Design And Research Of Servo System Of Shipboard Stabilized Platform

When the ship is at sea, the sea waves will result in a movement of the ship. This movement can be divided into three directions rocking motion, which is yawing, rolling and pitching. Precision instruments on ships, weapons targeting systems, shipboard radar, shipboard communications systems, usually can not work normally in the rocking motion oft he ship, So the above enumerated base carrier system needs to be isolated from the ship rocking motion caused by the waves.In this paper, the studied subject is six freedom stabilized platform. The six freedom stabilized platform is mainly composed of upper and lower turntable.The function of the lower three axises turntable is to simulate yawing, rolling and pitching motions of the ship.The upper three axises platform achieves the function of keep parallel to the horizontal plane or to track certain target.Firstly, from two aspects of steady-state and dynamic-state to design the stabilized platform. Steady-state design section introduces the six degrees of freedom turntable mechanical structure and performance metrics. On this basis, the paper illustrates the procedure of designing control system, angle measuring system and computer systems of the stabilized platform system. And the execution of the motor system, measuring element, feedback components,amplifying devices and motor load programs were analyzed and selected. Dynamic design is based on the design of steady-state design, in addition, in this part, the paper builds the mathematical models of each element of the stabilized platform system. Tricyclic control scheme has been adopted and designed and simulated in the following part, by comparing the pre-compensation and calibration of the system based on the simulation. Then the paper introduced the concepts and methods of fuzzy adaptive PID control and design and simulation of fuzzy adaptive PID controller, the performance of tricyclic corrected system and that of the fuzzy adaptive PID control corrected system were compared to illustrate that the dynamic performance of the system was satisfied after compensation of fuzzy adaptive PID control.With the development of computer technology, using computer as the core element of the control program has been more and more widely used. In order to maintain the stabilized platform to keep parallel to the horizontal plane or to track certain target through the method of computer calculation, the paper further establishes the motion model of the stabilized platform in the three-dimensional coordinates. Subsequently, the paper builds and simulates the model of the mathematical model of the compensation angle which the axises of the stabilized platform needed to rotated to verified the correctness of the model. Meanwhile, in order to let stabilized platform able to track the target object, the paper established a mathematical model while stabilized platform tracking fixed target object. Similarly the paper builds and simulates the model of the mathematical model of the compensation angle which the axises of the stabilized platform needed to rotated to verified the correctness of the model.