CN111323045A

CN111323045A - Universal test platform and method for photoelectric stabilization platform

Info

Publication number: CN111323045A
Application number: CN201811537661.2A
Authority: CN
Inventors: 张明月; 张宏巍; 刘慧�
Original assignee: Changchun Institute of Optics Fine Mechanics and Physics of CAS
Current assignee: Changchun Institute of Optics Fine Mechanics and Physics of CAS
Priority date: 2018-12-15
Filing date: 2018-12-15
Publication date: 2020-06-23

Abstract

The invention discloses a general test platform and a method for a photoelectric stabilization platform, wherein the test platform comprises: the system comprises an optical platform, a device testing platform, a high-performance motor driver, a power supply, a host machine, a target machine, a data acquisition card and a serial port card; the device testing platform comprises a system base, an inertia block, a motor and a mounting shaft thereof, a gyroscope and a supporting mechanism thereof, a conductive slip ring, an encoder and a supporting mechanism thereof. The test platform can test the gyroscope, the encoder, the motor, the control algorithm and the like in the photoelectric stabilization platform respectively, can also perform comprehensive test on a plurality of devices and algorithms, has good universality, can quickly realize device and algorithm test and function verification, is easy to debug, shortens development time and saves cost.

Description

Universal test platform and method for photoelectric stabilization platform

Technical Field

The invention belongs to the field of test platforms, and particularly relates to a general test platform and a general test method for a photoelectric stabilization platform.

Background

The photoelectric stable platform is a main component of the seeker, and has the main function of isolating the disturbance of the missile by utilizing the space stabilizing function of the inertial sensor, so that the optical axis of the photoelectric detector points stably, and the performance of the photoelectric detector directly influences the guidance precision of the seeker. Before the actual debugging of a seeker photoelectric stabilization platform prototype, the main devices of the photoelectric stabilization platform are determined through theoretical design and model selection: the system comprises a motor, a gyroscope and an encoder, wherein the motor is used for providing pitching and yawing moments for stabilizing the platform, the gyroscope is used as an inertial sensor for feeding back system speed information, and the encoder is used for feeding back system position information.

In the prior system test, various devices and structures are generally assembled and then integrally debugged, and the integral debugging method prolongs the system development period under the condition that a single device and an algorithm are not accumulated with certain test experience because the system has serious nonlinearity and a plurality of related devices; and if the single devices are not matched, the system is caused to have problems, the problems cannot be checked in time, and the development efficiency is reduced.

Disclosure of Invention

In view of the above, the invention provides a general photoelectric stabilization platform device testing platform and a general method with good linearity, and solves the problems that the existing testing platform can only test the whole assembled device, so that the nonlinearity is serious, the controller algorithm cannot be verified, and the existing testing platform cannot be generally used for testing various devices.

In order to achieve the above purpose, the technical solutions provided by the embodiments of the present invention are as follows:

the utility model provides a general test platform of photoelectricity stable platform, includes optical platform, installs the device test platform on the optical platform, and the device test platform is connected with the target machine, installs data acquisition card and serial port card in the target machine, and the target machine is connected with the host computer through the data line, and the output of target machine is connected with motor drive, and motor drive is connected with the device test platform.

As a preferred scheme of the invention, the device testing platform comprises a base, wherein the base is arranged on an optical platform, a supporting frame is arranged on the base, a conductive slip ring, a gyroscope, a motor and an encoder are respectively arranged on the supporting frame, the gyroscope is connected with an inertia block, and the conductive slip ring is electrically connected with the gyroscope; the conductive slip ring, the motor and the encoder are all electrically connected with the target machine.

The invention also provides a general test method for the photoelectric stabilization platform, which comprises the following steps:

a) assembling: mounting a target device on a device testing platform, mounting the device testing platform on an optical platform, and connecting the device testing platform with a target machine which is connected with a host machine; the target device is connected with a serial port card in the target machine, and a power supply is added to two ends of the target device;

b) and (3) testing the performance to be tested: building a Simulink model for generating an XPC real-time kernel on a host machine, selecting a corresponding Simulink module according to the type of a used serial port card, configuring, and building a decoding model according to a data transmission protocol; generating a real-time kernel by adopting an XPC kernel technology, and operating to obtain the dynamic and static characteristics or output information of a specific target device; and analyzing in MATLAB to obtain the specific characteristics of the performance to be measured, and evaluating the specific characteristics of the performance to be measured.

