水上稳定平台关键技术研究

发布时间：2018-04-22 14:10

本文选题：稳定平台 + 关键技术　；参考：《南京理工大学》2014年硕士论文

【摘要】：探测设备工作于海面上,受到诸如风浪、潮汐等海洋环境的影响,会产生相应的晃动,影响设备的正常工作,需要通过稳定平台隔离扰动。因此,水上稳定平台相关技术的研究具有重要的意义。首先,为确定水上稳定平台系统的总体方案,完成了包括动力系统、稳定机构、姿态测量系统、控制系统等在内的各部分的总体方案,为后续的具体设计工作明确了方向。根据随机海浪理论,研究了三级海况下随机海浪的特性,建立了三级海况下的随机海浪模型,并进行了相应的仿真分析。分析了平台在随机海浪下的运动响应,并对平台在三级海况下的横摇运动进行了仿真。分别基于线性自回归模型和非线性自回归模型研究了平台的摇荡运动预报问题,结果表明采用非线性自回归模型可有效提高预报精度。对平台在海洋环境下的风载荷和惯性力载荷进行了分析。完成了平台的机械结构的设计,建立了三维模型,分析了包括滚珠丝杠、虎克铰、推杆等主要部件的设计过程。为进一步掌握稳定平台机构的运动规律,对机构进行了相关运动分析。针对水上稳定平台控制系统的自身特点,设计了基于模糊PID算法的控制系统,进行了控制系统的仿真分析,结果表明模糊PID控制系统的响应速度、超调量等指标均优于传统PID控制系统。最后基于稳定平台原理样机,分别进行了机构执行效果实验和单轴晃动实验,结果表明稳定平台的稳定调节效果初步满足设计指标。
[Abstract]:The detection equipment works on the sea surface and is affected by the ocean environment such as wind wave tide and so on which will produce the corresponding sloshing which will affect the normal operation of the equipment. It is necessary to isolate the disturbance through a stable platform. Therefore, the research on the technology of water stabilization platform is of great significance. First of all, in order to determine the overall scheme of the water stabilization platform system, the overall scheme including power system, stabilization mechanism, attitude measurement system, control system and so on is completed, and the direction of the subsequent specific design work is clarified. According to the theory of random wave, the characteristics of random wave under three stage sea conditions are studied, and the random wave model under three level sea conditions is established, and the corresponding simulation analysis is carried out. The motion response of the platform under random waves is analyzed, and the rolling motion of the platform under the third order sea condition is simulated. Based on the linear autoregressive model and the nonlinear autoregressive model, the prediction problem of the rocking motion of the platform is studied. The results show that the nonlinear autoregressive model can effectively improve the prediction accuracy. The wind load and inertial force load of the platform in the marine environment are analyzed. The design of the mechanical structure of the platform is completed, the 3D model is established, and the design process of the main components, including ball screw, hook hinge and push rod, is analyzed. In order to further understand the motion law of the stable platform mechanism, the related motion analysis of the mechanism is carried out. According to the characteristics of the control system of the water stabilization platform, the control system based on fuzzy PID algorithm is designed, and the simulation analysis of the control system is carried out. The result shows that the response speed of the fuzzy PID control system is proved. The overshoot is superior to the traditional PID control system. Finally, based on the prototype of the stabilized platform, the experiments of the mechanism performance and the uniaxial sloshing are carried out respectively. The results show that the stabilizing effect of the stabilized platform meets the design requirements.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：P715.41

【参考文献】