期刊文献+

二次检索

题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息
共找到15篇文章
< 1 >
每页显示 20 50 100
Study on the Characteristics of A New Hybrid Mooring System for DualPlatform Joint Operations 被引量:1
1
作者 SHEN Zhong-xiang YUAN Zhao-jun +1 位作者 LI Hong-bin ZHU Chen-yang 《China Ocean Engineering》 SCIE EI CSCD 2023年第3期506-518,共13页
As the sustainable exploitation of marine resources develops,dual-platform joint operation has caught increasing attention.Dual-platform joint operation requires smaller relative motion between the two sub-platforms,w... As the sustainable exploitation of marine resources develops,dual-platform joint operation has caught increasing attention.Dual-platform joint operation requires smaller relative motion between the two sub-platforms,which is normally difficult to be satisfied by the traditional mooring system.Therefore,a new hybrid mooring system is developed and studied in this article.To ensure safety during platform movements,both the number of anchor chains and the relative motion between the two sub-platforms are reduced in the new hybrid mooring system.By performing numerical simulations based on three-dimensional potential flow theory in AQWA and physical experiments,the performances of both the new hybrid and traditional mooring systems under two different wave conditions(i.e.,working wave and freak wave conditions) are systematically investigated.Regarding the new hybrid mooring system,the relative stability between the two sub-platforms of the new system is better,and the platforms can restore stability faster when affected by freak waves. 展开更多
关键词 dual-platform joint operation platform relative stability hybrid mooring system freak wave
下载PDF
Robust control with compensation of adaptive model for dual-stage inertially stabilized platform 被引量:3
2
作者 SONG Jiang-peng ZHOU Di +1 位作者 SUN Guang-li QI Zhi-hui 《Journal of Central South University》 SCIE EI CAS CSCD 2018年第11期2615-2625,共11页
To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a sec... To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method. 展开更多
关键词 dual-stage control inertially stabilized platform robust H∞control adaptive model
下载PDF
Parameter identification of inertially stabilized platforms using current command design 被引量:2
3
作者 黎志强 张智永 +1 位作者 周擎坤 范大鹏 《Journal of Central South University》 SCIE EI CAS 2013年第2期342-353,共12页
Accurate parameter identification is essential when designing controllers for inertially stabilized platforms (lSPs). But traditional identification methods suffer from observation measurement noise and operating re... Accurate parameter identification is essential when designing controllers for inertially stabilized platforms (lSPs). But traditional identification methods suffer from observation measurement noise and operating restrictions of ISPs. To address this issue, a novel identification method based on current command design and multilevel coordinate search (MCS) algorithm without any higher order measurement differentiations was proposed. The designed current commands were adopted to obtain parameter decoupled models with the platform operating under allowable conditions. MCS algorithm was employed to estimate the parameters based on parameter decoupled models. A comparison experiment between the proposed method and non-linear least square method was carried out and most of the relative errors of identified parameters obtained by the proposed method were below 10%. Simulation and experiment based on identified parameters were conducted. A velocity control structure was also developed with disturbance observer (DOB) for application in disturbance compensation control system of an ISR Experimental results show that the control scheme based on the identified parameters with DOB has the best disturbance rejection performance. It reduces the peak to peak value (PPV) of velocity error integral to 0.8 mrad which is much smaller than the value (10 mrad) obtained by the single velocity controller without DOB. Compared with the control scheme based on sweep model with DOB compensation, the proposed control scheme improves the PPV of velocity error integral by 1.625 times. 展开更多
关键词 parameter identification current command design multilevel coordinate search inertially stabilized platforms
下载PDF
Structure and Dynamic Characters of New Radar Stabilized Platform 被引量:1
4
作者 薛珊 曹国华 +1 位作者 范惠林 吕琼莹 《Defence Technology(防务技术)》 SCIE EI CAS 2011年第4期248-252,共5页
Aimed at requirements, a kind of radar stabilized platform with external rotor and orthogonal shafts is designed. Its dynamic characters are analyzed by using finite element theory and ANSYS software. Also, a traditio... Aimed at requirements, a kind of radar stabilized platform with external rotor and orthogonal shafts is designed. Its dynamic characters are analyzed by using finite element theory and ANSYS software. Also, a traditional stabilized platform with inner rotor is designed for comparison. It is shown that the new platform reduces two transmission links and 20% of precise components, its weight decreases by 20%, its natural frequency and rigidity are enlarged, the operating accuracy and stationary are increased. The new stabilized platform is more superiority and practicability. Its design method and analysis results have already been used in development mission. It provides helpful reference for similar structure designs. 展开更多
