| Wedge stabilization platform, also known as the tilted-axis stabilization platform, is a kind of new stabilization platform, which has the advantages of low weight, high stabilization accuracy, small driving torque and convenience of maintenance, and satisfies the need of stabilization of observation and aiming devices on ships and vehicles.In this paper a theoretical analysis model of wedge stabilization platform is put forward, from which the kinematic equation and angular displacement function of wedge stabilization platform are derived by analyzing its structure, setting a reference coordinate system for each part and representing posture of each part by coordinate transformation. This model is a guide for wedge stabilization platform design.The spherical diagram and equivalent arm of wedge stabilization platform are modeled to visually analyze and calculate the relationship of wedge angles, rotation angles of wedges and tilt angle of the top platform, from which the relationship of wedge angles and the largest range of ship-swing compensation is derived to provide a method for calculating the optimal wedge angle and the biggest rotation angle of each wedge in designing for different applications.For the convenience of hand drawing and qualitative analysis, a plane diagram is created by making stereographic projection on the spherical diagram. Furthermore several problems in designing systems of unequal-wedge wedge stabilization platform are analyzed in the spherical diagram and plane diagram.In addition, the servo system of wedge stabilization platform is designed, with which a ship-swing-and-compensation synthetic computer simulation system are established. Finally the effectiveness of ship-swing compensation of wedge stabilization platform is verified by the experiment of a scale model. |
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