The Water Floating Platform For Real-time Stable Technology Research

Stabilized platform, being able to isolate the motion of the carrier, keeps steady the equipment mounted on it, thus allowing the equipment to work reliably with high precision. Since stabilized platform has wide application in both military and civilian domain, research on it has significant value in both theory and application. According to the stability requirement for attitude of nautical detection device, technology that can stabilize floating platform in real time is explored, so as to provide the detection device with a stable base that counteracts disturbance of the fluctuating carrier.Based on the division of Beaufort wind scale and ocean wave scale of Soviet, wave force is first calculated and analyzed through linear wave theory under each of the four different levels of ocean wave. Considering the operating condition and performance requirements of the system, a stabilized platform is designed with 3D model of its mechanical structure given, and its dynamic simulation is carried out using ADAMS to obtain attitude and characteristics curve of its motion.Besides, hardware configuration is made for the stabilized system, followed by the design of circuit for each module and compilation of control program. LIS344ALH accelerometer is selected to measure attitude. For actuator, AC servo motor is chosen that has closed loop speed feedback, and C8051F040 is used as controller. In the system, feedback loops consist of position feedback for outer loop and speed feedback for inner loop.In order to deal with nonlinearity and time variance of the floating stabilized platform, fuzzy PID controller is designed that can adaptively adjust its parameters. Simulations show a fast response and strong robustness of the control system with the proposed fuzzy PID control method.At last, single axis stability experiment is performed for the stabilized system to test the reliability of controller. The results demonstrate that the control method put forward meets the design requirements, enabling reliable operation of the platform in real time with high accuracy.