Control And Calibration Of A Parallel Stabilized Platform Without Intersecting Axes

In the sea,rickety ship will be a great impact on the normal work of offshore equipment and staff.So,ship stabilized platforms have received great attention,more and more attention has been paid to the parallel stabilized platform due to its own advantages.The precision and control system of stabilized platform will greatly affect the stabilization effect.In this paper,a parallel stabilized platform without intersecting axes is taken as the research object,its operation control system is built based on the motion controller,and its zero point calibration and kinematics calibration are carried out to reduce the error of the mechanism and improve the accuracy of the mechanism.The specific research content is as follows:The inverse and forward kinematics solutions of the stabilized platform are solved and verified,the movement path of the platform is planned,and the stabilized platform control system is built,which lays a foundation for the subsequent calibration.The zero error model is established by space vector method,which provides a theoretical model for the subsequent simulation and experiment.The correctness of the mapping model is verified by the simulation of setting error.The error of stabilized platform is reduced by zero point calibration with laser tracker.Based on the characteristics of the mechanism,a new error model is established to reduce the number of measurement points needed in the experiment.The closed-loop kinematics chain is used to establish the mapping model of each parameter error to the terminal attitude error.The influence of each calibration parameter error on the platform attitude error is analyzed.The error of the platform is further reduced by the kinematics calibration of the laser tracker.A wireless control handle was designed by using a 4-dimensional potentiometer.MPU6050 chip are used to build attitude acquisition module.Based on LabVIEW,a set of attitude acquisition and platform control system was built,and the moving platform following experiment was carried out.