For a stabilization platform with wave-compensation,establishment of accurate dynamic model is the premise of compensation-stabilization control.In this paper,the Stewart-platform is taken as the main body of the stabilization platform,for which the Jacobian-matrix is derived by using Euler-Angle coordinate transformation and inverse-kinematics analysis,and then complete dynamic equations are obtained from the view of energy.It is concluded that the "inertia" is the main factor affecting the coupling.Motion of the upper platform can be decoupled and solved with differential geometric control method.Results of numerical simulation and experiments show the correctness of this dynamic model,which provides a theoretical basis for achieving high precision of decoupling control of stabilization platforms with wave-compensation.%对于船用波浪补偿稳定平台,由于机构复杂,耦合度/非线性高,因此建立准确的动力学模型是实现补偿稳定控制的前提.论文研究的波浪补偿稳定平台以Stewart平台为主体,基于其机构的特点及运动耦合性,通过欧拉角坐标转换法,运用运动学逆解分析其运动特性,求得机构的Jacobi矩阵;采用Lagrange方程从能量的观点求出机构完整的动力学方程,得出“惯量”为主要的耦合量;运用微分几何控制法解耦,得到上平台的运动规律.通过理论仿真与试验分析,验证了所建的动力学模型的正确性,为实现波浪补偿稳定平台高精度解耦控制提供了重要的理论依据.
展开▼
