非惯性系下舰载稳定平台动力学建模及特性分析

doi:10.13973/j.cnki.robot.2014.0411

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引用本文:
刘晓, 赵铁石, 高佳伟. 非惯性系下舰载稳定平台动力学建模及特性分析[J]. 机器人, 2014, 36(4): 411-418.DOI: 10.13973/j.cnki.robot.2014.0411. LIU Xiao, ZHAO Tieshi, GAO Jiawei. Dynamic Modeling and Analysis of Ship-based Stabilizing Platform in Non-inertial System. ROBOT, 2014, 36(4): 411-418. DOI: 10.13973/j.cnki.robot.2014.0411.

摘要

基于舰载稳定平台运动学特征，对稳定平台在非惯性系环境中的动力学进行研究与分析．首先，采用刚体动力学的线性－双线性公式对非惯性系稳定平台系统各作用力螺旋进行分析并给出相应的数学表达式，通过影响系数法建立了稳定平台机构主动关节输入力与系统运动之间的耦合动力学方程；其次将动力学模型分解为19项，分析不同海况下稳定平台的动力学特性．最后定义各作用力螺旋对系统动力学的影响因子，以此为基础提出了稳定平台动力学模型在不同海况下的简化策略．数值算例表明，动力学模型简化策略不仅提高了动力学计算效率，而且引起的计算误差较小，解决了非惯性系稳定平台动力学模型的复杂性与控制系统实时性之间的矛盾．

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关键词 ：非惯性系, 舰载稳定平台, 动力学模型, 简化策略

Abstract：

Based on the kinematic characteristics of the ship-based stabilizing platform, the dynamics of stabilizing platform in non-inertial system is investigated and analyzed. By linear-bilinearity formulas of rigid body dynamics, the wrench of the stabilizing platform in non-inertial system are analyzed and the corresponding formulas are given, and the coupling dynamics formulas between the active joint input forces and motions of stabilizing platform are established based on the influence coefficient method. The dynamic model are decomposed into 19 items, and the dynamics characteristics of the stabilizing platform in different sea conditions are analyzed. Finally, the simplifying strategies of the dynamic model in different sea conditions are presented by defining the dynamics influencing factor of wrench applied on the system. It is proved by the numerical simulation that the simplifying strategies improve the computation efficiency greatly and only bring small simplifying errors, and the contradiction between dynamics model complexity and real-time control of the stabilizing platform in non-inertial system is solved.

Key words： non-inertial system ship-based stabilizing platform dynamic model simplifying strategy

收稿日期: 2013-09-11 录用日期: 2014-01-07

TP24

基金资助:

国家自然科学基金资助项目（50975244，51375420，51105322）

通讯作者: 赵铁石，tszhao@ysu.edu.cn E-mail: tszhao@ysu.edu.cn

作者简介: 刘晓（1986-），男，博士生．研究领域：并联机器人理论及应用，并联装备．
赵铁石（1963-），男，博士，教授，博士生导师．研究领域：并联机器人，机电一体化，并联装备．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0411 或 https://robot.sia.cn/CN/Y2014/V36/I4/411

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