CN105955068A - Ship-borne stable platform experiment system and working method thereof - Google Patents
Ship-borne stable platform experiment system and working method thereof Download PDFInfo
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- CN105955068A CN105955068A CN201610420605.5A CN201610420605A CN105955068A CN 105955068 A CN105955068 A CN 105955068A CN 201610420605 A CN201610420605 A CN 201610420605A CN 105955068 A CN105955068 A CN 105955068A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract
The invention discloses a ship-borne stable platform experiment system comprising an operating bench, a ship-borne stable platform, and a ship three-freedom motion simulation platform. Real working states of a ship-borne platform on a ship in different marine environments can be simulated completely, so that the system can be applied to experimental verification of a ship-borne platform stable control algorithm. According to the invention, the experimental study on a ship-borne stable platform is carried out by simulating a real ship experiment, so that the development cost of the ship-borne stable platform is saved and the development period of the ship-borne stable platform is reduced. Three-freedom motions of rolling, pitching, and heaving of a ship in different marine environments can be compensated by using the ship-borne stable platform; and a relatively stable working environment can be provided for various working on the ship. The system is superior to the existing wave compensation device only compensating the heaving motion of the ship and a two-freedom stable platform only compensating the rolling and pitching motions of the ship. The system has a flexible and friendly man-machine interaction interface; and a user can carry out experiment operation smoothly.
Description
Technical field
The present invention relates to naval vessel and the equipment technology in ocean engineering field, a kind of carrier-borne stabilized platform is real
Check system and method for work thereof, can be used for simulating boats and ships three-degree-of-freedom motion under different marine environment (horizontal
Shake, pitching and heave) it can also be used to realize the experimental verification of carrier-borne stabilized platform control algolithm at laboratory.
Background technology
Marine environment can be to the rolling on naval vessel, pitching, yawing, swaying, surging and heave six-freedom degree
Motion produces interference, to the normal operation on naval vessel (such as: the landing safety of carrier-based helicopter, carrier-borne laser
The launch accuracy of weapon and replenishment at sea operation etc.) bring and have a strong impact on；Wherein swaying, surging and
Yawing campaign can be controlled by dynamic positioning system, and rolling, pitching and heave movement then need at warship
Stabilized platform is installed on ship, thus ensures that the operation on naval vessel can be normal in a metastable environment
Carry out.Carrier-borne stabilized platform can improve naval vessel and be correlated with the safety and reliability of operation, has huge work
Cheng Yiyi, in current Development of Military Equipment, the raising to naval warfare ability also has highly important existing
Sincere justice.
Chinese patent CN 204188962 U discloses the detailed mechanical knot of a kind of carrier-borne stabilized platform assay device
Structure, but not including that the stabilizing control system of concrete hip-based platform.Chinese patent CN 103979419 A is public
Open and a kind of be applied to the active of deepwater work crane, deepwater work winch, lifeboat draw off gear etc.
Heave compensation control system and method, control the reel action of said apparatus by fluid power system, control
Deepwater work device processed or lifeboat enter water or exiting water process, can improve the safety peace of marine lifting operation
Stability, but it only considered the heave movement of boats and ships, does not compensates roll and pitch motion.China
Patent CN 104925232 A discloses the carrier-based helicopter stabilized platform of a kind of six degree of freedom, it is possible to realize warship
The six-freedom motion of carrying platform compensates.After above-mentioned, two patents all do not have corresponding motion simulator, it is impossible to
Simulation boats and ships kinestate in different marine environment, is not the most provided that hip-based platform stability controller
Carry out the experimental situation of laboratory proofing.
723 Zhang Peng of company of Shipbuilding Industry Corporation were " marine electronic antagonism " Vol.29, No.3 (2006
3 phases) on the paper of entitled " design of Shipboard Shooting Stabilized Platform " delivered, devise one and can compensate for
The stabilized platform of naval vessel roll and pitch motion, it is possible to eliminate hull rapidly and accurately and wave, make to be arranged on surely
Video camera on fixed platform aboard ship remains level, but this stabilized platform is only capable of carrying video camera, and
Do not consider the impact of the heave movement of boats and ships.Maritime Affairs University Of Dalian Liu adds the master thesis of richness " based on mould
Stick with paste the boat-carrying stabilized platform that PID controls " (2008) devise boat-carrying stabilized platform fuzzy controller,
Compensate the roll and pitch double freedom motion of boats and ships, but it does not also consider the impact of boats and ships heave movement.
The Ph.D. Dissertation " Shipbased Laser Weapon stabilized platform controls technical research " in Harbin Engineering University Guo Li east
(2010), for the feature of Shipbased Laser Weapon high tracking accuracy, devise a kind of thick, Double tabletop of essence combination
Structure, what naval vessel was produced by thick platform compensation marine environment disturbance waves impact, and essence platform is thick flat by isolation
The residue rolling error of platform, further increases the lasting accuracy of hip-based platform, but only can be suitably used for carrying warship
Carry laser weapon.
Summary of the invention
For solving the problems referred to above that prior art exists, the present invention to design the experiment of a kind of carrier-borne stabilized platform and be
System and method of work thereof, can be not only used for simulating boats and ships three-degree-of-freedom motion under different marine environment (rolling,
Pitching and heave) it can also be used to carry out the experimental verification of carrier-borne stabilized platform control algolithm at laboratory.