As a preferred aspect of the present invention, the serial port card is selected in step a) according to the communication protocol of the target device to be used.

As a preferred scheme of the present invention, when the performance to be measured is the performance of the encoder:

in step a), the target device is an encoder;

in the step b), generating a real-time kernel by adopting an XPC kernel technology, and operating to obtain the dynamic and static characteristics of the encoder; and analyzing in MATLAB to obtain the dynamic and static data of the encoder, and evaluating the performance of the encoder.

As a preferred scheme of the present invention, when the performance to be measured is a gyro performance:

in the step a), the target devices are a gyroscope and a conductive slip ring, the gyroscope and the conductive slip ring are both arranged on a device testing platform, the gyroscope is electrically connected with the conductive slip ring, the conductive slip ring is connected with a serial port card in the target machine, and power supplies are added at two ends of the gyroscope;

in the step b), generating a real-time kernel by adopting an XPC kernel technology, and operating to obtain the dynamic and static characteristics of the gyroscope; and analyzing in MATLAB to obtain dynamic and static gyroscope data, and evaluating the performance of the gyroscope.

As a preferred scheme of the present invention, when the performance to be measured is the motor performance:

in the step a), the target device comprises an encoder, a gyroscope, a conductive slip ring and a motor, wherein the gyroscope and the conductive slip ring are both arranged on a device testing platform, the gyroscope is electrically connected with the conductive slip ring, the encoder and the conductive slip ring are both connected with a serial port card in the target machine, and power supplies are respectively added at the two ends of the encoder and the two ends of the gyroscope; the output end of the target machine is connected with a motor driver, and the motor driver is connected with a motor;

the step b) comprises the following steps:

b1) testing the open-loop performance of the motor speed: building a Simulink model for generating an XPC real-time kernel on a host machine, selecting corresponding Simulink modules according to the type of a serial port card corresponding to an encoder and the type of a serial port card corresponding to a gyroscope respectively, and selecting corresponding Simulink modules according to the type of a data acquisition card; giving sine control input, generating a real-time kernel by adopting an XPC kernel technology, and operating to obtain output information of the gyroscope; analyzing in MATLAB to obtain the open-loop characteristics of the motor, and evaluating;

b2) testing the closed-loop performance of the motor speed: building a Simulink model for generating an XPC real-time kernel on a host machine, selecting corresponding Simulink modules according to the type of a serial port card corresponding to an encoder and the type of a serial port card corresponding to a gyroscope respectively, and selecting corresponding Simulink modules according to the type of a data acquisition card; performing closed-loop control by using the feedback information, selecting a proper control algorithm, generating a real-time kernel by adopting an XPC kernel technology, and operating to obtain output information of the gyroscope; analyzing in MATLAB to obtain the closed-loop characteristics of the motor, and evaluating;

b3) testing the performance of the motor position ring: according to the motor speed closed-loop system designed in the step b2), an encoder is connected as a position feedback sensor, a motor position loop performance test Simulink model for generating an XPC real-time kernel is built on a host machine, a position loop control algorithm is designed for control, the XPC real-time kernel is generated by adopting an XPC technique, and output information of the encoder and a gyroscope is obtained through operation; the double closed-loop characteristics of the motor were analyzed in MATLAB and evaluated.

As a preferred scheme of the invention, when the performance to be tested is the performance of the control algorithm, the performance of the control algorithm is the test of a speed loop control algorithm or the test of a position loop control algorithm.

As a preferred scheme of the invention, a speed loop control algorithm tests: according to the motor speed closed-loop test method in the step b2), a speed loop controller algorithm in a Simulink module in a host machine is changed, an XPC kernel technology is adopted to generate a real-time kernel, the real-time kernel is operated to obtain output information of the gyroscope, system indexes are debugged, and the controller algorithm before and after the change is compared.

As a preferred scheme of the invention, the position loop control algorithm tests: according to the motor position closed-loop test method in the step b3), a position loop controller algorithm in a Simulink module in a host machine is changed, an XPC kernel technology is adopted to generate a real-time kernel, output information of an encoder and a gyroscope is obtained through operation, system indexes are debugged, and the controller algorithm before and after the change is compared.

