机载光电稳定平台建模及动态特性分析

两轴两框架机载光电稳定平台以其机构简单、成本低、体积小的特点广泛应用于小型载机上.载机与光电平台之间、平台框架之间存在复杂的非线性耦合.本文根据运动学、动力学关系,采用机理建模的方法建立了包含内外框耦合力矩的数学模型,并进行了多种状态下的动态特性仿真.结果表明,当框架受扰时内框比外框更敏感,内框能更快恢复稳定.载机角速...

Modeling and dynamic characteristics analysis of airborne photoelectric stabilization platform

The two-axis two-gimbal airborne photoelectric stabilized platform is widely used in small carrier because of its simple mechanism,low cost and small size.There is a complex nonlinear coupling between the carrier and the electro-optical platform as well as between the platform frames.Based on kinematics and dynamics,the mathematical model of coupling torque was established by the means of mechanism modeling and the dynamic characteristics were simulated in various states.Simulation results show that when the frame is disturbed,the inner frame is more sensitive than the outer frame,and the inner frame recovered more quickly.The variation of angular velocity caused by angular velocity disturbance of airborne is smaller than that caused by frame torque disturbance.The coupling moment existed between the inner and outer frames when the airborne moved in three axes.At the same time,the control voltage is added to the inner frame motor,the coupling moment increased.