To achieve these goals, technical scheme is as follows: a kind of carrier-borne stabilized platform experimental system,
Including operating board, carrier-borne stabilized platform and boats and ships three-degree-of-freedom motion emulation platform；Described is carrier-borne stable flat
Platform includes hip-based platform controller, DC motor driver one, hip-based platform and sensor one；Described ship
Oceangoing ship three-degree-of-freedom motion emulation platform includes that boats and ships three freedom degree movement simulation Setup Controller, direct current generator drive
Dynamic device two, boats and ships three freedom degree movement simulation device and sensor two.
The outfan of described operating board fills with hip-based platform controller and boats and ships three freedom degree movement simulation respectively
The input putting controller connects, and its input outfan with sensor one and sensor two respectively is connected；
The another two input of described hip-based platform controller is respectively with the outfan of sensor one and sensor two even
Connect, and its outfan is connected with the input of DC motor driver one；Described DC motor driver one
Outfan be connected with the input of hip-based platform；The outfan of described hip-based platform is defeated with sensor one
Enter end to connect, and hip-based platform is integrally attached on boats and ships three freedom degree movement simulation device, with boats and ships three certainly
Moved by the motion of degree motion simulator；Described boats and ships three freedom degree movement simulation Setup Controller
Outfan is connected with the input of DC motor driver two, and its another input and sensor two is defeated
Go out end to connect；The outfan of described DC motor driver two and boats and ships three freedom degree movement simulation device
Input connects；The outfan of described boats and ships three freedom degree movement simulation device and the input of sensor two
Connect.
Described operating board by Serial Port Line respectively with hip-based platform controller, boats and ships three freedom degree movement simulation
Setup Controller, sensor one and sensor two carry out data exchange.Operating board is sent out to hip-based platform controller
Send operation signal and the design parameter of hip-based platform controller, described operation signal include testing commencing signal,
Hip-based platform controller working condition selects signal and hip-based platform control program to select signal；Operating board is to ship
Oceangoing ship three freedom degree movement simulation Setup Controller sends experiment commencing signal, ship shape parameter and sea situation parameter.Behaviour
Station receives the hip-based platform kinestate from sensor one and the fortune of the boats and ships Three Degree Of Freedom from sensor two
Dynamic analog kinestate.
Described hip-based platform controller working condition selects signal to include the work of hip-based platform controller and not work
Make two kinds of situations；User arranges working condition by operating board and selects signal to realize the selection of both of these case.
Under hip-based platform controller working condition, hip-based platform controller receive from operating board operation signal and
The design parameter of hip-based platform controller, and implement to control by a pair hip-based platform of DC motor driver；
Under hip-based platform controller not working condition, hip-based platform is not controlled by hip-based platform controller, warship
Carrying platform moves with the motion of boats and ships three freedom degree movement simulation device.
Described boats and ships three freedom degree movement simulation Setup Controller receives the operation signal from operating board, ship
Shape parameter and sea situation parameter, by boats and ships three-degree-of-freedom motion module and marine environment module, calculate boats and ships
Three-degree-of-freedom motion state, and control boats and ships three freedom degree movement simulation device by DC motor driver two
Motion, simulates boats and ships three-degree-of-freedom motion in marine environment.Sensor two is fixed on boats and ships Three Degree Of Freedom
In motion simulator, the kinestate of detection boats and ships three freedom degree movement simulation device, and be transferred to
Boats and ships three freedom degree movement simulation Setup Controller, hip-based platform controller and operating board.Boats and ships Three Degree Of Freedom
Motion simulator controller receives the motion shape of the boats and ships three freedom degree movement simulation device from sensor two
State, generates the control signal being controlled boats and ships three freedom degree movement simulation device, and is transferred to unidirectional current
Machine driver two；DC motor driver two receives from boats and ships three freedom degree movement simulation Setup Controller
Control signal, controls boats and ships three freedom degree movement simulation device action, makes boats and ships three freedom degree movement simulation fill
Put simulation boats and ships three-degree-of-freedom motion in marine environment truly.Sensor one is fixed on hip-based platform,
The kinestate of detection hip-based platform, and it is transferred to hip-based platform controller and operating board.Hip-based platform
The controller reception hip-based platform motion state signal from sensor one and the boats and ships from sensor two three are certainly
By degree motion simulator motion state signal, according to the control program of draft experiment checking, generate and make carrier-borne putting down
The control signal that platform is stable, and it is transferred to DC motor driver one；DC motor driver one receive from
The control signal of hip-based platform controller, controls hip-based platform, so that it is at boats and ships three freedom degree movement simulation
Swaying of device remains to held stationary under motion.
Operating board realizes the setting of various instruction, operation signal and the transmission of parameter, reality under VC development platform
Testing display and the archive of result, described instruction includes testing END instruction, continues experiment instruction, carrier-borne flat
The working condition change directive of platform controller, ship shape parameter change directive, sea situation parameter change instruction；Described
Parameter include the design parameter of hip-based platform controller, ship shape parameter and sea situation parameter；Carry out carrier-borne surely
During fixed platform control algolithm experimental verification, user, according to experiment demand, sets corresponding by operating board
Various instructions, operation signal and parameter, be correspondingly sent respectively to hip-based platform controller and boats and ships three from
By degree motion simulator controller；Operating board receive from sensor one hip-based platform kinestate and
From the kinestate of the boats and ships three freedom degree movement simulation device of sensor two, and show, it is simple to enter
Row next step in-depth analysis research.
