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三轴陀螺稳定平台控制系统设计与实现_杨蒲.pdf

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三轴陀螺稳定平台控制系统设计与实现_杨蒲.pdf

15 2 Vol.15 No.2 2007 4 Journal of Chinese Inertial Technology Apr. 2007 1005-6734(2007)02-0171-06 210096 DSP U666.1 A Design and realization of control system for three-axis gyro stabilized platform YANG Pu, LI Qi (Research Institute of Automation, Southeast University, Nanjing 210096, China) Abstract: In view of the requirements of isolating disturbances and stabilizing optical axis of high-precision photoelectric guidance system, a three-axis stabilized platform system centering on the rate gyro was designed. Based on the design process of a TV guidance header, the mechanical structure constitution, main components selection and software and hardware realization were introduced. The disturbance-isolation theory of the stabilized platform was analyzed and the control structure including multiple closed-loops was designed. Each part of the control system was modeled, and then by simplifying their equations, the whole system model was founded and the control method was designed according to the frequency domain analysis method. To eliminate the gyro’s noise signal, a wavelet threshold filter was proposed, which can depress the feedback noise signal effectively a