Research On Parallel Stable Platform Technology

This paper designed a parallel stabilized platform system that can be used to isolate the carrier movement, to ensure weapon system mounted on a carrier having a stable working space under the effect of external angle of interference. This paper focuses on the research of spatial mechanism topology structure design, kinematics analysis, dynamic analysis and servo control strategy of the stabilized platform technology, developed a better dynamic real-time, high accuracy for the carrier arms stabilized platform system. Designed a kind of parallel stabilized platform with good dynamic performance and high precision is suitable for the carrier of weapon system.Firstly, to establish the mathematical model of structural analysis based on the screw theory, then this paper used the branched chain method for analysis to optimize the design of the platform topology. Analysis of the parallel platform of branched chain and the overall degree of freedom of organization and verified the functionality of this institution to achieve stability feasibility from the point of view of mechanism topology structure. Next, the kinematics and dynamics of the parallel stabilized platform analyzed, namely the use of the description method of spatial attitude, such as Rodrigues parameters and the Euler angles, is to derive inverse solution of the mechanism’s position and velocity; at the same time build the dynamic model of stabilized platform based on Lagrange equation, analyze and stabilized platform for solving kinetic and potential energy, obtained as a function of the generalized coordinates and generalized forces. In order to meet the stabilized platform system for the accuracy and real-time requirements, According to the motion characteristics of the stabilized platform, the paper designed Fuzzy-PID algorithm for control, and experimentally proved the superiority of Fuzzy-PID method. In order to achieve practical application of the requirements of the stabilized platform, This paper takes DSP as the core controller of the hardware design of the platform attitude reference system and servo system; while in the efficient development environment CCS, The main program module and the control algorithm program module of stabilized platform is written in C language. Finally, Finally, in a laboratory environment for a lot of stability and precision experiments, in order to verify the accuracy and reliability of this parallel stabilized platform system.