The mounting base body of the test platform adopts the photoelectric platform, so that the consistency of the test performance of the subsequent photoelectric stable platform is ensured.

The universality of the invention is mainly embodied in that the device (encoder, gyroscope, motor) required by the photoelectric stabilized platform can be tested, the model of the motor, the model of the encoder and the model of the gyroscope can be respectively changed, the combined test can be carried out, the whole supporting structure is not required to be changed, only the connecting shaft and the counterweight need to be changed, and the universal platform is provided for the device test in the actual model selection stage.

The universality of the invention is also that because the Simulink in MATLAB is convenient to model, various controller models such as a PID controller, an advance-lag controller, a sliding mode controller and the like can be built in the closed-loop control of the motor, the performance of a control algorithm can be verified, and the platform can be used as a general platform for verifying the performance comparison of the controllers.

The universality of the invention also lies in that for the verification of the photoelectric stabilized platform device and the algorithm, a single-factor test method can be adopted to independently test the device and the algorithm concerned by a designer. Combined testing may also be performed, for example to verify the performance of the sensor alone; if the performance of the motor needs to be verified, the performance of the encoder and the performance of the gyroscope are known and do not need to be verified, and the motor verification can be directly carried out; if all the systems need to be verified, the overall performance of the servo system is tested, firstly the encoder is tested, secondly the gyroscope is tested, and thirdly the motor is tested. By analogy, the invention emphasizes the general functions of the general test platform.

The combined debugging process needs to establish 5 Simulink model files, which are respectively as follows: the system comprises an encoder test model, a gyroscope test model, a motor speed open-loop test model (comprising an encoder and a gyroscope test model), a motor speed closed-loop test model and a motor position closed-loop test model, wherein when the system is designed and debugged to different steps, different Simulink model files are adopted for design.

The sensor device has different data communication processes, and the communication protocols of the sensor device are different due to the difference of the encoder and the gyroscope. Therefore, different serial port cards are accessed into the industrial personal computer according to different communication protocol requirements so as to realize communication of multiple protocols. Meanwhile, the communication board card CAN be expanded, and if a certain sensor adopts a CAN communication protocol, the CAN card is required to be used for communication.

In the motor testing stage, the generated motor control quantity is transmitted to a target machine data acquisition card through a TCP/IP protocol by a real-time kernel generated by Simulink in a host machine, the motor control quantity is input into a high-performance motor driver by the analog output value of the data acquisition card through a universal wiring board of a PCI bus to drive the motor to rotate, then the position information of the motor is acquired by an encoder, the speed information of the motor is acquired by a gyroscope, and the information feedback is realized through a corresponding serial port card, so that the closed loop of a system is realized.

In the motor test stage, in order to verify the load performance of the motor, the adjustable load system is designed, and the inertia block is realized by changing the size of the inertia block, wherein the inertia block is designed to be a fixed inertia value inertia block (similar to a weighing weight), and various combinations can be performed.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

1. the system has the advantages that the stable platform with a simple structure is adopted, the pitching and yawing two-axis structure of the conventional photoelectric stable platform does not exist in the platform, the motor, the sensor and the control algorithm are tested only by adopting the motor, the sensor, the encoder and the XPC rapid prototyping technology, and compared with the complicated photoelectric stable platform, the system has a simple structure and small nonlinear factors, can judge the problems of the complicated photoelectric stable platform, such as mass unbalance moment, wire disturbance moment, friction moment and the like, can compare the complicated system, and provides a system electromechanical improvement strategy.

2. The invention can test the devices required by the photoelectric stable platform, including the encoder, the gyroscope and the motor, and can also respectively change the models of the motor, the encoder and the gyroscope to carry out combined test, and only a connecting shaft and a balance weight need to be changed without changing the whole supporting structure, thereby providing a universal platform for the device test in the actual model selection stage. The universal test platform can also be used for carrying out algorithm test and function verification.

