| Based on the Lagrange-Maxwell equations of electromechanical dynamics,through all-round energy analysis for the stable platform device of roll-pitch, the twonon-linear biaxial coupling electromechanical dynamic models are provided. Basedkinematics impact of waves based incentive on the carrier, inertial force caused bywaves based incentive is not introduced in no-based incentive dynamics model. Baseddynamic impact of waves based incentive on the carrier, inertial force caused by wavesbased incentive is introduced in based incentive dynamics model. The basic motion isused as the desired motion of the servo system. Base on the PID algorithm, thekinematics and dynamics simulation are done.Compared the simulation results between the two models, the results showed thatthe main difference lies in the two servo motor drive power, the former which needmotor power is about double than the latter. It showed that the choice of motor powerby no-based incentive dynamics model is excessively conservative. And a theoreticalbasis for selection of hardware is provided by the based incentive model. This systemwill enable the implementation of the project to cut costs.Considering the friction impact on the stable platform, by adding friction model tothe electromechanical dynamic model, simulation analysis is achieved. Results accordwith the actual situation. The influence of friction in the PID control can not achievehigh precision tracking. Finally, a kind of neural network-based RBF and sliding modecontrol of the friction compensation is proposed, simulation results showed that themethod can facilitate efficient the system of stable platform for the frictioncompensation. |
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