Atmega2560两级稳定平台测控系统设计
毕业论文关键词：稳定平台，姿态系统，PID
Taking into account，the stability of special equipment will be disturbed by the carriers in the working environment.In order to make sure the stabilityof the equipment，Using a stable platform to eliminate the effect of vehicleshaking. This paper introduce a two-stage stable platform: Basically，The firststage platform to mainly eliminate the disturbance; And then，The second stageplatform eliminate disturbance further to achieve stable.This paper laid emphasis on studying the control technology system of stableplatform. Firstly，the common introduction of stable platform is described .Through the analysis of the design requirements. Choosing some key part of theconcept of design.A stabilized platform of series arrangement is designed. Setup the mechanical design of the two stage platform. High-performance sensorwas built up to ensure get the attitude information of the acquisition system.TMS320F28335DSP was chosen to be the master control chip of the first stageplatform while Atmega2560 for the second stage platform , which both containshigh processing capacity with better control ability. So the control circuitcould be designed . the software system is designed on the basis of hardwaresystem. Then the establish the connection control circuit with sensor and motordriver . Two different types of PID control was designed according to thesystem.Static experiments and dynamic experiments were performanced to testthe stability of the equipment，and the data was calculated and analysized.
Keywords: Stable Platform, acquisition system, PID
目 次
1 绪论.1
1.1 研究背景及意义..1
1.3 本文主要研究内容.3
2 稳定平台结构设计.. 4
2.1 结构方案选择 4
2.1.1 常见结构设计方法 4
2.1.2 两级稳定平台结构设计.5
2.2 一级平台设计 6
2.3 二级平台设计 6
2.3.1 驱动器与电机的选择..7
2.3.2 涡轮蜗杆选型8
2.3.3 制动器选型..10
2.4 稳定平台总体结构..10
2.5 本章小结.11
3 两级平台测控系统硬件设计. 12
3.1 一级稳定平台硬件系统设计.12
3.1.1 一级平台数姿态传感器12
3.1.2 一级稳定平台的伺服控制器 13
3.1.3 一级平台伺服电机及驱动器 14
3.2 二级稳定平台硬件设计 15
3.2.1 二级平台姿态传感器.15
3.2.2 二级平台主控芯片选型16
3.2.3 二级平台电机及驱动器..17
3.3 本章小结.18
4.稳定平台控制方案.. 19
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