本文選題：穩(wěn)定平臺(tái) + 關(guān)鍵技術(shù)��； 參考：《南京理工大學(xué)》2014年碩士論文

【摘要】：探測(cè)設(shè)備工作于海面上,受到諸如風(fēng)浪、潮汐等海洋環(huán)境的影響,會(huì)產(chǎn)生相應(yīng)的晃動(dòng),影響設(shè)備的正常工作,需要通過穩(wěn)定平臺(tái)隔離擾動(dòng)。因此,水上穩(wěn)定平臺(tái)相關(guān)技術(shù)的研究具有重要的意義。 首先,為確定水上穩(wěn)定平臺(tái)系統(tǒng)的總體方案,完成了包括動(dòng)力系統(tǒng)、穩(wěn)定機(jī)構(gòu)、姿態(tài)測(cè)量系統(tǒng)、控制系統(tǒng)等在內(nèi)的各部分的總體方案,為后續(xù)的具體設(shè)計(jì)工作明確了方向。 根據(jù)隨機(jī)海浪理論,研究了三級(jí)海況下隨機(jī)海浪的特性,建立了三級(jí)海況下的隨機(jī)海浪模型,并進(jìn)行了相應(yīng)的仿真分析。分析了平臺(tái)在隨機(jī)海浪下的運(yùn)動(dòng)響應(yīng),并對(duì)平臺(tái)在三級(jí)海況下的橫搖運(yùn)動(dòng)進(jìn)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(tái)的搖蕩運(yùn)動(dòng)預(yù)報(bào)問題,結(jié)果表明采用非線性自回歸模型可有效提高預(yù)報(bào)精度。 對(duì)平臺(tái)在海洋環(huán)境下的風(fēng)載荷和慣性力載荷進(jìn)行了分析。完成了平臺(tái)的機(jī)械結(jié)構(gòu)的設(shè)計(jì),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(shè)計(jì)過程。為進(jìn)一步掌握穩(wěn)定平臺(tái)機(jī)構(gòu)的運(yùn)動(dòng)規(guī)律,對(duì)機(jī)構(gòu)進(jìn)行了相關(guān)運(yùn)動(dòng)分析。 針對(duì)水上穩(wěn)定平臺(tái)控制系統(tǒng)的自身特點(diǎn),設(shè)計(jì)了基于模糊PID算法的控制系統(tǒng),進(jìn)行了控制系統(tǒng)的仿真分析,結(jié)果表明模糊PID控制系統(tǒng)的響應(yīng)速度、超調(diào)量等指標(biāo)均優(yōu)于傳統(tǒng)PID控制系統(tǒng)。 最后基于穩(wěn)定平臺(tái)原理樣機(jī),分別進(jìn)行了機(jī)構(gòu)執(zhí)行效果實(shí)驗(yàn)和單軸晃動(dòng)實(shí)驗(yàn),結(jié)果表明穩(wěn)定平臺(tái)的穩(wěn)定調(diào)節(jié)效果初步滿足設(shè)計(jì)指標(biāo)。
[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(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：P715.41

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