3. As Simulink in MATLAB is convenient to model, various controller models such as a PID (proportion integration differentiation) controller, a lead-lag controller, a sliding mode controller and the like can be built in the closed-loop control of the motor, the performance of a control algorithm is verified, and the platform can be used as a general platform for verifying the performance comparison of the controllers.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic diagram of a general test platform configuration for a photostable platform device and algorithm of the present invention;

FIG. 2 is a device test platform of a generic test platform for electro-optically stabilized platform devices and algorithms of the present invention;

FIG. 3 is a flow chart of a method for testing a generic test platform for a photostable platform device and algorithm in accordance with the present invention;

FIG. 4 is the encoder test output data of a generic test platform for a photostable platform device and algorithm of the present invention;

FIG. 5 is gyro test output data of a generic test platform for a photostable platform device and algorithm of the present invention;

FIG. 6 is the motor speed open loop sinusoidal output of a generic test platform for a photostable platform device and algorithm of the present invention;

FIG. 7 is a motor speed closed loop step output of a universal test platform for a photostable platform device and algorithm of the present invention;

FIG. 8 is a motor position closed loop step output for a generic test platform for a photostable platform device and algorithm of the present invention.

In the figure, 1-optical platform, 2-device testing platform, 3-target machine, 4-data acquisition card, 5-serial port card, 6-host machine, 7-motor driver, 21-base, 22-supporting frame, 23-conductive slip ring, 24-gyroscope, 25-motor, 26-encoder and 27-inertia block.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.

As shown in fig. 1, the general test platform for the photoelectric stabilization platform comprises an optical platform 1, a device test platform 2 is installed on the optical platform 1, the device test platform 2 is connected with a target machine 3, a data acquisition card 4 and a serial port card 5 are installed in the target machine 3, the target machine 3 is connected with a host machine 6 through a data line, an output end of the target machine 3 is connected with a motor driver 7, and the motor driver 7 is connected with the device test platform 2.

As shown in fig. 2, the device testing platform 2 includes a base 21, the base 21 is installed on the optical platform 1, a supporting frame 22 is installed on the base 21, a conductive slip ring 23, a gyroscope 24, a motor 25 and an encoder 26 are respectively installed on the supporting frame 22, an inertial mass 27 is connected to the gyroscope 24, and the conductive slip ring 23 is electrically connected with the gyroscope 24; the conductive slip ring 23, the motor 25 and the encoder 26 are all electrically connected with the target machine 3.

The purpose of this embodiment is to test the encoder 26, the gyro 24, the motor 25 and the control algorithm of a certain type of photoelectric stabilization platform. The main purpose is to verify whether the model selection of a photoelectric stabilization platform meets the requirements, and the actual system indexes are shown in table 1.

TABLE 1

The whole testing process needs to establish 5 Simulink models, which are respectively: the system comprises an encoder test model, a gyroscope test model, a motor speed open-loop test model (comprising a test model of an encoder 26 and a gyroscope 24), a motor speed closed-loop test model and a motor position closed-loop test model, wherein when the system is designed and debugged to different steps, different Simulink model files are adopted for design.

The debugging method of this embodiment is performed according to the flowchart shown in fig. 3, where the optical platform 1 is selected as the optical platform 1 of the program square instrument, the encoder 26 is selected as a 14-bit high-precision absolute angular position encoder, the gyroscope 24 is selected as an MEMS gyroscope, the motor 25 is used as a torque motor, the power supply is an agilent power supply, the data acquisition card 4 is used as a PCI-6229, the speed loop controller is an integral-separation PID controller, and the position loop controller is used as a proportional controller.

A general test method for a photoelectric stabilization platform comprises the following steps:

1) encoder 26 testing

(1) Assembling the encoder 26: firstly, an encoder 26 is installed on a device testing platform 2, corresponding tolerance of a tool is designed, and installation accuracy of the encoder 26 is guaranteed; secondly, mounting the device testing platform 2 on the optical platform 1; finally, the hardware connection is completed, the encoder 26 is connected to the serial port card 5 (the serial port card 5 is selected according to the communication protocol of the encoder 26), and the required power supply is applied to both ends of the encoder 26. The encoder 26 herein adopts an RS422 serial port protocol, and the corresponding board card is added to the industrial personal computer.

