两轴四框架稳定平台动力学建模及耦合分析  

Dynamic modeling and coupling analysis of stabilized platform with two-axis and four-framework

作　　者：程鹰[1] 刘岩[1] 王明帅[1] 艾文娟[1] 

机构地区：[1]长春理工大学机电工程学院

出　　处：《自动化与仪器仪表》2016年第1期190-192,共3页Automation & Instrumentation

摘　　要：现代工业平台常采用两轴四框架的结构形式来增加它的跟踪角度范围,提高控制精度。两轴四框架结构的内框架与外框架间通过机械连接,外框架的运动耦合到内框架上,影响控制精度。为了控制系统的整体设计,利用坐标变换建立了系统的运动学方程。根据框架间的旋转关系,利用转移矩阵,建立框架运动学耦合方程[6],并对部分耦合补偿进行了分析,为高精度稳定平台的稳定控制设计提供理论依据。Modern industrial platform often adopts the structure of two axis four framework to increase its range of tracking angle and improve the control precision. The inner and outer gimbals of the two- axis and four- framework is connected by machine,that the outer framework 's movement couples to the inner framework will influence the accuracy of controlling. To control the overall design of the system,using the coordinate transformation establishes the kinematics equation of the system. According to the rotation of the relationship of frameworks,using the transfer matrix establishes the kinematic coupling equations of the framework and analyzes some coupling compensation for the stability control of high precision stabilized platform providing theoretical basis.

关 键 词：两轴四框架 速率稳定 耦合 视轴稳定 

分 类 号：TH113[机械工程—机械设计及理论]