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Design of Stablized Platform Based on DSP and Fuzzy PID

Author: ChenMeng
Tutor: XueKai
School: Harbin Engineering University
Course: Mechanical Manufacturing and Automation
Keywords: stablized platform Digital Signal Processor(DSP) Pulse Width Modulation(PWM) fuzzy PID control
CLC: TP273
Type: Master's thesis
Year: 2010
Downloads: 233
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Abstract


The stablized platform which is fixed on the carrier can isolute the change of the carrier’s installation surface and supply the retentive plane. The stablized platform uses GPS as the position measuring sensor to detect the rolling and pitch of the carrier, keep the equipment installation surface away from the movement of the carrier by controling the motor turning reversely. In the context of the stablized platform fixed on the ship, baseed on the design of the system’s mechanical structure and electrical structure, the paper mainly study the design of the DSP controller and the application of the fuzzy PID technology and carry on the prototype’s test. Following are the main works and the result of the thesis:Firstly, the function of the stablized platform is analyzed to make certain the composition of the mechanical structure subsystem and the principal and fuction of the electrical subsystem, and choose the main components of the electrical subsystem. According to the fuction of the controller, DSP2812 is chosen as the central controller to design the hardware circuitry. In the meantime, the peripheral interface circuitry and the display circuitry of system fault are designed and the integrity of the system signals is completed.The paper studies the controlling mode of the system detailedly. The communication protocol and the general architecture of the program are worked out. The reason of the system steady state deviation is analyzed to find the solution. The extrapolate arithmetic is used to eliminate the effect of the static deviation. The PWM function of the DSP is used to design the following arithmetic. And the trapezium acceleration and deceleration arithmetic is used to reinforce the stationarity of the system. The paper also discusses the method and the characteristic of the fuzzy PID control.Finally, the different forms of the fuzzy PID are analyzed and compared. According to the system, the paper uses the fuzzy adaptive PID as the controlling method and set up the position closed-loop system. Carring on the modeling simulation of the system using MATLAB could get the original parameters of the fuzzy PID control. It proves that using the fuzzy adaptive PID as the controlling method meet with the needs of the controlling precision by experimenting on the prototype.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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