The method of work of a kind of carrier-borne stabilized platform experimental system, comprises the following steps:
A, unlatching operating board；
B, sea situation parameter, ship shape parameter are set；Select the working condition of hip-based platform controller；
C, operating board judge hip-based platform controller by the working condition of the hip-based platform controller that user selects
The need of work, if desired work, go to step C1；Otherwise go to step C2；
C1, the hip-based platform control program of selection draft experiment checking, go to step O；
Sea situation parameter, ship shape parameter are transferred to boats and ships three freedom degree movement simulation device and control by C2, operating board
Device；
D, boats and ships three freedom degree movement simulation Setup Controller receive the sea situation parameter from operating board and ship type ginseng
Number, by marine environment module and boats and ships motion module, calculates boats and ships three-degree-of-freedom motion state, and passes
Give DC motor driver two；
E, DC motor driver two are according to the boats and ships three from boats and ships three freedom degree movement simulation Setup Controller
Degree of freedom motion state signal, controls the motion of boats and ships three freedom degree movement simulation device, and simulation boats and ships are in ocean
Three-degree-of-freedom motion in environment；
F, sensor two detect the kinestate of boats and ships three freedom degree movement simulation device in real time, and i.e. boats and ships are in sea
Motion simulation state under the environment of ocean, and it is transferred to boats and ships three freedom degree movement simulation Setup Controller and operation
Platform；
Sensor one detects the motion shape of hip-based platform in the case of hip-based platform controller is idle in real time
State, and it is transferred to operating board；
Operating board receives, shows and preserve the kinestate of the hip-based platform from sensor one and carry out self-sensing
The kinestate of the boats and ships three freedom degree movement simulation device of device two；
G, operating board judge whether to terminate this experiment according to the experiment END instruction of user setup, if terminating this
Secondary test, goes to step H；Otherwise go to step E；
H, operating board are tested instruction according to the continuation of user setup and are judged whether to continue to test next time, if continuing
Test next time, go to step I；Otherwise go to step Y；
I, operating board judge whether change according to the hip-based platform controller working condition change directive of user setup
Hip-based platform controller working condition, if desired change hip-based platform controller working condition, goes to step J；No
Then go to step K；
J, on operating board change hip-based platform controller working condition, go to step U；
K, operating board instruct according to the sea situation parameter change of user setup and judge whether to change sea situation parameter, if needing
Sea situation parameter to be changed, goes to step L；Otherwise go to step M；
L, on operating board change sea situation parameter, go to step M；
M, operating board judge whether to change ship shape parameter, if not according to the ship shape parameter change directive of user setup
Need to change ship shape parameter, go to step C2；Otherwise go to step N；
N, on operating board change ship shape parameter, go to step C2；
O, the design parameter of hip-based platform controller is set；
Sea situation parameter, ship shape parameter are transferred to boats and ships three freedom degree movement simulation Setup Controller by operating board,
Hip-based platform controller design parameter is transferred to hip-based platform controller；
Boats and ships three freedom degree movement simulation Setup Controller receives the sea situation parameter from operating board and ship type ginseng
Number, by marine environment module and boats and ships motion module, calculates boats and ships three-degree-of-freedom motion state, and passes
Give DC motor driver two；
P, DC motor driver two are according to the boats and ships three from boats and ships three freedom degree movement simulation Setup Controller
Degree of freedom motion state signal, controls the motion of boats and ships three freedom degree movement simulation device, and simulation boats and ships are in ocean
Three-degree-of-freedom motion in environment；
Sensor two detects the kinestate of boats and ships three freedom degree movement simulation device in real time, and i.e. boats and ships are in ocean
Three freedom degree movement simulation state under environment, and it is transferred to hip-based platform controller, boats and ships Three Degree Of Freedom fortune
Dynamic model intends Setup Controller and operating board；
Sensor one detects the kinestate of hip-based platform in the case of hip-based platform controller works in real time,
And it is transferred to hip-based platform controller and operating board；
Hip-based platform controller receives from the hip-based platform motion state signal of sensor one with from sensor
The boats and ships three freedom degree movement simulation device motion state signal of two, according to the control program of draft experiment checking,
Generate control signal, and be transferred to DC motor driver one；
DC motor driver one receives the control signal from hip-based platform controller, controls hip-based platform,
Make to remain under its oscillation of ship kinestate under the sea situation that boats and ships three freedom degree movement simulation device is simulated
Held stationary；
Operating board receives, shows and preserve the kinestate of the hip-based platform from sensor one and carry out self-sensing
The kinestate of the boats and ships three freedom degree movement simulation device of device two；
Q, operating board judge whether to terminate this experiment according to the experiment END instruction of user setup, if terminating this
Secondary test, goes to step R；Otherwise go to step P；
R, operating board are tested instruction according to the continuation of user setup and are judged whether to continue to test next time, if continuing
Test next time, go to step S；Otherwise go to step Y；
S, operating board judge whether change according to the hip-based platform controller working condition change directive of user setup
Hip-based platform controller working condition, if desired change hip-based platform controller working condition, goes to step T；No
Then go to step U；
T, on operating board change hip-based platform controller working condition, go to step K；
U, operating board instruct according to the sea situation parameter change of user setup and judge whether to change sea situation parameter, if needing
Sea situation parameter to be changed, goes to step V；Otherwise go to step W；
V, on operating board change sea situation parameter, go to step W；
W, operating board judge whether to change ship shape parameter according to the ship shape parameter change directive of user setup, if
Need not change ship shape parameter, go to step C1；Otherwise go to step X；
X, on operating board change ship shape parameter, go to step C1；
Y, shutoff operation platform.
