The Design Of The Control System Of Stabilized Platform Used In Marine Salvage Based On SCM

Stable platform is a kind of device which is used to keep an object stability relative to a specific space coordinate. It can adjust the balance by collecting the motion information about vector and controlling the motor. It is important for modern engineering equipment, widely used in aviation, fire control systems of weapons and radar platforms. Aiming at the problem of low success rate of throwing rope rescue in marine rescue, this paper presents the application of stable platform to the emergency rescue rope-thrower system on rescue ship, to ensure the accuracy of projectile and the success rate of rescue. Stable platform can effectively offset the movement of the hull depends on the performance of the control system when the line-thrower launch. Therefore, this paper design control system, including software and hardware systems, which lay a good foundation for the development of a sound rescue system.In the paper, the mechanical structure of stable platform is introduced. It includes the characteristics of the mechanical structure of the O-series platform, INS/GPS Measurement System and the factors affecting the accuracy of stable platform. The software control systems of stable platform is developed. The system collects the information of the hull’s movement. Then, the data packets are decoded and converted into the actual angle. The mathematical model between the actual angle and the motor speed is established, which is used to design the PI regulator to control the motor. Finally, the program is debugged and worked with online real-time simulation combine programming software and simulation software. The hardware control system of the stabilized platform is designed based on ATmegal6. It includes a forward channel interface circuit, a backward channel interface circuit, a human-computer interaction channel interface and a data communications interface circuits. And the PCB circuit board is made, after drawing circuit board wiring diagram by Protel, exposure, development, etching, drilling, welding. Finally, the six DOF Ship Simulator is used to provide rolling and pitching motion to test two DOF stable platform. Experimental results show that stable platform can be maintained in the range of 2.6 degrees when the ship reaches 7 degrees. The performance is still limited by the mechanical structure error and the control algorithm.