摘要舰载设备基座安装在晃动的载体上，由于载体引起的晃动，容易影响舰载设备 正常工作。因此，必须采取措施对载体的运动进行隔离。并联稳定平台是基于 Stewart 并联机构提出的一种为舰载设备提供稳定工作环境的平台，通过对并联机构各个支 链实施主动控制，将下平台受到的冲击削弱，使上平台始终保持在一个相对稳定的 工作状况，确保舰载设备正常工作。据此，本课题基于并联机构对 6-SPS 复合式稳 定平台进行控制系统的设计，课题研究内容如下：83768

首先介绍课题的研究背景与意义，分析阐述稳定平台的国内外研究现状以及发 展趋势，并介绍稳定平台传感器装置；其次介绍 6-SPS 复合式舰载稳定平台的工作 原理和主体结构，并对稳定平台的控制系统进行总体设计；然后对控制系统进行硬 件选型及电路搭建，并且建立非对称缸的驱动系统模型，对稳定平台的单通道系统 进行仿真分析；最后对稳定平台控制策略进行设计，方法上采用交叉耦合控制，对 同时采集下平台扰动信号和上平台位姿信号进行控制，并在此基础上，为六个液压 支路设计了模糊 PID 控制器。

本课题设计的稳定平台机械结构以及控制系统适用于舰载稳定平台的工况要求， 控制系统和被控对象具有良好的兼容性。 

毕业论文关键字：稳定平台；控制策略；仿真分析；模糊 PID

Abstract The carrier equipment base is installed on the carrier, and the carrier is caused by the shaking, which is easy to affect the normal operation of the carrier equipment。 Therefore, measures must be taken to isolate the movement of the carrier。 Parallel stab ilization platform is based on the Stewart Parallel mechanism is presented a for ship borne equipment provide stable working environment of the platform, through the implementation of active control of parallel mechanism of every branch, weakens the impact by the platform。 The platform remains in a relatively stable work condition, to ensure the normal operation of shipboard equipment。 According to this, the design of the control system of the 6-SPS composite stabilized platform based on the parallel mechanism isstudied。The contentof thisresearch isas follows:

First introduces the background and significance of the research, analyzes the stable platform research status and development trend, and introduces the stable platform sensor device; secondly it introduces working principle and main structure of the composite type stable platform 6-SPS, the overall design of the stabilized platform control system; then the hardware selection and control system thecircuit structures, and establish themodel of non-symmetrical cylinder driving system, simulation analysis of single channel system on the stable platform; finally the design of control strategy of stable platform, method is to adopt cross coupling control, to the simultaneous acquisition of the platform on the platform pose disturbance and signal control, and on this basis, design fuzzy PID controller forthe sixhydraulic branch。

The mechanical structure and control system of the stable platform is suitable for the working condition of the platform of the carrier stable platform。 The control system and thecontrolledobject havegood compatibility。

Keywords:stabilized platform；controlstrategy；simulationanalysis；FuzzyPID

目录

第一章 绪论 ·· ·· ·· 1

1。1课题背景及意义 ·· ·· · 1

1。2稳定平台的研究现状及发展趋势··