the platform could meet the stabilization accuracy requirements of 1° under static attitude,and this proved the reasonability of the performance indexes of the designed stable platform.
引文
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[2]吴树平.车载三轴稳定平台控制系统的研制[D].南京:南京理工大学,2007.WU S P.Development of vehicle three-axis stable platform control system[D].Nanjing:Nanjing University of Science and Technology,2007.
[3]HILKERT J M.Inertially stabilized platform technology concepts and principles[J].Control Systems,IEEE,2008,28(1):26-46.
[4]MASTEN M K.Inertially stabilized platforms for optical imaging systems[J].Control Systems,IEEE,2008,28(1):47-64.
[5]徐诚.车载移动卫星天线稳定跟踪系统设计及实现[D].南京:南京航空航天大学,2010.XU C.Design and implementation of vehicle mobile satellite antenna stability tracking system[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2010.
[6]陈静媛.激光陀螺捷联惯导系统数据采集电路的分析与实现[D].哈尔滨:哈尔滨工程大学,2008.CHEN J Y.Analysis and implementation of data acquisition circuit for laser gyro strap down inertial navigation system[D].Harbin:Harbin Engineering University,2008.
[7]张智刚,罗锡文,张亚娇,等.适用于SGT320E型三轴多功能转台的多串口数据同步采集[J].计算机测量与控制,2014,22(7):2270-2273.ZHANG Z G,LUO X W,ZHANG Y J,et al.Multi-Serial data synchronous acquisition for SGT320E three-axis multi-function turntable[J].Journal of Computer Measurement and Control,2014,22(7):2270-2273.
[8]蒋鹏.抗高过载微惯性测量单元设计与分析[D].南京:南京理工大学,2017.JIANG P.Design and analysis of anti-high overload micro inertial measurement unit[D].Nanjing:Nanjing U-niversity of Science and Technology,2017.
[9]胡士峰,马建仓.基于MEMS陀螺和加计的微惯性测量单元研制[J].航空计算技术,2008,38(6):115-118.HU S F,MA J C.Development of micro inertial measurement unit based on MEMS gyro and addition[J].Journal of Aerospace Computing Technology,2008,38(6):115-118.
[10]LI H X,ZHANG L,CAI KY,et al.An improved robust FUZZY-PID controller with optional fuzzy reasoning[J].IEEE Transactions on System,Man and Cybernetic,2005,35(6):1283-1294.
[11]赵志方,常佶.基于MEMS和CORTEX-M3的微惯性测量单元研制[J].微计算机信息,2011,27(7):75-76.ZHAO Z F,CHANG J.Development of micro inertial measurement unit based on MEMS and CORTEX-M3[J].Journal of Microcomputer,2011,27(7):75-76.
[12]许德新,何昆鹏,梁海波.MEMS惯性测量组件的温度误差补偿模型研究[J].哈尔滨工程大学学报,2010,31(5):607-613.XU D X,HE K P,LIANG H B.Research on temperature error compensation model of MEMS inertial measurement unit[J].Journal of Harbin Engineering University,2010,31(5):607-613.
[13]邓科,丛爽,孔德杰,等.陀螺稳定平台中速度环的非线性实验建模[J].系统工程与电子技术,2013,35(4):807-811.DENG K,CONG S,KONG D J,et al.Nonlinear experimental modeling of velocity loop in gyro stabilized platform[J].Systems Engineering and Electronics,2013,35(4):807-811.
[14]潘帅,杨奕,陈丹丹,等.基于干扰补偿的稳定平台控制系统设计[J].机械设计与制造,2018(1):22-25.PAN S,YANG Y,CHEN D D,et al.Design of stable platform control system based on interference compensation[J].Mechanical Design&Manufacture,2018(1):22-25.
[15]邝平.双轴稳定平台控制系统设计及控制算法研究[D].南京:南京理工大学,2016.KUANG P.Research on control system design and control algorithm of two-axis stable platform[D].Nanjing:Nanjing University of Science and Technology,2016.
[16]左婷.模糊PID控制中模糊控制规则的获取方法[D].长春:东北师范大学,2010.ZUO T.Method for obtaining fuzzy control rules in fuzzy PID control[D].Changchun:Northeast Normal University,2011.