Surface Stable Platform For Measurement And Control System Research

The detecting equipment works on the sea, with the influence of wind waves the equipment will inevitably roll and result in the decline of detecting precision. So the demand of isolating the wave disturbance and the detecting equipment by using a stable platform is asked. Based on this, Some preliminary design for this stable platform's measurement and control system under the influence of random ocean waves has been studied.Firstly, summarized some usual stable platform's structures, and also their advantages and disadvantages. Based on this and consider the special application environment, determined the final-structure of this stable platform. The working principle of this stable platform is introduced as well.Secondly, established a random ocean wave model by using ITTC one-parameter ocean wave spectrum (P-M spectrum), and carried out with a real-time simulation for this model. The motion mathematic model of this stable platform is established by referring to the ship motion mathematic model. Based on this, a time-domain simulation is given to describe the stable platform's motion under the influence of random ocean waves, and obtained the signal of roll angle a(t) of this stable platform. Using Matlab to establish time-series Auto Regressive Model (AR model), build up the most optimal AR model according to the minimum AIC criterion, and use this model to predict the stable platform's motion.Thirdly, an overall hardware design of the control system is given. Control system are mainly divided into angle-measurement sensor part, MCU control circuit, TL494 constant-current control circuit, IR2110 power amplifier circuit, current feedback control circuit, etc. Take MCU as control core to realize each function, and each part's principle and function realization is introduced.Finally, software design of the control system is shown. Respectively giving the detailed software process of the realization of each functional part, and some relevant experiments are given to detect the performance of the hardware. The result shows that the hardware can mainly match the preliminary demand.