Research On Servo Control And Disturbance Suppression Technology Of Shipborne Stabilized Platform

Due to the influence of wave,Shipborne weapons will produce motion in the directions of pitch,roll,etc.,which will affect the precise strike performance of shipborne weapons during ships' voyage.Shipborne weapons are usually installed on a shipborne stable platform to maintain horizontal relative to inertia space.The traditional stable platform control strategy,such as PID control,adopts the hysteresis adjustment,that is,the corresponding control quantity is generated by measuring the current attitude angle,thereby adjusting the platform to horizontal.This kind of adjustment is suitable for a single disturbance.However,the wave disturbance is changed in real time.In addition,the time delay of the electromechanical system exists.The traditional hysteresis adjustment strategy must have the disadvantages of slow response speed and low stability.How to suppress the wave disturbance and improve the dynamic stability accuracy become the key problem of the shipboard stable platform technology.This paper takes the shipborne weapon stabilization platform as the research object,and focuses on the servo control and disturbance suppression technology of shipboard stability platform.First,the system hardware selection was carried out,and the system overall plan was designed.Then,based on the coordinate transformation,the principle of active stability was analyzed.The mechanical structure was analyzed to provide a basis for control system design.A wave model based on random wave theory was established to establish the basis for wave disturbance prediction.A prediction method of slope of wave based on GRU network was designed,and the prediction results of BPNN,RNN and LSTM were compared according to the two indexes of RMSE and MAPE.The simulation results showed that the GRU network has better accuracy in slope of wave prediction.The AC permanent magnet servo motor model was established,and the three-loop control system was designed and parameter were tuned.In order to better suppress the disturbance and improve the stability accuracy,a feedforwardfeedback composite controller based on disturbance prediction was designed in the position tracking loop.Advanced control was implemented in the feedforward channel,and the feedback channel guaranteed the fast response of the system without overshoot.Finally,the designed control method was verified by the combination of numerical simulation analysis and experimental research.The results showed that the feedforward-feedback composite control method based on disturbance prediction can effectively suppress disturbances and improve stability accuracy on the premise of selecting appropriate prediction steps.