Kinematic control of a 3-DOF parallel stabilization platform

Author

Zhang Bin ; Shang Weiwei

Author_Institution

Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China

fYear

2014

fDate

28-30 July 2014

Firstpage

8287

Lastpage

8292

Abstract

Based on the analysis of the 6-dimension additional motions of ships, a 3-SRR/SRU 3-DOF parallel mechanism is designed as the stabilization platform for the equipment on ships. Firstly, the mechanism structure of the stabilization platform is given and the kinematic equations are formulated. Secondly, a virtual prototyping model of the parallel stabilization platform is established in Adams, and then the kinematic characteristics of the model is verified. According to the kinematic characteristics, the motion control strategy of the stabilization platform is determined. Finally, the PID controller is implemented on a 3-DOF parallel stabilization platform, and the real-time tracking control of the moving platform is simulated.

Keywords

motion control; ships; stability; three-term control; tracking; 3-DOF parallel stabilization platform; 3-SRR/SRU; Adams; PID controller; kinematic characteristics; kinematic control; kinematic equations; mechanism structure; motion control strategy; real-time tracking control; ship equipment; virtual prototyping model; Equations; Helicopters; Joints; Kinematics; Marine vehicles; Mathematical model; Solid modeling; Adams simulation; PID control; Parallel stabilization platform; kinematic characteristics;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896389

Filename

6896389