【作者】 夏旭；

【导师】 薛开；

【作者基本信息】 哈尔滨工程大学 ， 机械制造及其自动化， 2011， 硕士

【摘要】 船舶在大海中航行时受到风、浪、涌等扰动作用,影响其搭载设备的姿态稳定性。船用稳定平台作为位置随动装置,能实时的测量船体的姿态变化,通过镜像运动隔离船舶的纵横摇扰动影响,从而保证其搭载设备在惯性空间中水平稳定。近几年来,随着各国在军事装备及民用产品方面的技术发展,稳定平台也得到了越来越广泛的应用。本文以二轴船用稳定平台运动控制系统为研究背景,着重对稳定平台伺服控制系统进行了分析与设计,深入讨论了稳定平台运动位置姿态预测及运动速度规划算法,并进行了相应的实验验证。本文主要研究内容如下：首先,介绍了稳定平台伺服控制系统的设计指标,并对其功能及扰动隔离原理进行了分析；完成了伺服控制系统的总体设计,并着重对基于DSP的伺服主控制器进行了硬件电路设计和软件控制程序设计。其次,为了减少GPS姿态测量数据的噪声和闭环系统的时延对稳定平台控制精度的影响,分析了几种数据平滑滤波和平台姿态预测的方法,并对各种方法分别进行了VC++6.0软件仿真及在DSP主控制器上的实验验证。以算法的实时性和位置精度为准则,最终确定以滑动平均滤波算法进行数据平滑滤波,以Kalman滤波预测算法进行姿态预测。然后,为了稳定平台运动速度的平稳连续性,对其运动速度规划算法进行了深入研究。分析了各种常用的加减速算法,结合稳定平台运动控制特点,分别进行了基于T型和S型的稳定平台速度规划算法设计,并通过在DSP主控制器上的实验验证,最终确定基于S型的速度规划算法为最优方案。最后,完成了对稳定平台伺服系统的伺服闭环参数的调试,得到了伺服系统与机械台体的最佳匹配状态；制定了稳定平台运动规划算法实验方案,并针对不同海况下的运动规划算法的控制精度进行实验验证,获得了良好的效果；将整个稳定平台系统进行联机调试,得到了较小的系统控制误差,证明本文设计满足技术指标要求。更多还原

【Abstract】 Sailing in the ocean, ships are suffered from the wind, wave, surge and other disturbances, which would affect the gesture stability of the carried instruments. Stabilized platform of ship can Real-time measures the variation of ship gesture, via doing a mirror image motion to segregate the effects of ship’s rolling and pitching. In recent years, with the development of defense weaponry equipment and production of goods for civilian use technology, Stabilized platform applications are becoming more and more widely. This paper is under the background of two-axis stabilized platform’s servo control unit research, the scheme of servo control is analysed and designed; the position and gesture forecast algorithm and speed planning algorithm of stabilized platform’s servo control are discussed. Following are the main works and the result of the thesis:Firstly, the criteria for system design of stabilized platform is introduced, the function and segregating principle of stabilized platform are analysed.And then, the hardware circuit and software module of main servo controller of stabilized platform are designed in detail.Secondly, to reduce the noise effects of GPS data and the time delay influences of closed-loop system, multiple smoothing filtering and gesture forecast algorithms are analyzed. All algorithms are executed on the VC++6.0 software and DSP main servo controller. Under the principle of real time and the accuracy of stabilized platform control, the Moving-average filtering and Kalman filtering methods are selected.Thirdly, to maintain the smooth and steady of platform’s running speed, speed planning algorithms are researched in depth. Frequently-used acceleration and deceleration algorithms are discussed, then the based on T type and S type speed planning algorithms are designed. With the result of experiments, the S type speed planning algorithm is the best choice for this paper.Lastly, the parameters of servo closed-loop system of stabilized platform are set, which match with the machinery in optimum behavior. The scheme of motion planning algorithm experiments are drafted, which are carried out with different sea states GPS data and obtained a good result. Finally, all components of stabilized platform are joined together to check the precise of whole control system, the control errors are under the technical data which are satisfied with design requirements.更多还原