本文選題：穩(wěn)定平臺 + 關鍵技術�。� 參考：《南京理工大學》2014年碩士論文

【摘要】：探測設備工作于海面上,受到諸如風浪、潮汐等海洋環(huán)境的影響,會產生相應的晃動,影響設備的正常工作,需要通過穩(wěn)定平臺隔離擾動。因此,水上穩(wěn)定平臺相關技術的研究具有重要的意義。 首先,為確定水上穩(wěn)定平臺系統(tǒng)的總體方案,完成了包括動力系統(tǒng)、穩(wěn)定機構、姿態(tài)測量系統(tǒng)、控制系統(tǒng)等在內的各部分的總體方案,為后續(xù)的具體設計工作明確了方向。 根據(jù)隨機海浪理論,研究了三級海況下隨機海浪的特性,建立了三級海況下的隨機海浪模型,并進行了相應的仿真分析。分析了平臺在隨機海浪下的運動響應,并對平臺在三級海況下的橫搖運動進行了仿真。分別基于線性自回歸模型和非線性自回歸模型研究了平臺的搖蕩運動預報問題,結果表明采用非線性自回歸模型可有效提高預報精度。 對平臺在海洋環(huán)境下的風載荷和慣性力載荷進行了分析。完成了平臺的機械結構的設計,建立了三維模型,分析了包括滾珠絲杠、虎克鉸、推桿等主要部件的設計過程。為進一步掌握穩(wěn)定平臺機構的運動規(guī)律,對機構進行了相關運動分析。 針對水上穩(wěn)定平臺控制系統(tǒng)的自身特點,設計了基于模糊PID算法的控制系統(tǒng),進行了控制系統(tǒng)的仿真分析,結果表明模糊PID控制系統(tǒng)的響應速度、超調量等指標均優(yōu)于傳統(tǒng)PID控制系統(tǒng)。 最后基于穩(wěn)定平臺原理樣機,分別進行了機構執(zhí)行效果實驗和單軸晃動實驗,結果表明穩(wěn)定平臺的穩(wěn)定調節(jié)效果初步滿足設計指標。
[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.
【學位授予單位】：南京理工大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：P715.41

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