Research On Ship Stable Platform Control System

Ships are apt to swing under the influence of waves on the sea surface.As a result,the platform on the ship that needs to remain stable at all times changes.Therefore,a stable platform control system for ships is designed to ensure the stability of the load platform.The stable platform allows the stabilized object to maintain its relative position at all times regardless of operating conditions,and to suppress various disturbances that cause changes in the position of the platform.This dissertation designs a stable platform control system suitable for ships.It studies the control strategy,device parameter selection and disturbance suppression to design a ship stability platform control system with strong anti-interference ability and dynamic performance.Firstly,a three-loop control system scheme that can carry 30 kg objects for ship stability platform was designed.At the same time,attitude information acquisition units,servomotors and matching servo drives were selected according to the design requirements of this paper.Then,a kinematics model is built based on the servo motor and the load platform structure.In order to achieve high-precision control of a stable platform,multiple closed-loop strings of current loops,speed loops,and position loops suitable for this article have been designed based on the "inside-out" principle of multi-loop systems based on motor and kinematic models of stable platforms.Level control system model.And by analyzing the frequency domain features under different parameters of each link,we select the optimal parameters that can ensure the stability of the system and have good dynamic performance to design the system.Secondly,the speed loop is the most sensitive link in the control system to the disturbance.The disturbance observer is introduced into the speed loop.Through the analysis,it can be known that the classical disturbance observer can suppress the low-frequency disturbance better,but the model has better perturbation and measurement noise.difference.To solve this problem,another compensation signal estimated by the disturbance observer is added to the speed feedback signal.An auto-disturbance rejection controller applied to the position loop of this paper is designed again.The system position output and the signal control of the given position are respectively collected,and the state error observer is used to estimate and compensate the system status to improve the stable platform.Positional stability.Finally,using MATLAB to establish the system simulation model,the simulation results show that the designed ship stability platform control system has high stability and excellent dynamic performance.The improved disturbance observer designed can accurately estimate and compensate the measurement and model disturbance as well as the external disturbance torque.The control strategy using the auto-disturbance rejection controller in the position loop and the system using the PID control in the position loop of the same system are super.The amount of adjustment has been significantly reduced,and the system adjustment time of the ship's stable platform has also been reduced from the original 500 ms to 50 ms.At the same time,the dynamic performance of the control system and the disturbance suppression capability have been greatly improved.