Real-time trajectory planning method for stabilized platform

Abstract

The invention relates to a trajectory planning method, in particular to a real-time trajectory planning method for a stabilized platform. Comprising the following steps that 1, a stable compensation control system is established, the stable compensation control system is composed of an upper computer and a lower computer, the upper computer is used for monitoring and generating a series of instruction signals, and the lower computer executes a control algorithm in real time; the control process works in a circulating mode; 2, path planning based on a Bezier curve; step 3, trajectory planning based on a variable structure state filter; the design of the invention is composed of path planning based on Bezier curve interpolation and a trajectory planning algorithm based on a variable structure nonlinear filter. Experimental results show that the motion planning scheme can generate a smooth curve on line, so that the tracking compensation precision and the motion stability of the platform are effectively improved. The method has a positive effect of improving the compensation precision of the stabilized platform.

Description

technical field [0001] The invention relates to a real-time trajectory planning method, in particular to a real-time trajectory planning method for a stable platform. Background technique [0002] The ship stabilization platform is a set of electromechanical equipment that detects and compensates the movement of the hull in real time, providing a stable working space for shipboard equipment. Typical applications include shipborne weapons, shipboard radar, offshore hoisting equipment, offshore helicopter safety landing equipment, and maritime safety approach bridge equipment, etc. Parallel stabilized platforms have received widespread attention due to their high carrying capacity and high maneuverability. The stable platform system makes corresponding compensation according to the movement of the carrier in real time. In order to achieve high-precision compensation on a stable platform, it is of great significance to realize motion planning that has high real-time performan...

AI Technical Summary

Problems solved by technology

Made a detailed analysis of the stability compensation working conditions of the parallel stable platform device, pointing out that the stability compensation system has strong real-time performance and complex motion forms

Two problems faced in the process of stability compensation are proposed: the periodic coordination problem of the upper and lower computers and the smoothness constraint problem of the platform trajectory

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