Dynamic Modeling And Control Simulation Of Ship-borne Radar Stable Platform Based On The Backlash And Friction

This paper researches on ship-borne radar stable platform with the half frame structure. Based on the Lagrange-Maxwell equations, ideal non-linear electromechanical dynamic math models of ship-borne radar stable platform is established through all-around energy analysis . According to the two important points of backlash and friction impacting on servo system, another new non-linear model is built by combining with the stable platform and all-around researching on the characteristics of many interrelated models. It is real enough to simulate and control for this new dynamic model.The motions of the ideal stable platform and the platform of considering of the backlash and friction are simulated in MATLAB combined with PID control strategy individually. Compared the simulation results between the two models, the results show that the later model is controlled in PID more difficultly, resulting in the conditions of retardation and error-increasing in angle tracking and rate tracking, even the instability conditions occurs in the time of motor commutation, like the local fluctuation.