船用激光测距仪稳定平台伺服控制系统设计与实现  

Design and Accomplishment of Stable Platform for Laser Measurement System on Marine

作　　者：王中石[1] 李峰[1] 王宏健[1] 马海龙 宋志远[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《中国造船》2012年第2期130-137,共8页Shipbuilding of China

基　　金：教育部高等学校博士学科点专项科研基金(20092304110008);中央高校基本科研业务费专项资金(HEUCFU 1026)

摘　　要：实施海上救助时恶劣海况条件通常会造成救助船舶剧烈摇摆,使得测距传感器难以有效地捕捉失事目标,而长时间目标丢失必然造成难以跟踪失事目标或与目标的相对定位失败。因此,该文设计了激光测距仪单自由度稳定平台,通过稳定平台的伺服控制系统补偿来自于船舶纵横摇运动对平台姿态的干扰,并在试验室四自由度转台上完成了稳定平台控制性能的验证试验,试验结果表明:所设计的激光测距仪稳定平台能够很好地补偿船舶运动对激光测距仪姿态的影响,保证了在恶劣环境条件下激光测距仪能够稳定、有效地实时测量失事目标,对于实施有效、安全的海上救助具有重要的工程实际应用价值。Real-time detecting wrecked target by using laser measurement system （in short, LMS） is one of the key measuring methods for marine salvage operations. Wicked sea conditions always make the rescue ship large pitch or roll, so that the wrecked target can＇t be detected by measuring sensor, and inevitably, it will be failed to rescue the wrecked ship as a result of long time losing target and relative positioning. Finally, some experiments are accomplished to verify the servo control effect. The results show that the stable platform can compensate the effect of ship rolling motion for LMS. It is propitious to the measurement for a wrecked ship. And the research can be well used in the field of marine rescue engineering.

关 键 词：海上救助 激光测距仪 稳定平台 伺服控制系统 PID控制 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置] TM383.4[自动化与计算机技术—控制科学与工程]