(2) Encoder 26 performance testing: firstly, a Simulink model is built on a host machine 6 and used for generating an XPC real-time kernel, the model in the Simulink selects a corresponding Simulink module according to the type of a used serial port card 5, configuration is carried out, and a decoding model is built according to a data transmission protocol of an encoder 26. Secondly, generating a real-time kernel by adopting an XPC kernel technology, and operating to obtain the dynamic and static characteristics of the encoder 26; finally, as shown in fig. 4, the static and dynamic data of the encoder 26 obtained by analyzing in MATLAB shows that the maximum static error of the encoder 26 is 0.02 °, and the accuracy meets the system requirements.

2) Gyro 24 test

(1) Assembling a top 24: firstly, installing a gyroscope 24 on a device testing platform 2, designing corresponding tolerance of a tool, and ensuring the installation precision of the gyroscope 24; secondly, mounting the device testing platform 2 on the optical platform 1; finally, hardware connection is completed, data transmission is achieved by connecting the output signal of the gyroscope 24 with the conductive slip ring 23, wire winding is avoided, the output line of the conductive slip ring 23 is connected with the industrial personal computer serial port card 5 (the serial port card 5 is selected according to the adopted communication protocol of the gyroscope 24), and a required power supply is added to two ends of the gyroscope 24.

(2) Testing the performance of the gyroscope 24: firstly, a Simulink model is built on a host machine 6 and used for generating an XPC real-time kernel, the model in the Simulink selects a corresponding Simulink module according to the type of a used serial port card 5, configuration is carried out, and a modeling model is built according to a data transmission protocol of a gyroscope 24. Secondly, generating a real-time kernel by adopting an XPC kernel technology, and operating to obtain the dynamic and static characteristics of the gyroscope 24; finally, the dynamic and static data of the gyro 24 are obtained by analyzing in MATLAB, as shown in fig. 5, the zero offset and the steady-state standard deviation are respectively 0.0823 °/s and 0.054 °/s, the zero offset needs to be compensated during the performance test of the motor 25, and the standard deviation indicates that the gyro 24 can meet the system requirements without filtering (the filter effect is usually checked by measuring the standard deviation).

3) Motor 25 testing

(1) Assembling a device testing platform 2: the device testing platform 2 is assembled. Firstly, the motor 25, the encoder 26 and the gyroscope 24 are all arranged on a test platform, corresponding tolerance of the tool is designed, and installation accuracy of the encoder 26 is guaranteed. Next, the device testing platform 2 is mounted on the optical platform 1. Finally, according to the steps 1), (1) and 2), (1) of the hardware wiring operation of the encoder 26 and the gyroscope 24 is completed, the high-performance motor driver 7 and the power supply are connected in the system, and in order to describe the stable platform characteristic by using the device testing platform 2, the inertia of the balancing weight is designed to be 1100kgmm²And simulating a stable platform load.

(2) Motor 25 speed ring performance test

a. Open loop performance test of the speed of the motor 25: firstly, a Simulink model is built on a host machine 6 and used for generating an XPC real-time kernel, the model in the Simulink selects a corresponding Simulink module (respectively comprising a coder 26 and a serial port card 5 corresponding to a gyroscope 24) according to the type of the serial port card 5, and selects a corresponding Simulink module according to the type of the data acquisition card 4; secondly, a sine input quantity with the amplitude of 0.6 and the frequency of 3.5Hz is given, a real-time kernel is generated by adopting an XPC kernel technology, and the output information of the gyroscope 24 is obtained by operation. Finally, as shown in fig. 6, it can be seen that since the high performance motor 25 is driven by a current closed loop system, the speed open loop sine curve is smooth, which indicates that the system has less friction (the output here can be used as the comparison data when the photoelectric stabilized platform tests the speed open loop, and the friction nonlinearity of the photoelectric stabilized platform is seen), and the speed open loop performance meets the requirement.

b. Testing the speed closed-loop performance of the motor 25: similar to a establishment of a Simulink model, the difference is that feedback information is utilized to carry out closed-loop control, a system control model is established in the Simulink model, a PI controller, an incomplete differential PID controller and an integral separation PI controller are respectively given to carry out debugging, the control effect of the integral separation PI controller is optimal, an obtained step response curve is shown in figure 7, the line-of-sight angular speed is stable, the output error absolute value is 0.18 degrees/s, the rising time is 22ms, and the requirements are met.

