移动载体稳定平台的控制算法研究与仿真

摘要

In order to eliminate the influence of carrier motion and interference torque, we use the chip of STM32F103VBT6 as the central control of the stabilized platform servo system in this paper. And we also describe the structure, main components selection, and the realization of the hardware and software of the platform in detail. According to the traditional control algorithm based on the velocity loop and position loop which the inaccurate measurement of controlled object model and the characteristics of the system itself is susceptible to interference, we search for an control method which based on variable structure control. The simulation results show that the system can effectively solve the problem of the inaccurate controlled object model, and has better stabled precision and response speed.%为了消除载体运动和干扰力矩的影响，文中以STM32F103VBT6芯片作为双轴稳定平台控制系统的控制核心，详细介绍了该稳定平台的结构组成，主要元器件的选型以及软硬件的实现。并针对传统的基于速度环和位置环的控制算法中，被控对象模型的不可精确测量以及系统本身特性易受干扰的不足[1]，采用了基于变结构控制的控制方法。仿真结果表明，该系统能有效地解决实际被控对象模型不准确的问题，并拥有更好的稳定精度及响应速度，达到了设计要求。