【作者】 张洪亮；

【导师】 王志胜；

【作者基本信息】 南京航空航天大学 ， 系统工程， 2010， 硕士

【摘要】 舰船的航向变化以及船的摇摆会给平台系统带来扰动,在这种情况下,舰载稳定平台能够隔离载体扰动,保证平台相对惯性坐标系稳定,使得在海上运动中平台设备准确跟踪目标。本文以两轴舰载武器稳定平台控制系统为对象展开研究。首先本文阐述了舰载武器稳定平台系统的总体设计方案,通过对稳定平台运动学和动力学分析,确定了基于双速度环,位置环的反馈控制方式,完成了系统的设备选型。根据系统的总体设计方案,分析了系统的数学模型,设计了基于双速度环,位置环的三环控制器,并进行了仿真验证。针对舰载稳定平台的特点以及传统PID控制器的局限性,设计了基于神经元网络PID控制算法,并运用MATLAB软件进行了仿真,结果表明该控制算法提高了系统的动态性能,增强了对外界干扰的抑制能力,减小了稳态误差。最后论文详细介绍稳定平台系统在工程上的具体实现。设计了稳定平台伺服控制器,驱动器等硬件电路。根据所设计的硬件电路完成了稳定平台系统的软件设计,并对稳定平台系统进行了总体测试,测试结果表明稳定平台系统能够满足性能指标要求。更多还原

【Abstract】 The change of the direction and swaying of the ship will give rise to distance, which influences the normal operation of the platform system. In this case, Shipborne stabilized platform can isolate the disturbance of the carrier and ensure the stability of the inertial frame in the platform system, so as to make the equipment of the platform track the target accurately.This paper conducts a research on the control system of the two-axis shipborne weapons platform. First, the general design scheme of the stabilized platform for the shipborne weapons was proposed. After the analysis of the kinematics and dynamics of the stabilized platform, a feedback control technique with two velocity loop and position loop was established, and then the proper selection of the system equipment was completed at last.Second, based on the general design, a three-loop controller with two velocity loops and a position loop can be derived after the analysis of the mathematical models of the system, which has been demonstrated by the simulation results.Considering the limit of the traditional PID controller and the feature of the shipborne stabilized platform, a control algorithm combined the PID and Neural Networks was proposed in this paper. The simulation results indicated that this control algorithm with special anti-disturbance ability can improve the dynamical performance of the system and reduce the steady state error.Finally, the realization in engineering of the servo controller was introduced in detail. The hardware circuit, which consists of servo controller and drive, was designed in this paper. Based on the available hardware circuit, the software designing of the system and the test of the whole stabilized platform system were completed. The results of the test have indicated that the stable platform can meet the requirement of the performance.更多还原