(3) Motor 25 position loop performance test: according to the assembling method in the step 3) (1), according to the motor 25 speed closed-loop system designed in the step 3) (2), the encoder 26 is accessed as a position feedback sensor, a Simulink model for testing the motor 25 position loop performance is built on the host machine 6 and used for generating an XPC real-time kernel, a PI controller and a P controller are respectively designed to control the system position loop, and finally, the P controller is adopted through debugging, and the obtained position step response curve of the system double closed loop is shown in FIG. 8. The stable tracking precision is 0.05 degrees, and the system requirement is met.

4) Control algorithm testing

In the performance testing stage of the motor 25 in step 3) of this embodiment, according to the performance index requirement, the improvement of the steering engine control algorithm has been performed, the speed loop has respectively tried the PI controller, the incomplete differential PID control, and the integral separation PI control, and the position loop has respectively adopted the PI controller and the P controller to control the system, so the control algorithm testing function of the universal testing platform is indirectly verified by this adjustment manner, and the control algorithm testing function of the universal testing platform is no longer redundant here. The final index test results of the system are shown in table 1.

TABLE 2

In summary, the above is only a preferred embodiment of the present invention, and not intended to limit the present invention, and all equivalent changes and modifications made in the claims of the present invention shall fall within the scope of the present invention. Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims

1. The utility model provides a general test platform of photoelectricity stable platform, its characterized in that includes optical platform (1), installs device test platform (2) on optical platform (1), and device test platform (2) are connected with target machine (3), install data acquisition card (4) and serial port card (5) in target machine (3), and target machine (3) are connected with host computer (6) through the data line.

2. The universal test platform for photoelectric stabilized platforms as claimed in claim 1, wherein the output end of the target machine (3) is connected with a motor driver (7), and the motor driver (7) is connected with the device test platform (2).

3. The photoelectric stabilized platform universal test platform as claimed in claim 1, wherein the device test platform (2) comprises a base (21), the base (21) is installed on the optical platform (1), a support frame (22) is installed on the base (21), a conductive slip ring (23), a gyroscope (24), a motor (25) and an encoder (26) are respectively installed on the support frame (22), an inertial mass (27) is connected to the gyroscope (24), and the conductive slip ring (23) is electrically connected with the gyroscope (24); the conductive slip ring (23), the motor (25) and the encoder (26) are all electrically connected with the target machine (3).

4. A general test method for a photoelectric stabilization platform is characterized by comprising the following steps:

a) assembling: mounting a target device on a device testing platform (2), mounting the device testing platform (2) on an optical platform (1), connecting the device testing platform (2) with a target machine (3), and connecting the target machine (3) with a host machine (6); the target device is connected with a serial port card (5) in the target machine (3), and power supplies are added to two ends of the target device;

b) and (3) testing the performance to be tested: building a Simulink model for generating an XPC real-time kernel on a host machine (6), selecting a corresponding Simulink module according to the type of a used serial port card (5), configuring, and building a decoding model according to a data transmission protocol; generating a real-time kernel by adopting an XPC kernel technology, and operating to obtain the dynamic and static characteristics or output information of a specific target device; and analyzing in MATLAB to obtain the specific characteristics of the performance to be measured, and evaluating the specific characteristics of the performance to be measured.

5. The universal testing method for optoelectronic stable platforms as claimed in claim 4, characterized in that in step a) the serial port card (5) is selected according to the communication protocol of the target device used.

6. The method for testing the optoelectronic stabilization platform in general according to claim 4 or 5, wherein when the performance to be tested is the performance of the encoder (26):

in step a), the target device is an encoder (26);

in the step b), generating a real-time kernel by adopting an XPC kernel technology, and operating to obtain the dynamic and static characteristics of the encoder (26); and analyzing in MATLAB to obtain the dynamic and static data of the encoder (26), and evaluating the performance of the encoder (26).

