Study On Stabilized And Automatic Tracking Platform Of Ship

Sailing in the sea, ships will receive the waves, sea breezes and other marine disturbances, which would affect the stability of the carrier-based weapons and some precision instruments. Stabilized and automatic tracking platform of ship can keep track of the platform by measuring the attitude and position changes, so that the various disturbances can be separated when ships navigating, and the device of the platform can accurately, fast track the targets.In recent years, Stabilized and automatic tracking platform of ship is developed very rapidly both in military and civilian. Based on the four axis steady tracking control system platform, the servo control system structure, the way of filtering and control algorithms are researched primarily. Following are the main works and the result of the thesis:Firstly, the unital project of the four-axis steady tracking platform of ship is analyzed, then the mechanical structure of the platform and the servo control system hardware were selected. In addtion, the selecting rules of the servo control system are discussed about hardware, and components are fixed at last.Secondly, the angle movement equation of the dual-axis steady platform is analyzed. And the mathematical model of single-axis system is built, the double-closed-ring structure which consist of the speed and location of the ring are used in control system, and the design and analysis of the structure are carred through.Thirdly, the noise removing methods of wavelet are analyzed, and the threshold noise removing methods of wavelet are analyzed further. Through selecting the wavelet function, threshold function and the rule of threshold correctly, the noise of GPS can be removed better by wavelet.Finally, based on the established model of servo control system, the control algorithm is studied. The PID control algorithms and generalized predictive control algorithm are introduced, and used for simulation by Matlab7.0.The generalized predictive control algorithm is more suitable for the requirement of stabilized and automatic tracking platform system model. On the basis of selected hardware, the semi-physical simulating experiments is carried through by using the four-axis stabilized and automatic tracking platform, the generalized predictive theory is used to predict posture of the ship , and the error analysis is also carried.