摘要
针对无人船体积小、船体纵横摇摆动剧烈、变化迅速的特点,研究一种基于前馈-PID控制算法的双轴机械稳定平台控制算法。利用姿态测量模块实时测量船体纵横摇角度及角速度,经过前馈补偿算法运算后控制伺服电机动作实现平台水平稳定,保证船载设备稳定运行。
In view of the small size of the unmanned vessel,the violent sway and rapid change of the hull,a control algorithm based on the feedforward PID control for the dual-axis mechanical stable platform was studied.The attitude measurement module was used to measure the angle and angular velocity of the roll and pitch of the ship in real time.After algorithm calcalation,the servo motor is controlled to realize the horizontal stability of the platform and ensure the stable operation of the shipborne equipment.
作者
俞华
熊天武
Yu Hua;Xiong Tianwu(The 723th Institute,China Shipbuilding Industry Corporation,Yangzhou,Jiangsu 225001,China)
出处
《机电工程技术》
2021年第2期142-144,共3页
Mechanical & Electrical Engineering Technology
关键词
无人船
双轴机械稳定平台
纵横摇
速度前馈
USV
dual-axis mechanical stable platform
pitch and roll
speed feedforward