关键词 mechanical design external rotor stabilized platform modal analysis harmonic response
下载PDF
Orientation density and workspace analysis of a parallel stabilized platform testing system 被引量:1
5
作者 江放 丁洪生 +1 位作者 付铁 董忠辉 《Journal of Beijing Institute of Technology》 EI CAS 2012年第3期302-308,共7页
An optimized workspace calculation method is proposed for parallel stabilized platform testing systems.This method refines the searched space progressively in order to approach the boundary of the workspace from both ... An optimized workspace calculation method is proposed for parallel stabilized platform testing systems.This method refines the searched space progressively in order to approach the boundary of the workspace from both the inside and the outside of it.The orientation density is defined and used as an evaluation index to calculate the orientation workspace.The algorithm of the orientation density is embedded into the computer program of the workspace calculation.Then the workspaces of the testing system are solved.In the solution,the orientation density is regarded as a discrete function of the reachable workspace.As a result,the reachable workspace and the orientation workspace are represented in the same multidimensional graphs.Finally the useful workspace of the testing system is determined based on these results.This case study indicates that the calculation efficiency is enhanced by adopting the optimized method and the practicability of workspace study is improved by proposing the orientation density. 展开更多
关键词 parallel mechanism stabilized platform workspace orientation density
下载PDF
Investigation on Cutting Stability of Jacket in Decommissioning Process 被引量:1
6
作者 李美求 段梦兰 黄一 《China Ocean Engineering》 SCIE EI CSCD 2015年第5期649-661,共13页
Jacket cutting operation is one of the most complicated and highest risk operations in the process of decommissioning offshore piled platform, the security and stability of which must be assured. In this paper, the cu... Jacket cutting operation is one of the most complicated and highest risk operations in the process of decommissioning offshore piled platform, the security and stability of which must be assured. In this paper, the current research on offshore structure removal and jacket cutting is introduced, on the basis of which the types of load along with the load calculation method are determined. The main influences on the stability of a jacket in cutting are analyzed. The experiment test plan is drawn by using orthogonal testing method, and the formula of critical load during the cutting procedure is deduced by differential evolution algorithm. To verify the method and results of this paper, an offshore piled platform to be decommissioned in the South China Sea is taken for an example, and the detailed schedule for jacket cutting is made with the three-dimensional finite element model of the jacket established. The natural frequency, stress, strain and stability of the jacket during cutting process are calculated, which indicates that the results of finite element analysis agree well with that of the deduced formula. The result provides the scientific reference for guaranteeing the safety of jacket in cutting operation. 展开更多
关键词 stability jacket cutting operation piled platforms decommissioning
下载PDF
Development of a Stabilized Pan/Tilt Platform and the State of the Art
7
作者 Mehmet Burcak Ozkok Ali Osman Boyacl 《Journal of Mechanics Engineering and Automation》 2013年第10期618-626,共9页
In the context of this paper, a small scale, medium precision, stabilized pan/tilt platform is developed as a prototype, which is used to compare various stabilization algorithms experimentally. The overall performanc... In the context of this paper, a small scale, medium precision, stabilized pan/tilt platform is developed as a prototype, which is used to compare various stabilization algorithms experimentally. The overall performance of the system depends on rigid body dynamics, structural dynamics, servo control loops, stabilization control algorithm, sensor fusion algorithm and sensory feedback such as from the IMU (inertial measurement unit). In the case that the response bandwidth of the overall system is high enough, the same hardware can also achieve active vibration isolation. All of these design aspects are investigated in the paper via numerical models and with their experimental verification. 展开更多
关键词 Stabilized pan/tilt platform active vibration isolation stabilization control sensor fusion inertial measurement unit
下载PDF
Reduced-order design of Robust H_∞ Controller for an Inertial Stabilized Aerial Platform
