非惯性系稳定平台运动分析与仿真  

Kinematics Analysis and Simulation of Stabilizing Platform in Non-inertial System

作　　者：刘晓[1,2] 赵铁石[1,2] 王唱[1,2] 边辉[1,2] 

机构地区：[1]燕山大学河北省并联机器人与机电系统重点实验室,河北秦皇岛066004 [2]燕山大学先进锻压成型技术与科学教育部重点实验室,河北秦皇岛066004

出　　处：《机器人》2013年第6期723-730,768,共9页Robot

基　　金：国家自然科学基金资助项目(50975244);秦皇岛市科学技术研究与发展计划资助项目(2012011A077)

摘　　要：基于多刚体系统分析理论,对非惯性系稳定平台运动学进行了基础研究与仿真分析.首先,提出一种以直升机安全着舰为目标的稳定平台补偿算法,通过分析非惯性系舰载稳定平台系统各刚体之间的运动关系,建立动平台非惯性系运动与舰船、直升机广义运动之间的伴随变换关系,并计算直升机起落架相对于动平台的运动,以此为反馈量实时检测、控制稳定平台运动.其次,基于李群李代数定义稳定平台的李括弧雅可比矩阵,导出了稳定平台运动分支输入量与广义运动间的伴随映射关系,并得到了表征这种映射关系的非惯性系机构影响系数矩阵.最后,搭建舰载稳定平台虚拟样机仿真系统,通过联合仿真验证了本文方法在解决非惯性系稳定平台运动分析问题时的正确性.Based on the analysis theory of multi-rigid-body system, the basic research and simulation analysis of stabilizing platform kinematics in non-inertial system are discussed. A compensation algorithm of the stabilizing platform for helicopter landing safely is presented firstly, and then the motion relationship of rigid bodies in ship-based stabilizing system is analyzed to establish the adjoint transformation between the moving platform motion in non-inertial system and the generalized motion of ship and helicopter. The relative values between undercarriage and moving platform are calculated which can be used as a feedback to realize real-time measurement and control of the stabilizing platform. Secondly, the Lee brackets Jacobin matrixes of the stabilizing platform based on the Lie group and Lie algebra are defined, and the adjoint mapping between moving branch inputs and generalized motion values is derived. In order to represent this adjoint mapping, the influence coefficient matrix of the stabilizing platform in non-inertial system is obtained. Finally, the virtual prototyping simulation system of the stabilizing platform is built to verify the correctness of the presented kinematics analysis method for stabilizing platforms in non-inertial system.

关 键 词：非惯性系 舰载稳定平台 运动分析 联合仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]