The method have the advantages that
1, the present invention establishes an experimental system, comprises carrier-borne stabilized platform and boats and ships three-degree-of-freedom motion is imitated
True platform, can intactly simulate hip-based platform real work state under different marine environment on naval vessel, because of
This can be used in the experimental verification of hip-based platform stability contorting algorithm.
2, the present invention carries out the experimentation of carrier-borne stabilized platform by simulation prototype testing, can save carrier-borne surely
The development cost of fixed platform, shortens the construction cycle of carrier-borne stabilized platform.
3, the carrier-borne stabilized platform in the present invention can compensate for boats and ships rolling under different marine environment, pitching
With the motion of heave three degree of freedom, provide metastable working environment for the various operations on naval vessel, excellent
It is only capable of the wave compensating device compensating boats and ships heave movement in existing and be only capable of compensating ship rolling and pitching fortune
The stabilized platform of two dynamic degree of freedom.
4, the present invention has flexible, friendly human-computer interaction interface, it is simple to user successfully carries out experimental implementation,
Easily experimental result can be shown, analyze, achieve, it is possible to clearly represent experiment and analysis result.
Accompanying drawing explanation
Total 2, accompanying drawing in the present invention, wherein:
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the flow chart of the present invention.
In figure: 1, hip-based platform controller, 2, boats and ships three freedom degree movement simulation Setup Controller, 3, straight
Stream motor driver one, 4, DC motor driver two, 5, hip-based platform, 6, boats and ships three-degree-of-freedom motion
Analog, 7, sensor one, 8, sensor two, 9, operating board.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described through.As it is shown in figure 1, it is a kind of carrier-borne stable flat
Platform experimental system includes operating board 9, carrier-borne stabilized platform and boats and ships three-degree-of-freedom motion emulation platform；Described
Carrier-borne stabilized platform includes hip-based platform controller 1, DC motor driver 1, hip-based platform 5 and sensing
Device 1；Described boats and ships three-degree-of-freedom motion emulation platform includes that boats and ships three freedom degree movement simulation device controls
Device 2, DC motor driver 24, boats and ships three freedom degree movement simulation device 6 and sensor 28.
The outfan of described operating board 9 respectively with hip-based platform controller 1 and boats and ships three-degree-of-freedom motion mould
The input intending Setup Controller 2 connects, and its input respectively with sensor 1 and sensor 28
Outfan connects；The another two input of described hip-based platform controller 1 respectively with sensor 1 and pass
The outfan of sensor 28 connects, and its outfan is connected with the input of DC motor driver 1；Institute
The outfan of the DC motor driver 1 stated is connected with the input of hip-based platform 5；Described is carrier-borne flat
The outfan of platform 5 is connected with the input of sensor 1, and hip-based platform 5 is integrally attached to boats and ships three certainly
By in degree motion simulator 6, move with the motion of boats and ships three freedom degree movement simulation device 6；Described
The input of outfan and DC motor driver 24 of boats and ships three freedom degree movement simulation Setup Controller 2
End connects, and its another input is connected with the outfan of sensor 28；Described DC motor Driver
The outfan of device 24 is connected with the input of boats and ships three freedom degree movement simulation device 6；Described boats and ships three
The outfan of degree of freedom motion simulator 6 is connected with the input of sensor 28.
Described operating board 9 by Serial Port Line respectively with hip-based platform controller 1, boats and ships three-degree-of-freedom motion mould
Intend Setup Controller 2, sensor 1 and sensor 28 and carry out data exchange.Operating board 9 is to hip-based platform
Controller 1 sends operation signal and the design parameter of hip-based platform controller 1, and described operation signal includes
Experiment commencing signal, hip-based platform controller 1 working condition select signal and the choosing of hip-based platform 5 control program
Select signal；Operating board 9 to boats and ships three freedom degree movement simulation Setup Controller 2 send experiment commencing signal,
Ship shape parameter and sea situation parameter.Operating board 9 receive from sensor 1 hip-based platform 5 kinestate and
Boats and ships three freedom degree movement simulation device 6 kinestate from sensor 28.
Described hip-based platform controller 1 working condition select signal include hip-based platform controller 1 work and
Do not work two kinds of situations；User arranges working condition by operating board 9 and selects signal to realize both of these case
Select.Under hip-based platform controller 1 working condition, hip-based platform controller 1 receives from operating board 9
Operation signal and the design parameter of hip-based platform controller 1, and by one 3 pairs of warships of DC motor driver
Carrying platform 5 is implemented to control；Under hip-based platform controller 1 not working condition, hip-based platform controller 1 is not
Hip-based platform 5 is controlled, hip-based platform 5 with boats and ships three freedom degree movement simulation device 6 motion and
Motion.