8
作者 Xiangyang ZHOU Yuqian LI Chao YANG 《Instrumentation》 2019年第3期2-9,共8页
The uncertainty disturbance is one of the main disturbances that seriously influences the stabilization precision of an aerial inertially stabilized platform(ISP)system.In this paper,to improve the stabilization preci... The uncertainty disturbance is one of the main disturbances that seriously influences the stabilization precision of an aerial inertially stabilized platform(ISP)system.In this paper,to improve the stabilization precision of the ISP under disturbance uncertainty,a robust H∞controller is designed in this paper.Then,the reduction order is carried out for high-order controllers generated by the robust H∞loop shaping control method.The application of the minimum implementation and balanced truncation algorithm in controller reduction is discussed.First,the principle of reduced order of minimum implementation and balanced truncation are analyzed.Then,the method is used to reduce the order of the high-order robust H∞loop shaping controller.Finally,the method is analyzed and verified by the simulations and experiments.The results show that by the reduced-order method of minimum implementation and balanced truncation,the stabilization precision of the robust H∞loop shaping controller is increased by about 10%. 展开更多
关键词 Aerial Remote Sensing Inertial Stabilization platform Robust H_∞Control Controller Reduction Balanced Truncation
下载PDF
Dynamic Simulation and Disturbance Torque Analyzing of Motional Cable Harness Based on Kirchhoff Rod Model 被引量:6
9
作者 WANG Chunsheng NING Ruxin +1 位作者 LIU Jianhua ZHAO Tao 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2012年第2期346-354,共9页
The motional payloads on stabilized platform must be linked by some cable harnesses with other immobile apparatus.During the operation of stabilized platform,these cable harnesses can create spring disturbance torque ... The motional payloads on stabilized platform must be linked by some cable harnesses with other immobile apparatus.During the operation of stabilized platform,these cable harnesses can create spring disturbance torque which is exerted on the stabilized platform and then reduce the stabilizing precision.None of current studies can deal with the spring disturbance torque problem.To analyze the spring disturbance toque,a dynamic thin rod model is presented for simulating the motional cable harness which is based on the Kirchhoff rod theorem and can consider the geometrically non-linear effects.The internal bending and torsion restoring torques are simulated and then a predictive analysis of the disturbance torque can be performed in motional cable routing design.This model is solved with differential quadrature method(DQM).By using zeros of the Chebyshev polynomial as the grid points,the arc-coordinate is discretized to obtain a set of ordinary differential equations in time domain which is solved by implied method to obtain the profile and internal force of cable harness.The accuracy of this model is validated by comparing the simulation results and the experiment results(both the spring force and the deformed profile of the motional cable harness).In the experiment,a special optical measuring instrument based on binocular vision is developed.The comparison of experimental and simulated results shows that the simulation model can represent the real motional cable harness well,and the spring disturbance force simulation results are precise enough for spring disturbance torque analysis.This study will be helpful to obtain an optimized motional cable harness layout design with small spring disturbance torque. 展开更多
关键词 motional cable harness simulation spring disturbance torque analysis Kirchhoff rod stabilized platform
下载PDF
Prestiction friction compensation in direct-drive mechatronics systems 被引量:2
10
作者 黎志强 周擎坤 +2 位作者 张智永 张连超 范大鹏 《Journal of Central South University》 SCIE EI CAS 2013年第11期3031-3041,共11页
LuGre model has been widely used in friction modeling and compensation.However,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest research.With the extensi... LuGre model has been widely used in friction modeling and compensation.However,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest research.With the extensive experimental observations of friction behaviors in the prestiction,some variables were abstracted to depict the rules in the prestiction regime.Based upon the knowledge of friction modeling,a novel friction model including the presliding regime,the gross sliding regime and the prestiction regime was then presented to overcome the shortcomings of the LuGre model.The reason that LuGre model cannot estimate the prestiction friction was analyzed in theory.Feasibility analysis of the proposed model in modeling the prestiction friction was also addressed.A parameter identification method for the proposed model based on multilevel coordinate search algorithm was presented.The proposed friction compensation strategy was