Kinematics Analysis and Simulation of Stabilizing Platform in Non-inertial System
LIU Xiao1,2, ZHAO Tieshi1,2, WANG Chang1,2, BIAN Hui1,2
1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yangshan University, Qinhuangdao 066004, China;
2. Key Laboratory of Advanced Forging & Stamping Technology and Science, Ministry of National Education, Yangshan University, Qinhuangdao 066004, China
Based on the analysis theory of multi-rigid-body system, the basic research and simulation analysis of stabilizing platform kinematics in non-inertial system are discussed. A compensation algorithm of the stabilizing platform for helicopter landing safely is presented firstly, and then the motion relationship of rigid bodies in ship-based stabilizing system is analyzed to establish the adjoint transformation between the moving platform motion in non-inertial system and the generalized motion of ship and helicopter. The relative values between undercarriage and moving platform are calculated which can be used as a feedback to realize real-time measurement and control of the stabilizing platform. Secondly, the Lee brackets Jacobin matrixes of the stabilizing platform based on the Lie group and Lie algebra are defined, and the adjoint mapping between moving branch inputs and generalized motion values is derived. In order to represent this adjoint mapping, the influence coefficient matrix of the stabilizing platform in non-inertial system is obtained. Finally, the virtual prototyping simulation system of the stabilizing platform is built to verify the correctness of the presented kinematics analysis method for stabilizing platforms in non-inertial system.
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