Water Key Technology Research Platform Stability

Detection equipment will sway on the sea due to waves, tides et al, which will affect the normal operation of it, so a stable platform is needed to isolate disturbances. The study of related technology of aquatic stable platform for significance is meaningful.Firstly, to make the overall scheme of the stable platform, the overall design of the following parts were achieved including power system, stable structure, attitude measurement system and control system, which determine the direction for the further study.The characteristics of random waves was studied based on random waves theory and modeling of the random waves model sea state III were put forward, and the model was used for simulation. The movement of stable platform on random waves was analysed, and its roll motion was simulated. The auto-regressive (AR) model and onlinear auto-regressive (NAR) model were used for the prediction of stable platform attitude swaying motion, and the result shows that NAR model can rise prediction accuracy effectively.The wind load and the inertia forces load of stable platform on the sea was analysed. The mechanical structure design and the three-dimensional model were achieved, and some main parts’design procedure was analysed including ball screw, hooke joint and push rod. For the further study of stable platform’s motion, motion analysis was carried out.According to the aquatic stable platform control system’s characteristics, a control system based on fuzzy PID was designed and simulated. The result shows that fuzzy PID control system’s response speed and overshoot are better than traditional PID control system.Finally, the structure performance experiment and uniaxial swaying experiment were carried out based on the prototype of the platform. The result shows that the stable platform’s stability adjusting ability meets the design specifications basically.