水面小尺度漂浮平台的设计与实验

Design and experiment of offshore small floating platform

针对水面便携、易投放的小尺度漂浮平台的需求,设计了一种基于漂浮系统和稳定机构的水面小尺度漂浮平台,详细分析了水面小尺度漂浮平台的总体结构和工作原理,设计了二自由度的并联稳定机构和基于惯性测量单元的位姿测量系统,建立了基于滑模变结构原理的控制系统。在此基础上,完成了实验室摇摆台实验和水池摇摆实验。实验室实验结果表明,小尺度漂浮平台能够提供±0.2°的稳定基座;水池摇摆实验结果表明,小尺度漂浮平台能够提供±0.8°的稳定基座;负载系统能够有效地探测目标。研究结果可为水面小尺度漂浮平台的改进提供基础。

An offshore small floating platform based on floating system and stabilizing mechanism was designed which is offshore portable and easily thrown. Its overall structure and principle were analyzed, and a 2-D parallel stabilizing mechanism and an IMU-based pose measurement system were designed. The control system with sliding mode variable structure was set up. Based on these, the swing platform experiment and offshore swing experiment were carried out. Experiment results show that the small floating platform can provide a stable base with ±0.2° precision, the small floating platform can provide a stable base with ±0.8° precision, and the load system can effectively detect the target. The study results provide a basis for the improvement of the offshore small floating platform.