Described boats and ships three freedom degree movement simulation Setup Controller 2 receive the operation signal from operating board 9,
Ship shape parameter and sea situation parameter, by boats and ships three-degree-of-freedom motion module and marine environment module, calculate ship
Oceangoing ship three-degree-of-freedom motion state, and control boats and ships three freedom degree movement simulation by DC motor driver 24
Device 6 moves, and simulates boats and ships three-degree-of-freedom motion in marine environment.Sensor 28 is fixed on boats and ships
On three freedom degree movement simulation device 6, the kinestate of detection boats and ships three freedom degree movement simulation device 6,
And it is transferred to boats and ships three freedom degree movement simulation Setup Controller 2, hip-based platform controller 1 and operating board
9.The boats and ships Three Degree Of Freedom that boats and ships three freedom degree movement simulation Setup Controller 2 receives from sensor 28 is transported
The kinestate of dynamic analog 6, generates the control being controlled boats and ships three freedom degree movement simulation device 6
Signal processed, and it is transferred to DC motor driver 24；DC motor driver 24 receives from boats and ships three certainly
By the control signal of degree motion simulator controller 2, control boats and ships three freedom degree movement simulation device 6 and move
Make, make boats and ships three freedom degree movement simulation device 6 simulate boats and ships Three Degree Of Freedom in marine environment truly
Motion.Sensor 1 is fixed on hip-based platform 5, the kinestate of detection hip-based platform 5, and by it
Send hip-based platform controller 1 and operating board 9 to.Hip-based platform controller 1 receives from sensor 1
Hip-based platform 5 motion state signal and the boats and ships three freedom degree movement simulation device 6 from sensor 28 are transported
Dynamic status signal, according to the control program of draft experiment checking, generates the control signal making hip-based platform 5 stable,
And it is transferred to DC motor driver 1；DC motor driver 1 receives from hip-based platform controller 1
Control signal, control hip-based platform 5, so that it sways fortune at boats and ships three freedom degree movement simulation device 6
Held stationary is remained under Dong.
Operating board 9 realize under VC development platform various instruction setting, operation signal and the transmission of parameter,
The display of experimental result and archive, described instruction include test END instruction, continue experiment instruction, carrier-borne
The working condition change directive of platform controller 1, ship shape parameter change directive, sea situation parameter change instruction；
Described parameter includes the design parameter of hip-based platform controller 1, ship shape parameter and sea situation parameter；Carry out
During carrier-borne stabilized platform control algolithm experimental verification, user is according to experiment demand, by operating board 9
Set corresponding various instruction, operation signal and parameter, be correspondingly sent respectively to hip-based platform controller 1
With boats and ships three freedom degree movement simulation Setup Controller 2；Operating board 9 receives puts down from the carrier-borne of sensor 1
The kinestate of platform 5 and the kinestate of the boats and ships three freedom degree movement simulation device 6 from sensor 28,
And show, it is simple to carry out next step in-depth analysis research.
As in figure 2 it is shown, the method for work of a kind of carrier-borne stabilized platform experimental system, comprise the following steps:
A, unlatching operating board 9；
B, sea situation parameter, ship shape parameter are set；Select the working condition of hip-based platform controller 1；
C, operating board 9 judge hip-based platform control by the working condition of the hip-based platform controller 1 that user selects
Device processed 1, the need of work, if desired works, goes to step C1；Otherwise go to step C2；
C1, hip-based platform 5 control program of selection draft experiment checking, go to step O；
Sea situation parameter, ship shape parameter are transferred to boats and ships three freedom degree movement simulation device control by C2, operating board 9
Device 2 processed；
D, boats and ships three freedom degree movement simulation Setup Controller 2 receive the sea situation parameter from operating board 9 and ship
Shape parameter, by marine environment module and boats and ships motion module, calculates boats and ships three-degree-of-freedom motion state,
And send DC motor driver 24 to；
E, DC motor driver 24 are according to the ship from boats and ships three freedom degree movement simulation Setup Controller 2
Oceangoing ship three-degree-of-freedom motion status signal, controls boats and ships three freedom degree movement simulation device 6 and moves, simulate boats and ships
Three-degree-of-freedom motion in marine environment；
F, sensor 28 detect the kinestate of boats and ships three freedom degree movement simulation device 6, i.e. boats and ships in real time
Motion simulation state under marine environment, and it is transferred to boats and ships three freedom degree movement simulation Setup Controller 2
With operating board 9；
Sensor 1 detection fortune of hip-based platform 5 in the case of hip-based platform controller 1 is idle in real time
Dynamic state, and it is transferred to operating board 9；
Operating board 9 receives, shows and preserves the kinestate of the hip-based platform 5 from sensor 1 and comes
The kinestate of the boats and ships three freedom degree movement simulation device 6 of autobiography sensor 28；
G, operating board 9 judge whether to terminate this experiment according to the experiment END instruction of user setup, if terminating
This test, goes to step H；Otherwise go to step E；
H, operating board 9 are tested instruction according to the continuation of user setup and are judged whether to continue to test, if continuing next time
Continue and test next time, go to step I；Otherwise go to step Y；
