Modeling and control system experiment of a novel series three-axis stable platform
| Autor: | D. Song, X. Xiao, J. Ma, L. Zhang |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2024 |
| Předmět: | |
| Zdroj: | Mechanical Sciences, Vol 15, Pp 209-221 (2024) |
| Druh dokumentu: | article |
| ISSN: | 2191-9151 2191-916X |
| DOI: | 10.5194/ms-15-209-2024 |
| Popis: | In this paper, a novel series three-axis stable platform (STSP) is proposed, and its azimuth angle structure, pitch angle structure, roll angle structure, overall system structure scheme, and control scheme are designed. The platform is a universal one. The forward and inverse kinematics and dynamics models of the STSP pitch-and-roll mechanisms are established, and the motion rules of the platform and the force conditions of the main components are analyzed. Establish a mathematical model of the platform control system, analyze the performance of the pitch-and-roll system of the STSP, propose a position velocity dual-closed-loop control strategy, and determine the controller parameters through simulation analysis of the control system. A comprehensive experiment is carried out to install the STSP on the swing platform; simulate the actual operating environment, verify the rationality and dynamic accuracy of the kinematic model, dynamic model, and control strategy; and verify the feasibility and stability of the system control scheme and platform configuration. |
| Databáze: | Directory of Open Access Journals |
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