Design Of 2-DOF Stabilized Platform For Unmanned Rescue Vessel

In this thesis,we mainly designed a 2-DOF stabilized platform,including the structural design and the control system design.When the sea is in abominable condition,it is difficult for rescue equipment launched by the line throwing appliance to reach the target.To compensate for the roll and pitch of the rescue vessel,a stabilized platform is designed to provide a stable launching environment for the line throwing appliance,so it can improve the rescue success rate.In order to meet the requirements of miniaturization,the serial structure platform is selected,the outer frame uses O-series,the upper frame uses U-series,and the frame structure is made of aluminum alloy.The outer frame is driven by right-angle reducer,and the motor is installed vertically.For the sake of avoiding the impact of recoil force,a electromagnetic brake is installed on the outer frame.The shafting structure uses angular contact ball bearings,expansion sleeve is designed to prevent motor overload.So as to ensure the strength of platform parts,stress analysis is carried out on the important parts.In the control system,the swing angle is acquired by gyroscope,and PID algorithm is used to control the servo motor.The communication format between the device and the upper computer conforms to the Modbus protocol.This thesis completed the design of stabilized platform,customized a supporting recovery winch.And control system was completed,electrical control box of the equipment was designed.The space layout was designed to ensure the effective work of the whole equipment.Build a mathematical model of servo motor,through the simulink simulation analysis,we can draw a conclusion that the motor control strategy is rational.Finally,the control program was simulated in IARworkbench,and when the SCM receive a control instruction,the pin’s electrical level can be changed,so the SCM can control the equipment connected by the relays.