composed of a nonlinear friction observer and a feedforward mechanism.The friction observer was designed to estimate the friction force in the presliding and the gross sliding regimes.And the friction force was estimated based on the model in the prestiction regime.The comparative trajectory tracking experiments were conducted on a simulator of inertially stabilization platforms among three control schemes:the single proportional–derivative(PD)control,the PD with LuGre model-based compensation and the PD with compensator based on the presented model.The experimental results reveal that the control scheme based on the proposed model has the best tracking performance.It reduces the peak-to-peak value(PPV)of tracking error to 0.2 mrad,which is improved almost 50%compared with the PD with LuGre model-based compensation.Compared to the single PD control,it reduces the PPV of error by 66.7%. 展开更多
关键词 prestiction friction LuGre model multilevel coordinate search friction compensation inertially stabilization platforms
下载PDF
Generation of Accelerated Stability Experiment Profile of Inertial Platform Based on Finite Element
11
作者 CHEN Yunxia HUANG Xiaokai KANG Rui 《Chinese Journal of Aeronautics》 SCIE EI CSCD 2012年第4期584-592,共9页
The residual stress generated in the manufacturing process of inertial platform causes the drift of inertial platform parameters in long-term storage condition.However,the existing temperature cycling experiment could... The residual stress generated in the manufacturing process of inertial platform causes the drift of inertial platform parameters in long-term storage condition.However,the existing temperature cycling experiment could not meet the increased repeatability technical requirements of inertial platform parameters.In order to solve this problem,in this paper,firstly the Unigraphics(UG) software and the interface compatibility of ANSYS software are used to establish the inertial platform finite element model.Secondly,the residual stress is loaded into finite element model by ANSYS function editor in the form of surface loads to analyze the efficiency.And then,the generation based on ANSYS simulation inertial platform to accelerate the stability of experiment profile is achieved by the application of the analysis method of orthogonal experimental design and ANSYS thermal-structural coupling.The optimum accelerated stability experiment profile is determined finally,which realizes the rapid,effective release of inertial platform residual stress.The research methodology and conclusion of this paper have great theoretical and practical significance to the production technology of inertial platform. 展开更多
关键词 inertial platform residual stresses accelerated stability orthogonal experimental design ANSYS thermal-structural coupled analysis
原文传递
Improved Angular Velocity Estimation Using MEMS Sensors with Applications in Miniature Inertially Stabilized Platforms 被引量:4
12
作者 ZHOU Xiaoyao ZHANG Zhiyong FAN Dapeng 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2011年第5期648-656,共9页
The performance of any inertially stabilized platform (ISP) is strongly related to the bandwidth and accuracy of the angular velocity signals. This paper discusses the development of an optimal state estimator for s... The performance of any inertially stabilized platform (ISP) is strongly related to the bandwidth and accuracy of the angular velocity signals. This paper discusses the development of an optimal state estimator for sensing inertial velocity using low-cost micro-electro-mechanical systems (MEMS) sensors. A low-bandwidth gyroscope is used alone with two low-performance accelerometers to obtain the estimation. The gyroscope has its own limited dynamics and mainly contributes to the low-frequency components of the estimation. The accelerometers have inherent biases and mainly contribute to the high-frequency components of the estimation. Extensive experimental results show that the state estimator can achieve high-performance signals over a wide range of velocities without drifts in both the t- and s-domains. Furthermore, with applications in miniature inertially stabilized platforms, the control characteristic presents a significantly improvement over the existing methods. The method can be also applied to robotics, attitude estimation, and friction compensation. 展开更多
关键词 angular velocity low-cost sensor GYROSCOPE ACCELEROMETER Kalman filter inertially stabilized platform
原文传递
Application in prestiction friction compensation for angular velocity loop of inertially stabilized platforms 被引量:5
13
作者 Zhang Zhiyong Li Zhiqiang +2 位作者 Zhou Qingkun Zhang Lianchao Fan Dapeng 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2014年第3期655-662,共8页