I, operating board 9 judge whether according to the hip-based platform controller 1 working condition change directive of user setup
Change hip-based platform controller 1 working condition, if desired change hip-based platform controller 1 working condition, turn
Step J；Otherwise go to step K；
J, on operating board 9 change hip-based platform controller 1 working condition, go to step U；
K, operating board 9 instruct according to the sea situation parameter change of user setup and judge whether to change sea situation parameter, if
Need to change sea situation parameter, go to step L；Otherwise go to step M；
L, on operating board 9 change sea situation parameter, go to step M；
M, operating board 9 judge whether to change ship shape parameter according to the ship shape parameter change directive of user setup, if
Need not change ship shape parameter, go to step C2；Otherwise go to step N；
N, on operating board 9 change ship shape parameter, go to step C2；
O, the design parameter of hip-based platform controller 1 is set；
Sea situation parameter, ship shape parameter are transferred to boats and ships three freedom degree movement simulation Setup Controller 2 by operating board 9,
Hip-based platform controller 1 design parameter is transferred to hip-based platform controller 1；
Boats and ships three freedom degree movement simulation Setup Controller 2 receives the sea situation parameter from operating board 9 and ship type
Parameter, by marine environment module and boats and ships motion module, calculates boats and ships three-degree-of-freedom motion state, and
Send DC motor driver 24 to；
P, DC motor driver 24 are according to the ship from boats and ships three freedom degree movement simulation Setup Controller 2
Oceangoing ship three-degree-of-freedom motion status signal, controls boats and ships three freedom degree movement simulation device 6 and moves, simulate boats and ships
Three-degree-of-freedom motion in marine environment；
Sensor 28 detects the kinestate of boats and ships three freedom degree movement simulation device 6 in real time, i.e. boats and ships exist
Three freedom degree movement simulation state under marine environment, and it is transferred to hip-based platform controller 1, boats and ships three freely
Degree motion simulator controller 2 and operating board 9；
Sensor 1 motion of hip-based platform 5 in the case of hip-based platform controller 1 works of detection in real time
State, and it is transferred to hip-based platform controller 1 and operating board 9；
Hip-based platform controller 1 receive from sensor 1 hip-based platform 5 motion state signal and from
Boats and ships three freedom degree movement simulation device 6 motion state signal of sensor 28, according to draft experiment checking
Control program, generates control signal, and is transferred to DC motor driver 1；
DC motor driver 1 receives the control signal from hip-based platform controller 1, controls carrier-borne flat
Platform 5 so that it is the oscillation of ship kinestate under the sea situation that boats and ships three freedom degree movement simulation device 6 is simulated
Under remain to held stationary；
Operating board 9 receives, shows and preserves the kinestate of the hip-based platform 5 from sensor 1 and comes
The kinestate of the boats and ships three freedom degree movement simulation device 6 of autobiography sensor 28；
Q, operating board 9 judge whether to terminate this experiment according to the experiment END instruction of user setup, if terminating
This test, goes to step R；Otherwise go to step P；
R, operating board 9 are tested instruction according to the continuation of user setup and are judged whether to continue to test, if continuing next time
Continue and test next time, go to step S；Otherwise go to step Y；
S, operating board 9 judge whether according to the hip-based platform controller 1 working condition change directive of user setup
Change hip-based platform controller 1 working condition, if desired change hip-based platform controller 1 working condition, turn
Step T；Otherwise go to step U；
T, on operating board 9 change hip-based platform controller 1 working condition, go to step K；
U, operating board 9 instruct according to the sea situation parameter change of user setup and judge whether to change sea situation parameter, if
Need to change sea situation parameter, go to step V；Otherwise go to step W；
V, on operating board 9 change sea situation parameter, go to step W；
W, operating board 9 judge whether to change ship shape parameter according to the ship shape parameter change directive of user setup,
If need not change ship shape parameter, go to step C1；Otherwise go to step X；
X, on operating board 9 change ship shape parameter, go to step C1；
Y, shutoff operation platform 9.
Claims (2)
1. a carrier-borne stabilized platform experimental system, it is characterised in that: include operating board (9), carrier-borne surely
Fixed platform and boats and ships three-degree-of-freedom motion emulation platform；Described carrier-borne stabilized platform includes hip-based platform control
Device (1), DC motor driver one (3), hip-based platform (5) and sensor one (7)；Described boats and ships
Three-degree-of-freedom motion emulation platform includes boats and ships three freedom degree movement simulation Setup Controller (2), direct current generator
Driver two (4), boats and ships three freedom degree movement simulation device (6) and sensor two (8)；
The outfan of described operating board (9) respectively with hip-based platform controller (1) and boats and ships Three Degree Of Freedom
The input of motion simulator controller (2) connects, and its input respectively with sensor one (7) and
The outfan of sensor two (8) connects；The another two input of described hip-based platform controller (1) divides
It is not connected with the outfan of sensor one (7) and sensor two (8), and its outfan drives with direct current generator
The input of dynamic device one (3) connects；The outfan of described DC motor driver one (3) is flat with carrier-borne
The input of platform (5) connects；The outfan of described hip-based platform (5) and the input of sensor one (7)
End connects, and hip-based platform (5) is integrally attached on boats and ships three freedom degree movement simulation device (6), with
