船舶三轴转台建模与非线性分析

Modeling and Nonlinear Analysis of Marine Three Axis Turntable

为研究船舶三轴转台的低速性能,本文对船舶三轴转台系统进行了建模仿真和非线性分析。相比飞行转台,船舶转台对低速性能的要求更高。本文对船舶转台的执行机构,直流力矩电机进行了理想建模分析,并结合船舶转台低速环境特点,对系统进行了非线性分析得出摩擦力矩是影响转台低速性能最主要的因素。本文对工程实用的Stribeck摩擦力矩模型进行了线性化处理,线性化处理的摩擦模型能够良好的反应摩擦力变化趋势。将线性化摩擦模型代入理想模型进行仿真分析,仿真结果良好,证明了摩擦力矩确实是影响转台系统低速性能的主要因素。该线性化模型具有较好的工程使用性。

In order to study the performance at low speed of marine three axis turntable,this paper analyses the modeling simulation and nonlinearity on a turntable system.Compared with the flight turntable,low speed performance requirements of turntable on marine are higher.The marine execution,DC torque motor is ideal modeling agency turntable,turntable and combination of marine environment,the system of nonlinear analysis of friction torque is the main factor affecting the performance in low speed turntable.In this paper,the linearization of the friction torque model and practical engineering,friction model linearization can reflect the change trend of good friction.The linearized model into the ideal model of friction simulation analysis,the simulation results are well,that really is the main factor affecting the friction torque speed servo system performance.The linear model is useful in the actual project.