以并联稳定平台作为研究对象,介绍了并联型光电设备稳定平台的工作原理。根据交流伺服矢量控制原理,建立了并联稳定平台控制系统的数学模型。为提高系统的响应速度和跟踪特性,引入了基于速度和加速度补偿的前馈控制算法,并进行了并联稳定平台控制算法的仿真研究。结果表明前馈控制应用在并联稳定平台系统中可提高系统的响应速度,跟踪微分器和α-β-γ滤波补偿比位置差分具有更好的跟踪效果。

Taking the parallel stabilization platform as the study object, the working principle of the stabilized platform is analyzed and using the pose closed-loop control structure, AC servo vector control principle is introduced and position control system model is established. For improving the stabilized platform control system response speed and tracking characteristics, feedforward control based on speed and acceleration compensation is introduced, using position difference method, tracking-differentiator and α-β-γ filtering. The simulation results illustrate that feedforward control in the parallel type stabilized platform control system has good effect, which is confirmed in the actual system. The tracking-differentiator and α-β-γ filtering have better tracking characteristics than that in position difference method.