The motion of boats and ships three freedom degree movement simulation device (6) and move；Described boats and ships three freedom degree movement simulation
The outfan of Setup Controller (2) is connected with the input of DC motor driver two (4), and its another
Individual input is connected with the outfan of sensor two (8)；Described DC motor driver two (4) defeated
Go out end to be connected with the input of boats and ships three freedom degree movement simulation device (6)；Described boats and ships Three Degree Of Freedom fortune
The outfan of dynamic analog (6) is connected with the input of sensor two (8)；
Described operating board (9) by Serial Port Line respectively with hip-based platform controller (1), boats and ships Three Degree Of Freedom
Motion simulator controller (2), sensor one (7) and sensor two (8) carry out data exchange；Behaviour
Station (9) sends operation signal and the design of hip-based platform controller (1) to hip-based platform controller (1)
Parameter, described operation signal includes testing commencing signal, hip-based platform controller (1) working condition selects
Signal and hip-based platform (5) control program select signal；Operating board (9) is to boats and ships three-degree-of-freedom motion mould
Intend Setup Controller (2) and send experiment commencing signal, ship shape parameter and sea situation parameter；Operating board (9) connects
Receive hip-based platform (5) kinestate from sensor one (7) and the boats and ships three from sensor two (8)
Degree of freedom motion simulator (6) kinestate；
Described hip-based platform controller (1) working condition selects signal to include hip-based platform controller (1)
Work and the two kinds of situations that do not work；User by operating board (9) arrange working condition select signal realize this two
The selection of the situation of kind；Under hip-based platform controller (1) working condition, hip-based platform controller (1) connects
Receive the operation signal from operating board (9) and the design parameter of hip-based platform controller (1), and by straight
Hip-based platform (5) is implemented to control by stream motor driver one (3)；In hip-based platform controller (1) not work
In the case of work, hip-based platform (5) is not controlled by hip-based platform controller (1), hip-based platform (5)
Move with the motion of boats and ships three freedom degree movement simulation device (6)；
Described boats and ships three freedom degree movement simulation Setup Controller (2) receive the behaviour from operating board (9)
Make signal, ship shape parameter and sea situation parameter, by boats and ships three-degree-of-freedom motion module and marine environment module,
Calculate boats and ships three-degree-of-freedom motion state, and control boats and ships three freely by DC motor driver two (4)
Degree motion simulator (6) motion, simulates boats and ships three-degree-of-freedom motion in marine environment；Sensor two
(8) it is fixed on boats and ships three freedom degree movement simulation device (6), detects boats and ships three freedom degree movement simulation
The kinestate of device (6), and be transferred to boats and ships three freedom degree movement simulation Setup Controller (2),
Hip-based platform controller (1) and operating board (9)；Boats and ships three freedom degree movement simulation Setup Controller (2)
Receive the kinestate of boats and ships three freedom degree movement simulation device (6) from sensor two (8), generate
The control signal that boats and ships three freedom degree movement simulation device (6) are controlled, and be transferred to direct current generator and drive
Dynamic device two (4)；DC motor driver two (4) receives and controls from boats and ships three freedom degree movement simulation device
The control signal of device (2), controls boats and ships three freedom degree movement simulation device (6) action, makes boats and ships three certainly
Boats and ships three-degree-of-freedom motion in marine environment is simulated truly by degree motion simulator (6)；Sensor
One (7) is fixed on hip-based platform (5), the kinestate of detection hip-based platform (5), and is transmitted
To hip-based platform controller (1) and operating board (9)；Hip-based platform controller (1) receives from sensor
Hip-based platform (5) motion state signal of one (7) and the boats and ships Three Degree Of Freedom from sensor two (8) are transported
Dynamic analog (6) motion state signal, according to the control program of draft experiment checking, generates and makes hip-based platform
(5) stable control signal, and it is transferred to DC motor driver one (3)；DC motor driver one (3)
Receive the control signal from hip-based platform controller (1), control hip-based platform (5), so that it is at boats and ships
Swaying of three freedom degree movement simulation device (6) remains to held stationary under motion；
Operating board (9) realizes the setting of various instruction, operation signal and the biography of parameter under VC development platform
Defeated, the display of experimental result and archive, described instruction include testing END instruction, continue experiment instruction,
The working condition change directive of hip-based platform controller (1), ship shape parameter change directive, sea situation parameter change
Instruction；Described parameter includes the design parameter of hip-based platform controller (1), ship shape parameter and sea situation parameter；
During carrying out carrier-borne stabilized platform control algolithm experimental verification, user is according to experiment demand, by behaviour
Station (9) sets corresponding various instruction, operation signal and parameter, is correspondingly sent respectively to hip-based platform
Controller (1) and boats and ships three freedom degree movement simulation Setup Controller (2)；Operating board (9) receive from
The kinestate of the hip-based platform (5) of sensor one (7) and from sensor two (8) boats and ships three freely
The kinestate of degree motion simulator (6), and show, it is simple to the in-depth analysis carrying out next step is ground
Study carefully.
