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A device and control method for suppressing vibration of a shipboard stabilized platform

A technology for stabilizing platforms and control systems, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as poor robustness, low accuracy, and system instability

Active Publication Date: 2020-10-23
HARBIN INST OF TECH AT WEIHAI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] To solve the characteristics of low accuracy and poor robustness caused by "crawling motion" in the traditional two-axis shipboard stable platform control system and the system instability caused by sliding mode jitter when using the sliding mode control algorithm, the present invention proposes A device and control method for suppressing the vibration of a shipboard stabilized platform, based on a two-axis shipboard stabilized platform control system, using a two-point method while ensuring the original followability and robustness of the sliding mode control algorithm, effectively Suppresses its sliding mode jitter problem

Method used

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  • A device and control method for suppressing vibration of a shipboard stabilized platform
  • A device and control method for suppressing vibration of a shipboard stabilized platform
  • A device and control method for suppressing vibration of a shipboard stabilized platform

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Embodiment Construction

[0034] Two-axis shipboard stabilized platform device such as figure 1 shown. Including panning axis 1 and pitching axis 2, both panning axis 1 and pitching axis 2 have limit blocks 3, panning axis 1 can rotate 300°, pitching axis 2 has left and right limits of 15° and 30° respectively; panning axis 1 and pitching axis 2 The motors used are brushed DC torque motors, the models of which are NH250LYX-M300-E60 and NH186LYX-M100-E60 respectively; It is 20000PPR, and the highest resolution can be obtained after quadruple line is 80000PPR.

[0035] For the control system of the dual-axis shipboard stabilized platform device, the sliding mode control algorithm has better followability and robustness than the traditional PID algorithm, but the stability of the system is not stable due to the vibration problem of the sliding mode control itself. it is good.

[0036] The present invention proposes a control method for suppressing the shaking of a two-axis shipboard stabilized platform...

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Abstract

A shipboard stabilized platform control system under sliding-mode control has high precision and robustness, and the existence of a sign function will causes jittering of input control in the sliding-mode control. In order to eliminate the jittering, the present invention provides a device for inhibiting jittering shipboard stabilized platform and a control method thereof. Based on a double-shaftshipboard platform, a thin boundary layer is arranged at a sliding mode surface, a two-point form method is employed to change control output to a continuous function between two boundary layers, thesystem is converted from a switching state to a continuous state, the system slowly approaches, passes through and keeps away from a jittering switching platform in the whole control process, a motiondirection is only changed when the system reaches the boundary layers, and therefore the jittering frequency of the system is greatly reduced. The method is simple, good in jittering elimination effect and good in universality.

Description

technical field [0001] The invention relates to the field of suppressing sliding mode jitter of a ship-borne stable platform, in particular to a control method capable of suppressing sliding-mode jitter under a two-axis ship-borne stable platform through a two-point method. Background technique [0002] In aviation, aerospace, and navigation, the attitude of the carrier platform such as the aircraft and the hull changes all the time, and the equipment such as measurement and tracking needs a good stable attitude. The platform of stationarity is the stable platform. The target carrier can keep its orientation or attitude unchanged in the relative inertial space through the stable platform to resist external disturbances. The shipboard stable platform can be equipped with various detection equipment such as visible light lens, infrared laser illuminator, lidar, infrared thermal imager, shipboard satellite, etc., to complete functions such as maritime police monitoring, mariti...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 张华强秦秀敬王新生
Owner HARBIN INST OF TECH AT WEIHAI
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