Design And Implementation Of A Stable Platform Based On Flexible Jet Dynamics

Due to the complex natural conditions of the sea,sea-based exploration and sighting equipment will inevitably be affected by the environment such as wind and waves on the sea surface,making the equipment unable to satisfy the normal working conditions.This paper designs a jet-powered stable platform device suitable for sea surface and water,to guarantee the desired working environment of the equipment.The main tasks are as follows:Firstly,a design scheme for a stable platform is proposed.The platform is structurally designed through the 3D modeling software Solidworks and CAD software,and the 3D model and key dimensions of the stable platform are determined.Then,the dynamic and kinematics calculation and analysis of the stable platform of the scheme are carried out to establish a hydrodynamic model,and the curves of the pump power,flight height,and hydraulic rod propulsion distance under steady-state are obtained.The system controller is designed according to the above mathematical model,and the control system model is built with the Simulink module of MATLAB.Finally,the motion state curve of the stable platform is obtained.Secondly,the control link of the system is designed.The control link is mainly composed of an attitude controller,a signal converter,and a hydraulic system.The cross-sectional area of the jet orifice is adjusted by driving the hydraulic rod to change the magnitude of the jet force to adjust and stabilize the platform attitude.The selection and design of components in the control link are analyzed and introduced in detail.The attitude controller part consists of the STM32 microcontroller as the main controller and sensor parts including IMU sensors,displacement sensors,flow sensors,etc.The design of the signal converter mainly realizes the function of converting the pulse signal output by the attitude controller into the breaking signal for controlling the hydraulic system.Its design is divided into three parts: pulse signal to the voltage signal,PLC controller,and signal power amplification.The PLC simulation software is used to carry out the ladder programming design,and the manual conversion control and automatic control modes are realized.According to the platform control requirements,the hydraulic system in the control link is designed,and the key parts such as solenoid valves,hydraulic pumps,and hydraulic rods are discussed during type selection design.Thirdly,experimental verification is performed based on the results of the simulation analysis and hardware design.The device is improved and the control system parameters are tuned in the experiment to make the stable platform maintain stable flight within 4 degrees,which verified the controllability of the system and the feasibility of the design scheme.Finally,the analysis of the design scheme is summarized,and an improved scheme for stable platform design is proposed.By changing the jet pipe to a jet form with a certain inclination angle,the entire platform has six degrees of freedom movement,and then the dynamic structure of the improved design is analyzed.The control model is built with Simulink,and the control system characteristics of the structure are analyzed according to the simulation results.