Photoelectric load control method based on stabilized platform

Abstract

The invention discloses a photoelectric load control method based on a stabilized platform, and the method comprises the steps: 1, collecting three-axis gyroscope data, three-axis acceleration data and three-axis magnetometer data of a photoelectric load based on a carrier coordinate system; 2, calculating a space attitude angle of the photoelectric load according to the collected data; and step 3, performing cascade feedback control by taking the current loop as an inner loop and the attitude angle as an outer loop, and correcting the space attitude angle of the photoelectric load by adopting a PI lag correction method. According to the method, the attitude angle of the photoelectric load is calculated by using a nine-axis IMU through a quaternion method, and the photoelectric load is controlled to keep a stable state relative to a space load by using a series PI delayed correction method and taking a current loop as an inner loop and an attitude angle position loop as an outer loop; functional requirements of ship-borne optoelectronic equipment, vehicle-mounted optoelectronic equipment or other precision equipment needing to isolate external interference can be met.

Description

Technical field [0001] The present invention belongs to the field of stable table automation control, specifically relates to a photoelectric load control method based on a stable platform. Background [0002] Vehicle-mounted optoelectronic equipment or ship-mounted optoelectronic equipment will be affected by bad weather, road conditions or waves and non-contact unfavorable factors during normal operation, and various interference sports will bring many negative effects to the corresponding equipment. Since the stabilization platform has effective isolation of the interference movement of the external orientation, rolling and pitching, the photoelectric equipment installed on the stable platform can remain stable relative to the geographical coordinate system, or under the action of the relevant instructions, the stabilized object can be moved in accordance with the expected motion law relative to the inertial space movement formulated, so that the related equipment can play a b...

AI Technical Summary

Problems solved by technology

Most of the existing stable platforms are developed based on the gyro sensor. The gyro has fixed axis and precession, that is, it has the ability to keep the direction of the relative inertial space unchanged and the ability to rotate relative to the inertial space according to the required rules. Therefore, the gyro is used as the The stable platform of the sensor can isolate the interference of the angular motion of the base, but due to the zero bias of the gyro sensor itself and the influence of factors such as temperature and changes in the earth's rotation, the stable platform will produce a phenomenon of slow drift, which will affect the stable platform. The stabilizing effect of

Images