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Control method of shipborne three-axis stable platform

A technology of three-axis stabilization and control method, applied in the field of instrument science, can solve problems such as hull rocking instability, and achieve the effect of improving rapidity and stability

Inactive Publication Date: 2017-11-17
HARBIN UNIV OF SCI & TECH
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  • Description
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Problems solved by technology

[0005] The purpose of the present invention is to provide a control method for a ship-borne three-axis stable platform, so as to solve the problem that the current ship will sway and be unstable when it is affected by factors such as waves and wind

Method used

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  • Control method of shipborne three-axis stable platform
  • Control method of shipborne three-axis stable platform
  • Control method of shipborne three-axis stable platform

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Embodiment Construction

[0017] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0018] Such as figure 1 As shown, the control method of the ship-borne three-axis stabilized platform includes the following steps:

[0019] Step 1: Build a stable platform control system model; the stable platform control system is a three-closed-loop control system consisting of a current loop, a speed loop and a position loop;

[0020] Step 2, construct the ADRC of the gyro-stabilized platform; the ADRC of the gyro-stabilized platform consists of a tracking differentiator (TD), an extended state observer (ESO), and a state error feedback control rate (SEF). Partial composition;

[0021] Step 3, constructing the objective function equation and designing the simulation experiment; using the floating-point genetic algorithm (FGA);

[0022] Step 4: By changing the parameter values ​​in the objective function equation, the stable platform cont...

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Abstract

The invention, which belongs to the technical field of instrument science, provides a control method of a shipborne three-axis stable platform, so that a problem that the ship shakes and can not sail stably when being affected by sea waves or wind is solved. The control method comprises: step one, constructing a stable platform control system model; step two, constructing an auto-disturbance rejection controller (ADRC)of a gyroscope stable platform; step three, constructing an objective function equation and designing a simulation experiment; and step four, completing stable control of a shipborne three-axis stable platform. According to the control method provided by the invention, disturbance estimation is carried out and active compensation is carried out, so that the anti-interference capability of the platform position is enhanced and stable tracking on the target position is improved.

Description

technical field [0001] The invention relates to a control method for a stable platform, in particular to a control method for a ship-borne three-axis stable platform, and belongs to the field of instrument science and technology. Background technique [0002] When the ship is affected by factors such as waves and wind, the hull will sway and become unstable. In practice, it is often necessary to keep the camera and other platforms in a horizontal state. The gyro-stabilized platform is able to maintain stability even when it is disturbed by multiple sources. In practice, when the ship shakes, the gyro-stabilized platform supports and stabilizes the load, which can effectively isolate the influence of the ship on the load stability. [0003] The gyro-stabilized platform is affected by multi-source disturbances, and these disturbances have characteristics such as nonlinearity, time-varying, and parameter uncertainty. Therefore, how to better isolate multi-source disturbances i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨兆鹏王贺李莉
Owner HARBIN UNIV OF SCI & TECH
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