2. the method for work of a carrier-borne stabilized platform experimental system, it is characterised in that: comprise the following steps:
A, unlatching operating board (9)；
B, sea situation parameter, ship shape parameter are set；Select the working condition of hip-based platform controller (1)；
C, operating board (9) judge carrier-borne by the working condition of the hip-based platform controller (1) that user selects
Platform controller (1), the need of work, if desired works, goes to step C1；Otherwise go to step C2；
C1, hip-based platform (5) control program of selection draft experiment checking, go to step O；
Sea situation parameter, ship shape parameter are transferred to boats and ships three freedom degree movement simulation device by C2, operating board (9)
Controller (2)；
The sea situation that D, boats and ships three freedom degree movement simulation Setup Controller (2) receive from operating board (9) is joined
Number and ship shape parameter, by marine environment module and boats and ships motion module, calculate boats and ships three-degree-of-freedom motion
State, and send DC motor driver two (4) to；
E, DC motor driver two (4) are according to from boats and ships three freedom degree movement simulation Setup Controller (2)
Boats and ships three-degree-of-freedom motion status signal, control boats and ships three freedom degree movement simulation device (6) motion, mould
Intend boats and ships three-degree-of-freedom motion in marine environment；
F, the kinestate of sensor two (8) detection boats and ships three freedom degree movement simulation device (6) in real time,
I.e. boats and ships motion simulation state under marine environment, and it is transferred to boats and ships three freedom degree movement simulation device control
Device processed (2) and operating board (9)；
Sensor one (7) detection hip-based platform in the case of hip-based platform controller (1) is idle in real time
(5) kinestate, and it is transferred to operating board (9)；
Operating board (9) receives, shows and preserves the motion of the hip-based platform (5) from sensor one (7)
State and the kinestate of boats and ships three freedom degree movement simulation device (6) from sensor two (8)；
G, operating board (9) judge whether to terminate this experiment according to the experiment END instruction of user setup, if
Terminate this test, go to step H；Otherwise go to step E；
H, operating board (9) are tested instruction according to the continuation of user setup and are judged whether to continue to test next time,
If continue to test next time, go to step I；Otherwise go to step Y；
I, operating board (9) are sentenced according to hip-based platform controller (1) the working condition change directive of user setup
Disconnected hip-based platform controller (1) working condition of whether changing, if desired change hip-based platform controller (1)
Working condition, goes to step J；Otherwise go to step K；
J, in operating board (9) upper change hip-based platform controller (1) working condition, go to step U；
K, operating board (9) instruct according to the sea situation parameter change of user setup and judge whether to change sea situation parameter,
If desired change sea situation parameter, goes to step L；Otherwise go to step M；
L, in operating board (9) upper change sea situation parameter, go to step M；
M, operating board (9) judge whether to change ship shape parameter according to the ship shape parameter change directive of user setup,
If need not change ship shape parameter, go to step C2；Otherwise go to step N；
N, at operating board (9) upper change ship shape parameter, go to step C2；
O, the design parameter of hip-based platform controller (1) is set；
Sea situation parameter, ship shape parameter are transferred to boats and ships three freedom degree movement simulation device and control by operating board (9)
Device (2), is transferred to hip-based platform controller (1) by hip-based platform controller (1) design parameter；
Boats and ships three freedom degree movement simulation Setup Controller (2) receive the sea situation parameter from operating board (9)
With ship shape parameter, by marine environment module and boats and ships motion module, calculate boats and ships three-degree-of-freedom motion shape
State, and send DC motor driver two (4) to；
P, DC motor driver two (4) are according to from boats and ships three freedom degree movement simulation Setup Controller (2)
Boats and ships three-degree-of-freedom motion status signal, control boats and ships three freedom degree movement simulation device (6) motion, mould
Intend boats and ships three-degree-of-freedom motion in marine environment；
The kinestate of sensor two (8) detection boats and ships three freedom degree movement simulation device (6) in real time, i.e.
Boats and ships three freedom degree movement simulation state under marine environment, and be transferred to hip-based platform controller (1),
Boats and ships three freedom degree movement simulation Setup Controller (2) and operating board (9)；
Sensor one (7) hip-based platform (5) in the case of hip-based platform controller (1) works of detection in real time
Kinestate, and be transferred to hip-based platform controller (1) and operating board (9)；
Hip-based platform (5) kinestate that hip-based platform controller (1) receives from sensor one (7) is believed
Number and from boats and ships three freedom degree movement simulation device (6) motion state signal of sensor two (8), root
According to the control program of draft experiment checking, generate control signal, and be transferred to DC motor driver one (3)；
DC motor driver one (3) receives the control signal from hip-based platform controller (1), controls
Hip-based platform (5) so that it is the boats and ships under the sea situation that boats and ships three freedom degree movement simulation device (6) are simulated
Sway and remain to held stationary under kinestate；
Operating board (9) receives, shows and preserves the motion of the hip-based platform (5) from sensor one (7)
State and the kinestate of boats and ships three freedom degree movement simulation device (6) from sensor two (8)；
Q, operating board (9) judge whether to terminate this experiment according to the experiment END instruction of user setup, if
Terminate this test, go to step R；Otherwise go to step P；
R, operating board (9) are tested instruction according to the continuation of user setup and are judged whether to continue to test next time,
If continue to test next time, go to step S；Otherwise go to step Y；
S, operating board (9) are sentenced according to hip-based platform controller (1) the working condition change directive of user setup
Disconnected hip-based platform controller (1) working condition of whether changing, if desired change hip-based platform controller (1)
Working condition, goes to step T；Otherwise go to step U；
T, in operating board (9) upper change hip-based platform controller (1) working condition, go to step K；
U, operating board (9) instruct according to the sea situation parameter change of user setup and judge whether to change sea situation parameter,
If desired change sea situation parameter, goes to step V；Otherwise go to step W；
V, in operating board (9) upper change sea situation parameter, go to step W；
W, operating board (9) judge whether to change ship shape parameter according to the ship shape parameter change directive of user setup,
If need not change ship shape parameter, go to step C1；Otherwise go to step X；
X, at operating board (9) upper change ship shape parameter, go to step C1；
Y, shutoff operation platform (9).
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