High-precision and large-load control system and method of three-axis inertially stabilized platform for airborne remote sensing

Abstract

The invention provides a high-precision and large-load control system and method of a three-axis inertially stabilized platform for airborne remote sensing. The system comprises a DSP (digital signal processing) control unit, a PWM (pulse-width modulation) power drive unit, an interface circuit, a signal acquisition unit, an inertial device, an encoder and a direct current (DC) torque motor. The method comprises the following steps: acquiring data such as the attitude angle and angular speed of frameworks relative to an inertial space, coil current and relative corners among the frameworks through the signal acquisition unit; transferring the data into an internal register of the DSP control unit through the interface circuit so that the data is read by the DSP control unit; taking the data as signals to be input into the DSP control unit, and generating PWM controlled quantity by adopting a three-loop (a current loop, a speed loop and a position loop) compound control algorithm; and transferring PWM signals into an energy conversion circuit of an H-bridge DC motor through the power drive unit so as to drive the DC torque motor to change with reference instructions, and finally realizing active control of the inertially stabilized platform. The high-precision and large-load control system and method provided by the invention have the advantages that control precision and loading capability of the system are improved, the control algorithm is completed, and diversity and intellectualization of a platform operating mode are improved.

Description

technical field [0001] The invention relates to a high-precision and large-load aerial remote sensing three-axis inertial stabilization platform control system and control method, belonging to the field of high-resolution aerial earth observation systems, and can be used for three-axis inertial stabilization platforms with large load-carrying ratio and high stability requirements Independent and autonomous control, especially suitable for light and high-resolution aerial remote sensing inertial stabilization platform. Background technique [0002] The inertial stabilization platform is a necessary equipment for realizing high-resolution earth observation. It can effectively isolate the disturbance and non-ideal attitude movement of the flight platform, so that the observation load's boresight pointing and heading always maintain inertial space stability. At present, the representative foreign products are PAV30 and PAV80 of Swiss Leica Company, while domestic related researc...

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Problems solved by technology

First, the control scheme adopts dual-loop slave control without current loop control, which cannot overcome the impact of power supply voltage and load fluctuation on the system and the problem of excessive current. At the same time, the motor control torque ripple is large and cannot be suppressed; second , the control accuracy of the system is low, which cannot meet the needs of actual aerial survey, and the load capacity is poor, so it cannot be applied to large load occasions; thirdly, the control unit adopts DSP+FPGA solution, and FPGA is only used for encoder signal acquisition and PWM signal generation, not only increases cost and power consumption, but also FPGA needs to occupy valuable bus resources of DSP, which is not conducive to the real-time and rapidity of control algorithm execution, and is also a waste of resources for FPGA; fourth, the existing working mode It is still not perfect, and there are still many inconveniences in practical applications. First, it does not have a manual mode, which cannot solve the problem of arbitrary manual control. Secondly, the setting value of the heading and attitude in the combined mode still requires the host computer to send commands frequently, which is cumbersome and not conducive to Actual operation

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