本文關(guān)鍵詞：楔形穩(wěn)定平臺(tái)的等效機(jī)械臂模型　出處：《艦船科學(xué)技術(shù)》2016年07期 　論文類型：期刊論文

  更多相關(guān)文章： 楔形穩(wěn)定平臺(tái) 船搖 等效機(jī)械臂 層級(jí)結(jié)構(gòu)

【摘要】：為使運(yùn)動(dòng)載體上的觀測(cè)儀器相對(duì)于大地保持靜止,需要使用穩(wěn)定平臺(tái)對(duì)運(yùn)動(dòng)載體的擾動(dòng)進(jìn)行補(bǔ)償。楔形穩(wěn)定平臺(tái)利用多個(gè)堆疊楔塊之間的相對(duì)轉(zhuǎn)動(dòng),改變頂部平面的傾角以抵消船搖擾動(dòng)。它具有成本低、精度高、負(fù)載轉(zhuǎn)矩小以及重量輕、能耗低等優(yōu)點(diǎn)。然而楔形穩(wěn)定平臺(tái)獨(dú)特的結(jié)構(gòu)使得其分析較為困難。因此本文提出一種將三維空間內(nèi)楔塊的轉(zhuǎn)動(dòng)近似等效成二維空間內(nèi)機(jī)械臂運(yùn)動(dòng)的簡(jiǎn)化變換,并以此分析比較了雙層、改進(jìn)型雙層、多層等楔形穩(wěn)定平臺(tái)的結(jié)構(gòu),得出改進(jìn)型雙層結(jié)構(gòu)是最佳實(shí)踐方案。最后利用旋轉(zhuǎn)矩陣進(jìn)行坐標(biāo)系變換,計(jì)算得到改進(jìn)型雙層結(jié)構(gòu)楔形穩(wěn)定平臺(tái)的控制函數(shù)。
[Abstract]:In order to keep the observation instruments on the motion carrier stationary relative to the earth, a stable platform is needed to compensate the disturbance of the motion carrier. The wedge stabilized platform uses the relative rotation between several stacked wedge blocks. It has the advantages of low cost, high precision, low load torque and light weight. However, the unique structure of the wedge stabilized platform makes its analysis more difficult. Therefore, this paper proposes a simplified transformation from the rotation of the wedge block in the three-dimensional space to the motion of the manipulator in two-dimensional space. Based on the analysis and comparison of the structure of the double-layer, improved double-layer, multi-layer wedge stabilized platform, it is concluded that the improved double-layer structure is the best practice scheme. Finally, the coordinate system transformation is carried out by using the rotation matrix. The control function of the modified double-layer wedge stabilized platform is obtained.
【作者單位】： 上�？萍即髮W(xué)信息學(xué)院;中國(guó)科學(xué)院上海技術(shù)物理研究所;中國(guó)科學(xué)院紅外探測(cè)與成像技術(shù)重點(diǎn)實(shí)驗(yàn)室;上海市現(xiàn)場(chǎng)物證重點(diǎn)實(shí)驗(yàn)室;
【基金】：國(guó)家十二五國(guó)防預(yù)研資助項(xiàng)目(41101050501) 上海市現(xiàn)場(chǎng)物證重點(diǎn)實(shí)驗(yàn)室資金資助項(xiàng)目(2011xcwzk04)
【分類號(hào)】：U664
【正文快照】： 穩(wěn)定平臺(tái)通常用于隔離艦船、車輛等運(yùn)動(dòng)載體的擾動(dòng),使其裝載的觀測(cè)儀器相對(duì)于大地坐標(biāo)系保持靜止。楔形穩(wěn)定平臺(tái)是一種新型穩(wěn)定平臺(tái)。它最先由荷蘭信號(hào)公司設(shè)計(jì)[1],現(xiàn)已應(yīng)用于艦載“天狼星”遠(yuǎn)程紅外搜索與跟蹤系統(tǒng)[2]。與陀螺儀式穩(wěn)定平臺(tái)不同,楔形穩(wěn)定平臺(tái)主要由若干自由轉(zhuǎn)

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 李鷺鳴;楔形鍵工作時(shí)受力的分析[J];機(jī)床與工具;1955年04期

2 張善同;對(duì)“楔形鍵工作時(shí)受力的分析”一文的商榷[J];機(jī)床與工具;1956年12期

3 蔡方，

本文編號(hào)：1380163