四轴五框架车载稳定平台稳定性的仿真分析

Stabilization Simulation Analysis of Four-axis & Five-gimbal Stable Platform

针对车载稳定平台水平扰动较大、方位扰动较小的特点,提出一种四轴五框架结构的车载稳定平台,由一级水平稳定与二级两轴三框架稳定实现对车体水平扰动的双重抑制。通过平台运动学及动力学分析,建立一级水平稳定、二级两轴三框架稳定与整体四轴五框架稳定平台的数学模型,进而对稳定平台抑制车体扰动的特性进行分析。在车体典型的三种振动环境下对四轴五框架结构的稳定平台与两轴三框架结构的稳定平台稳定效果进行仿真,结果表明四轴五框架结构的稳定平台比两轴三框架稳定平台稳定精度提高一倍。

A four-axis ＆ five-gimbal stable platform on moving vehicle was generated against the extreme horizontal disturb, and it was composed of one level horizontal stable platform and two level two-axis ＆ three- gmibal stable platform which offer twice rejection to vehicle horizontal disturb. Though kinematic and dynamics characteristic analysis, stabilizing models of the horizontal stable platform, the two-axis ＆ three- gimbal stable platform and the whole four-ax!s ＆ five-gimbal stable platform were set up. Finally, the stable performance of the platform was simulated on the three typical environment of vehicle. The results indicate that the max error of the four-axis ＆ five-gimbal stable platform is half of the two-axis three- gimbal platform.