| The function of the stabilization platform is to isolate the influence of the disturbance,which comes from ocean environment such as wave,wind and current through a set of on-line detection and real-time servo motion compensation,and it provides a stable working platform for equipment and personnel on the ship.The paper mainly research on a 2-DOF redundant drive parallel stabilization platform,which concludes the kinematics,the dynamics and the control strategy.The details are as follows:Firstly,the positive and negative solution model,the Jacobian matrix,the workspace and the distribution of the Jacobian matrix condition number of the platform were established;Based on the closed-loop vector chain method,the error sensitivity model of the platform was established,the error sensitivity distribution histogram of the platform was drawn,and the influence range of each error source to the output of the platform was also analyzed;A method of kinematic error compensation with less dependence on the model parameters was designed by curve fitting method,and its numerical simulation was carried out.Secondly,based on the screw bond graph theory,the dynamic full solution model of the platform under non-redundant driving condition was established,and on this basis,the supplementary equation of driving force optimization was added to obtain the dynamic full solution model of the platform under redundant driving condition.The correctness of the screw bond graph model of the platform was verified by simulation with ADAMS and MATLAB.Based on the screw bond graph power conservation theory,the linearized expression of the driving force of the simplified platform was obtained,the identification model of the dynamic parameters of the platform was obtained,and the numerical simulation was carried out.Thirdly,with the help of Simulink,a three-loop PID control model of servo motor including speed feed-forward input was built,and the parameters of the PID controller were got by the genetic algorithm.The simulation models of the platform under non-redundant driving mode and redundant driving mode were built by using ADAMS and MATLAB.Based on this,the simulation models of the platform under non-feed-forward mode,only speed feed-forward mode,only force feed-forward mode and the two feed-forward mode were built respectively,the trajectory tracking effects of the simulation model were compared and analyzed.Finally,an experimental platform was built based on BECKHOFF controller and ASDA servo drive unit.The running data were measured and recorded by inclination sensor and the software,and the kinematic error compensation and dynamic parameter identification experiments of the prototype were completed. |
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