船载雷达稳定平台的设计

发布时间：2018-03-03 05:27

本文选题：雷达　切入点：稳定平台　出处：《大连海事大学》2017年硕士论文　论文类型：学位论文

【摘要】：船在海上航行时,由于受到风浪、潮汐等气象环境的影响,会不可避免的产生横滚和俯仰运动,影响船载雷达设备的正常工作,稳定平台是一种安装在运动载体上的装置,具有隔离运动载体扰动的功能,因此,船载雷达稳定平台的研究具有重要的意义。本文首先分析了船体运动对船载雷达设备的探测能力和方位分辨能力的影响,为船载雷达稳定平台的设计提供了理论依据,并据此得出了本文的设计目的和实现目标。根据雷达稳定平台的指标要求和功能分析,确定了稳定平台系统的总体方案,并完成了姿态信息采集单元、主控单元、执行单元、稳定机构单元的设计。其中姿态信息采集单元重点对传感器的原始数据进行检测和分析,并完成了陀螺仪的零偏校正。针对加速度计静态性能好而动态性能差,陀螺仪动态性能优越而长时间会有累积误差的特点,利用两者优势互补以提高角度精确度。通过对互补滤波法、四元数法和卡尔曼滤波法三种姿态解算方法的对比和分析,确定使用四元数法来完成最终姿态角的获取。然后,在稳定平台系统总体方案设计的基础上,为了验证设计方案的合理性,安装实现了基于前述设计的稳定平台样机。根据稳定平台样机的尺寸和各器件的布局确定了主控制板的大小,完成了系统硬件的设计,包括系统硬件原理图的设计,最小系统的搭建和PCB设计,并完成了系统板的焊接和调试。针对稳定平台系统的自身特点,完成了软件系统设计,实现了姿态传感器和微处理器之间的通信以及对电机的有效控制。最后在实验室环境下对稳定平台样机进行了动态实验和执行效果实验,实验表明,当稳定平台样机的下台面扰动时,上台面能保持在3°的范围内,稳定调节效果满足设计指标。
[Abstract]:The ship is at sea, due to wind, tides and other effects of the meteorological environment, will inevitably produce roll and pitch motion, affect the normal work of shipborne radar equipment, the stable platform is a device mounted on the moving carrier, with motion vector of disturbance isolation function, therefore, it has important meaning to research shipborne radar stabilized platform. This paper analyzes the impact of radar equipment load on the ship motion detection ability and range resolution, provides a theoretical basis for the design of radar stable platform for ship, and concludes this design purpose and goals. According to the requirements of radar stabilized platform and the function analysis. To determine the overall scheme of stable platform system, and completed the attitude information acquisition unit, main control unit, execution unit, design unit. The stable attitude information acquisition unit The key of sensor data detection and analysis, and the gyro bias correction for accelerometer. Good static performance and dynamic performance, dynamic performance characteristics of gyroscope superiority and long time will have a cumulative error, using two complementary advantages to improve the accuracy of angle. Based on the complementary filtering method, the number of four yuan method and Calman filtering method of three kinds of attitude calculation and comparative analysis method, determined using four element method to complete the final acquisition of the attitude angle. Then, based on the overall design of stabilized platform system, to verify the design, installation to achieve a stable platform prototype based on the design according to the stability. The size of the prototype platform and device layout of the main control board size is determined, the system hardware design is designed, including the design of hardware principle diagram, the minimum system construction and PC B design, and completed the welding and debugging of the system board. The stable platform system of its own characteristics, the design of the software system, realizes the communication between the microprocessor and the attitude sensor and the effective control of the motor. The experiment, dynamic experiment and the final implementation effect on the stable platform prototype in laboratory experiments show that when the stable platform prototype stage surface disturbance, the table can be maintained in the range of 3 DEG, stabilization effect is satisfied with the design specifications.

【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN957

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