基于DSP＋POS的机载稳定平台控制系统设计

为消除机栽姿态角扰动对航空遥感的影响，设计了由横滚和方位组成的两轴稳定平台，该平台通过减振器与载机固联隔离高频扰动，通过伺服控制系统隔离低频扰动，并实时跟踪当地水平面和飞行航线。系统以TMS320F2812为核心微处理器，对POS中MEMS陀螺和欧拉角进行采样，将其采样结果经超前一滞后控制算法输出PWM给直流伺服电机，对平台进行实时控制；针对光轴偏移的问题，提出控制模式切换法，即瞬态工作域采用单闭环速度环控制和稳态工作域采用双闭环位置，速度控制消除了光轴漂移现象。最后给出系统仿真及试飞试验结果，结果表明该平台具有良好的抗扰能力和较强的跟踪能力，满足系统的要求。

Control System of Airborne Stabilized Platform Based on DSP and POS

To eliminate disturbance impact on aviation remote sensing airborne attitude Angle, this paper presents a design of a two-axis stabilized platform composed of roll and yaw. This platform isolates high frequency disturbance by shock absorb- ers and connected with the plane, isolates low frequency disturbance by servo control system, and tracks the local horizontal plane and flight path in real time. This platform uses TMS320F2812 DSP as its core microprocessor, and samples the values of the MEMS gyro and Euler angle, then the result can be changed to PWM by Lead/lag control algorithm, at last send the PWM to DC servo motor, the real-time control is realized. To overcome the problem of optical axis offset, the control mode switching method is presented. The method is that single closed loop speed loop control works in the transient regimes, and double closed loop position and speed control works in the steady regimes. This method can eliminate the optical axis drift phenomenon. The simulative test and real flying experiment are given to demonstrate the good robustness and tracking abili- ty of the designed platform.