The Development Of Adaptive Stability Platform On Board

Ships traveling on the sea are susceptible to external disturbances such as sea breezes and waves,which can cause the hull to sway and make the equipment on the ship unable to maintain a stable state,causing the equipment to be in an abnormal working state.In order to solve the problems of unstable equipment caused by ship sway,this paper designs a shipborne adaptive stabilization platform.The proposed stable platform can rotate according to the set torque and adjust the tilt of the platform caused by external disturbances,so that the equipment on the platform remains stable with respect to the inertial space.This paper studies the system control scheme,mechanical structure,anti-interference control algorithm,software and hardware design,and develops a shipborne adaptive stabilization platform with excellent dynamic performance and strong anti-interference ability.First of all,this paper conducts research in theory and formulates three closed-loop control schemes based on electric current loop,velocity loop and position loop and the overall scheme of stable platform controller;according to the system requirements,two parameters of roll axis and pitch axis were selected to establish the two axis and two frame mechanical structure of the stable platform.Secondly,this paper established the servo motor motion model,and simulated the electric current loop,velocity loop and position loop.Aiming at the characteristics that the velocity loop is susceptible to model perturbation and high or low frequency noise disturbances,disturbance observers are studied.Then,an improved disturbance observer applied to the velocity loop was successfully designed.It is verified by MATLAB simulation that the improved disturbance observer can strongly suppress the model perturbation and high or low frequency noise disturbances.Since the position loop is susceptible to external disturbances and is prone to overshooting,this paper designs an auto disturbance rejection controller based on genetic simulated annealing algorithm parameter tuning based on the auto disturbance rejection control technology.The results of simulation analysis show that the position loop has strong suppression effect on external disturbances.Compared with the traditional PID adjustment,the proposed method takes less time: from 480 ms to 50 ms.In order to verify the dynamic characteristics of the system,this paper uses a square wave signal with amplitude of 0.155 to test the system.MATLAB simulation results show that the information adjustment time of the system output position is 110 ms,which meets the requirements of system design.Finally,not only the software and hardware design of the system is completed,the system is also fully tested.In this paper,a three axis swing table is used to simulate the condition of the stable platform when it is operating at sea,and the static and dynamic errors of the stable platform are tested.The test results prove that the steady-state error is less than 0.1° and the dynamic error is less than 0.3°.The above designs have met the requirements of system design.