Research On Hemispherical Overloading And Stabilized Platform

Traditional stabilized platform can not meet the design requirements for large load capacity due to insufficient mechanical strength, lack of driving force, and so on. Based on the research of the performance characteristics of the traditional series stabilized platform and the parallel stabilized platform, this paper presents a design method for the hemispherical overloading stabilized platform for meeting the demand of heavy ship-borne weapon equipment on the stabilized platform. The hemispherical overloading stabilized platform not only can carry the heavy ship-borne Weapon Equipment but also can isolate the interference from the ship's rolling and pitching motion.In this paper, the research mainly focus on the isolated disturbance principle of the hemispherical overloading stabilized platform, the components selection, the mechanical structure design,the finite element static analysis,the system modeling and simulation. The main research contents are as follows:(1) According to the development of the stabilized platform technology at domestic and overseas, summarized the characteristics and deficiencies of traditional stabilized platform.Based on the performance requirement of overloading stabilized platform, this paper presents a design method of the hemispherical overloading stabilized platform.(2) Based on the driving ability requirements of the hemispherical overloading stabilized platform, this paper selects a based on high-speed solenoid on/off valve digital hydraulic motor as the driving element of the hemispherical overloading stabilized platform. In order to improving the stability accuracy of the hemispherical overloading stabilized platform, a kind of fiber optic gyroscope is select as the inertial measurement element of the hemispherical overloading stabilized platform. In view of the situation that the hemispherical overloading stabilized platform does not have the actual rotating shaft and its working environment has the oil pollution problem, therefore this paper use the modified magnetic grid ruler as the angle measuring element of the hemispherical overloading stabilized platform.(3) The mechanical structure design is the basis of the hemispherical overloading stab-ilized platform, which mainly includes the hemispherical mechanism, the driving mechanism,the pre tightening device, the limiting protection device, the hydraulic support and damping device and so on. According to the requirements of the mechanical structure strength of the hemispherical overloading stabilized platform, the finite element static analysis is carried out on the hemispherical rolling mechanism, the hemispherical drive mechanism and the hemispherical pitch mechanism,and the imperfect part is improved.(4) Analysis of the moment coupling phenomenon of the hemispherical overloading stabilized platform. The stability scheme for the hemispherical overloading stabilized platform is determined by the three closed-loop stability scheme, which is based on the inner speed loop, the outer speed loop and the position loop. The mathematical model of fiber optic gyroscope, magnetic grid ruler, speed measuring machine and digital hydraulic motor are established respectively, and according to the three closed-loop stability scheme of the hemispherical overloading stabilized platform, a mathematical model of the inner speed stable loop, the outer speed stable loop and the position stable loop of the stabilization loop is established.(5) Through analyzing the performance of the uncorrected hemispherical overloading stabilized platform, the inner speed loop correction controller GIV, the outer speed loop correction controller GOV and the position loop correction controller Gp are designed by SISOTOOL respectively. The paper derives the simulation diagram through Simulink,analyzes the performance of the corrected hemispherical overloading stabilized platform and draws the conclusions finally.