| During ocean voyage or sea operation,the ship is subject to the dual action of sea wind and waves,which will inevitably produce multi-degree of freedom motion such as transverse rocking,longitudinal rocking,and bow rocking,which has a great impact on the safety of the precision machinery and personnel operations on it.In this paper,the kinematics and dynamics of the designed shipboard stabilized platform are analyzed to provide a stable platform for ship-based operation equipment and personnel,and a virtual prototype model of the shipboard stabilized platform is established in ADAMS.To realize the joint ADAMS-MATLAB simulation,the mathematical model of the motor and main components was established,the fuzzy adaptive PID controller was designed according to the analyzed system’s dynamic characteristics,and the system performance was corrected and completed according to the three-loop control.Finally,the UI interface of the shipboard stabilization platform control is designed based on Qt creator to improve the convenience of operation.Firstly,by analyzing the structure and working principle of the shipboard stabilized platform,an inverse solution model of the shipboard stabilized platform based on the inertial system and the non-inertial system is built,and the kinematic parametric solution and the workspace parametric solution procedure based on Monte Carlo simulation method are written by MATLAB.The kinematic parametric solution and the Monte Carlo simulation-based parametric solution were developed in MATLAB to solve for the rod length position,velocity,and acceleration,and to solve for the spatial attitude through the orthogonal solution program.The dynamics simulation of the shipboard stable platform is carried out in ADAMS,and the correctness of the dynamics model of the shipboard stable platform is verified.Secondly,the design of the control scheme of the shipboard stabilized platform was completed in MATLAB,and the joint ADAMS-MATLAB simulation of the shipboard stabilized platform was completed.The mathematical models of the controller motor,drive circuit and sensitive components are created,and the action characteristics of the system before correction are analyzed.Finally,the fuzzy adaptive PID control method is used,while the simulation results are compared with the effect of conventional PID control.The results show that the fuzzy adaptive PID controller designed in this paper can reduce the system overshoot and make the system regulation time faster.In addition,the current loop,speed loop,and position loop are designed and simulated to complete the correction design of the control system,and the dynamic performance comparison is completed by simulating and analyzing the corrected system with the help of MATLAB software.Based on Qt creator,the UI interface of the shipboard stabilized platform control is designed,and the interface slot connected with the database is established to realize the transfer between the control interface of the shipboard stabilized platform and the database,and the motion curves in the shipboard stabilized platform are transferred to the interface.In this paper,the motion and force of the shipboard stabilized platform are analyzed,and the corresponding kinematic and dynamic models are established.The kinematic inverse solution of the shipboard stabilized platform and the spatial positional positive solution program are written based on MATLAB and the mathematical models of the main components of the control system are established.The virtual prototype model of the joint shipboard stabilized platform is simulated and the system characteristics before correction are analyzed.A fuzzy adaptive PID controller is designed,and the performance analysis of the corrected system is completed.The simulation results show that the control strategy of the shipboard stabilization platform proposed in this paper can reduce the system overshoot and make the system regulation time faster,and the operability is enhanced by the UI interface of the shipboard stabilization platform system built to visualize the research results.It provides a reference for precise control of the shipboard stabilized platform system. |
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