Abstract To overcome the influence of the nonlinear friction on the gimbaled servo-system of an inertial stabilized platforms (ISPs) with DC motor direct-drive, the methods of modeling and compensation of the nonlin... Abstract To overcome the influence of the nonlinear friction on the gimbaled servo-system of an inertial stabilized platforms (ISPs) with DC motor direct-drive, the methods of modeling and compensation of the nonlinear friction are proposed. Firstly, the inapplicability of LuGre model when trying to interpret the backward angular displacement in the prestiction regime is observed experimentally and the reason is deduced theoretically. Then, based on the dynamic model of direct-drive ISPs, a modified LuGre model is proposed to describe the characteristic of the friction in the prestiction regime. Furthermore, the state switch condition of the three friction regimes including presliding, gross sliding and prestiction is presented. Finally, a composite compensation controller including a nonlinear friction observer and a feedforward compensator based on the novel LuGre model is designed to restrain the nonlinear friction and to improve the control precision. Experimental results indicate that compared with those of the conventional proportion-integrationdifferentiation (PID) control method and the PID plus LuGre model-based friction compensation method, the dwell-time has decreased from 0.2 s to almost 0 s, the position error decreased to 86.7% and the peak-to-peak value of position error decreased to 80% after the novel compensation controller is added. It concludes that the composite compensation controller can greatly improve the control precision of the dynamic sealed ISPs. 展开更多
关键词 Closed loop control systems Friction compensation Inertially stabilized platforms Prestiction STICTION
原文传递
High-precision gyro-stabilized control of a gear-driven platform with a floating gear tension device 被引量:3
14
作者 Xianliang JIANG Dapeng FAN +2 位作者 Shixun FAN Xin XIE Ning CHEN 《Frontiers of Mechanical Engineering》 SCIE CSCD 2021年第3期487-503,共17页
This study presents an improved compound control algorithm that substantially enhances the antidisturbance performance of a gear-drive gyro-stabilized platform with a floating gear tension device.The tension device ca... This study presents an improved compound control algorithm that substantially enhances the antidisturbance performance of a gear-drive gyro-stabilized platform with a floating gear tension device.The tension device can provide a self-adjustable preload to eliminate the gap in the meshing process.However,the weaker gear support stiffness and more complex meshing friction are also induced by the tension device,which deteriorates the control accuracy and the ability to keep the aim point of the optical sensors isolated from the platform motion.The modeling and compensation of the induced complex nonlinearities are technically challenging,especially when base motion exists.The aim of this research is to cope with the unmeasured disturbances as well as the uncertainties caused by the base lateral motion.First,the structural properties of the gear transmission and the friction-generating mechanism are analyzed,which classify the disturbances into two categories:Time-invariant and time-varying parts.Then,a proportional-integral controller is designed to eliminate the steady-state error caused by the time-invariant disturbance.A proportional multiple-integral-based state augmented Kalman filter is proposed to estimate and compensate for the time-varying disturbance that can be approximated as a polynomial function.The effectiveness of the proposed compound algorithm is demonstrated by comparative experiments on a gear-drive pointing system with a floating gear tension device,which shows a maximum 76%improvement in stabilization precision. 展开更多
关键词 inertially stabilized platform floating gear tension device nonlinear friction disturbance compensation proportional multiple-integral observer
原文传递
Study on Rotational Stabilization in a Laser Tracking System 被引量:4
15
作者 于爽 赵言正 《Journal of Shanghai Jiaotong university(Science)》 EI 2009年第3期316-320,共5页
The high rolling speed of a missile heavily affects the stabilizing capability of the inertial platform in the laser tracking system (LTS) of the missile. In this paper, a rotational stabilizing platform (RSP) and... The high rolling speed of a missile heavily affects the stabilizing capability of the inertial platform in the laser tracking system (LTS) of the missile. In this paper, a rotational stabilizing platform (RSP) and a fuzzy-PID controller is designed to stabilize the inertial platform. This controller integrates the advantages of both fuzzy controller and classic PID controller. A comparison study is carried out to illustrate the advantages of the proposed fuzzy-PID controller over the classic PID controller. Numerical results indicate that the fuzzy-PID controller outperforms the classic one in effectively handling nonlinear disturbances and quickly stabilizing the inertial platform at the sudden change of missile roiling speed. 展开更多
关键词 rotational stabilizing platform fuzzy-PID control laser tracking system nonlinear disturbance
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部