针对船载设备在海洋中会受到6个自由度的影响，设计一种船载三自由度稳定平台，能够补偿升沉、横摇和纵摇。分析了稳定平台的逆运动学特性，利用Matlab/Simulink的Simscape工具建立了虚拟样机测试系统。在平台模型中添加了姿态传感器，根据逆运动学算法，实现了虚拟样机仿真系统的物理仿真。实验表明，设计的三自由度并联稳定平台能在一定范围内有效的进行波浪姿态补偿。
Aiming at the influence of six degrees of freedom on shipborne equipment in the ocean, a three-degree of freedom ship-borne stabilized platform was designed, which can compensates for heave, roll and pitch. The inverse kinematics characteristics of the stabilized platform are analyzed. A virtual prototype simulation system was established by Simscape using Matlab/Simulink. Posture sensor was added to the platform model. Finally, the prototype machine is made. Siemens PLC is used as the controller, and the posture of the platform is detected by the inertial navigation module and displacement sensor. The experimental results show that the 3-DOF Ship-borne Parallel Stabilized Platform designed can effectively compensate the wave attitude within a certain range.
2022,44(5): 154-157 收稿日期：2021-10-19
DOI：10.3404/j.issn.1672-7649.2022.05.033
分类号：U661.3
基金项目：辽宁省大连市科技创新基金项目（2020JJ26GX020）
作者简介：图雅(1981-)，男，讲师，研究方向为控制理论与控制工程
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