7. The method for testing the photoelectric stabilized platform in general according to claim 4 or 5, wherein when the performance to be tested is a gyro (24) performance:

in the step a), target devices are a gyroscope (24) and a conductive slip ring (23), the gyroscope (24) and the conductive slip ring (23) are both installed on a device testing platform (2), the gyroscope (24) is electrically connected with the conductive slip ring (23), the conductive slip ring (23) is connected with a serial port card (5) in a target machine (3), and power supplies are added to two ends of the gyroscope (24);

in the step b), an XPC kernel technology is adopted to generate a real-time kernel, and the dynamic and static characteristics of the gyroscope (24) are obtained through operation; and analyzing in MATLAB to obtain dynamic and static data of the gyroscope (24), and evaluating the performance of the gyroscope (24).

8. The method for testing the photoelectric stabilized platform in general according to claim 4 or 5, wherein when the performance to be tested is the performance of the motor (25):

in the step a), a target device comprises an encoder (26), a gyroscope (24), a conductive slip ring (23) and a motor (25), the gyroscope (24) and the conductive slip ring (23) are both installed on a device testing platform (2), the gyroscope (24) is electrically connected with the conductive slip ring (23), the encoder (26) and the conductive slip ring (23) are both connected with a serial port card (5) in a target machine (3), and power supplies are respectively added to the two ends of the encoder (26) and the two ends of the gyroscope (24); the output end of the target machine (3) is connected with the motor driver (7), and the motor driver (7) is connected with the motor (25);

the step b) comprises the following steps:

b1) the open loop performance test of the speed of the motor (25): a Simulink model for generating an XPC real-time kernel is built on a host machine (6), corresponding Simulink modules are selected according to the type of a serial port card (5) corresponding to an encoder (26) and the type of a serial port card (5) corresponding to a gyroscope (24), and the corresponding Simulink modules are selected according to the type of a data acquisition card (4); giving sine control input, generating a real-time kernel by adopting an XPC kernel technology, and operating to obtain output information of a gyroscope (24); analyzing in MATLAB to obtain the open-loop characteristics of the motor (25), and evaluating;

b2) and (3) testing the speed closed-loop performance of the motor (25): a Simulink model for generating an XPC real-time kernel is built on a host machine (6), corresponding Simulink modules are selected according to the type of a serial port card (5) corresponding to an encoder (26) and the type of a serial port card (5) corresponding to a gyroscope (24), and the corresponding Simulink modules are selected according to the type of a data acquisition card (4); closed-loop control is carried out by utilizing the feedback information, a proper control algorithm is selected, a real-time kernel is generated by adopting an XPC kernel technology, and the output information of the gyroscope (24) is obtained by operation; analyzing in MATLAB to obtain the closed-loop characteristics of the motor (25), and evaluating;

b3) testing the performance of the position ring of the motor (25): according to the motor (25) speed closed-loop system designed in the step b2), an encoder (26) is connected as a position feedback sensor, a motor (25) position loop performance test Simulink model for generating an XPC real-time kernel is built on a host machine (6), a position loop control algorithm is designed for control, the XPC real-time kernel is generated by adopting an XPC target technology, and output information of the encoder (26) and a gyroscope (24) is obtained through operation; the double closed loop behaviour of the motor (25) was analysed in MATLAB and evaluated.

9. The universal testing method for optoelectronic stable platforms as recited in claim 8, wherein the performance of the control algorithm is a speed loop control algorithm test or a position loop control algorithm test when the performance to be tested is the performance of the control algorithm.

10. The general test method for the optoelectronic stability platform as claimed in claim 9, wherein the speed loop control algorithm test specifically comprises: according to the closed-loop testing method for the speed of the motor (25) in the step b2), a speed loop controller algorithm in a Simulink module in the host machine (6) is changed, an XPCTarget technology is adopted to generate a real-time kernel, output information of the gyroscope (24) is obtained through operation, system indexes are debugged, and the controller algorithm before and after the change is compared.

11. The general test method for the optoelectronic stability platform as claimed in claim 9, wherein the position loop control algorithm test specifically comprises: according to the closed-loop testing method for the position of the motor (25) in the step b3), a position loop controller algorithm in a Simulink module in the host machine (6) is changed, an XPC kernel technology is adopted to generate a real-time kernel, output information of the encoder (26) and the gyroscope (24) is obtained through operation, system indexes are debugged, and the controller algorithm before and after the change is compared.