Research On The Contorl System Of Marine Series-Parallel Platform Based On State Machine

The impact of waves,sea wind and ocean current will result in ship rocking.As a consequence,the ship equipment following the movement,affecting its stability and failing to maintain relatively the ground stability.The stabilized platform can isolate external disturbance,and realize the accurate positioning,so that the stabilized platform is widely used on ships equipment.In this paper,we mainly design a series-parallel 3-DOF stabilized platform for a lighting guide device of the gliding and rolling instructed system,which has the function of isolating the ship’s pitch and roll motion and adjusting the azimuth according to the helicopter.Analyze the current research status of the stabilized platform at home and abroad.According to the function and design requirements of the stabilized platform,a serial and parallel 3-DOF stabilized platform that combining an azimuth mechanism and a 2-DOF parallel platform is designed,to complete its overall structure and control scheme.The influence of azimuth mechanism on the parallel platform movement is analyzed.Based on this,the kinematics and dynamics modeling analysis of the parallel platform are completed.The singularity and interference analysis of the mechanism is completed,and the motor selection is checked.Based on the wave spectrum density recommended by ITTC,the ship’s pitch and roll motions are simulated.System modeling of the platform is completed,and the position and speed dual closed loop controller is designed.Analyze the influence of system nonlinear factors on control system performance,and a friction feedforward compensation control algorithm is presented.The impact of controller discretization on the performance is analyzed,and the feasibility of the controller is verified.Based on Stateflow finite state machine to achieve logic control system,complete the system logic modeling and simulation.Using STM32CubeMX automatically generates MCU initialization code and using Stateflow automatically generates embedded C code to complete the code compiler,and achieve control system.Based on dSPACE to build a semi-physical simulation platform,and the HIL experiments is study on the prototype of the marine series-parallel Stabilized platform.The credibility of the system model by the model identification is verified.In order to verify the rationality of the controller,the stabilized platform is mounted on the swaying platform to simulate the actual operating environment.