Structural Design And Key Technology Research Of Compound Shipboard Anti-stabilization Platform Based On 6-SPS

Shipboard stable platform can effectively compensate the various kinds of interference when the ship sailing on the sea,make the shipboard equipment relative inertia space remained stable.Although existing stable platform can compensate the multi degree of freedom movement of the oscillation,but in high frequency and the impact of the environment significantly,the stability of the effect not beautiful.Aiming at the shortcomings of the existing platform,this paper puts forward a kind of compound shipboard anti-stabilization platform based on 6-SPS parallel mechanism,it can effectively reduce the high frequency and impact greatly,achieve the purpose of resisting impact and stability,its key technology research as follows:On the basis of reading a large number of reference at home and abroad,analyzes the domestic and foreign research present situation and future development trend of stabilized platform,against it exist the problem of insufficient stability in high frequency and greatly impact environment,design a kind of compound shipboard anti-stabilization platform based on 6-SPS parallel mechanism,and do the overall design of the composite platform.According to the overall design of compound platform,based on the ADAMS virtual prototype technology and finite element theory,make the detailed design and analysis of compound shipboard anti-stabilization platform's key components and hydraulic drive system,finite element analysis and virtual prototype simulation results show that impact protection strength meet the requirements of the platform,has the good protection for the whole organization.And in high frequency and the significantly impact of the environment,the vertical impact can be reduced to 1/10 of the original,around the axis of rotation impact reduced to 1/20 of the original,transverse impact damping effect is relatively poor,without the control algorithm,the platform's angle around the fixed coordinate system X/Y/Z axis are within 10°,compared with the ship the movement range has been reduced a lot,stable effect is obvious.Due to the complexity institutional coupling of compound shipboard anti-stabilization platform,kinematics and dynamics analysis are difficult than ordinary parallel mechanism,do kinematics analysis with the kinematics inverse solution for the composite platform in this paper,the Jacobi matrix are obtained.On this basis,using the method of Lagrange mechanics,from the view of energy,compound platform is divided into the down-platform,the middle-platform,driving rod and connecting rod subsystems,platform complete dynamics equation is obtained,through the control of nonlinear differential geometry decoupling theory to decouple dynamic equation system,composite platform of decoupling equation are obtained.And the drive theory horizon generalized force and simulations of generalized force are compared,results show that the dynamic model is correct.On the basis of dynamic analysis,aiming at the problem of transverse stability of compound shipboard anti-stabilization platform's up platform,the platform adopts the active compensation control.Combining the advantages of fuzzy control and PID control,design a fuzzy-PID controller suitable for the platform,through Simulink simulation shows that this controller has good dynamic response performance,dynamic tracking performance and robustness.The compound shipboard anti-stabilization platform's up platform around the X/Y/Z axis angle range are 1.2°?0.3°?0.65° under the action of the controller,all in the range of allowable error.Finally,according to the characteristics of the system and the working condition requirements,using DSP-PLC controller,and make the hardware selection and software design.