Research On Dynamic Simulation And Compound Control Of Three-axis Swing Platform

The three-axis swing platform is the experimental equipment which could simulate rolling, pitching and yawing motion of the ship, the three-axis swing platform provides the condition of the motion simulation and the precision test for the navigation equipments, its performance influences the precision of the experiment. Therefore, the research and development of the high-performance swinging platform will be very important.In this paper, the research is based on the background of the development of the ship motion simulation swing platform for a agency, the electromechanical system of the three-axis swing platform was studied in the following cases: Firstly, the mechanical structure and the control program of the three-axis swing platform were designed according to the performance index of swing platform, including the modeling and structural analysis of virtual prototype, the components selection of the servo control system, and the precision of the swing platform was analized. Next, because of the structural characteristics of the three-axis swing platform, the dynamic coupling of the three-axis swing platform is an important factor that affects the performance. Therefore, the in-depth theoretical research of the dynamic coupling problem was done, the mathematical models of dynamic coupling were established. On the basis of theoretical analysis, the coupling extent of the three frames was analyzed through the dynamic simulation. Finally, in order to restrain the coupling disturbance, according to the ideas of robust compensation, the method of dynamic decoupling robust compensation controller was given. In order to improve the performance of the swing platform system, on the basis of the three-ring control of position-velocity-current feedback, the dynamic decoupling robust compensation controller and the input signal differential feedforward were added to make up of the compound control system. And the three-ring control strategy of position-velocity-current feedback, and the compound control strategy were studied by electromechanical co-simulation of the three-axis swing platform. At the same time, the real three-axis swing platform system which adopts the compound control strategy was tested.The analysis of results of the co-simulation and the experiment show that the compound control strategy of three-axis swing platform is effective, the coupling disturbance is eliminated greatly, the frequency bandwidth is broadened, the system stability is enhanced, the dynamic tracking performance and steady-state performance are improved. Therefore, the dynamic decoupling robust compensation controller and the compound control strategy are feasible.