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三框架四轴平台系统的随动回路依靠控制随动框架转动使内环框架角始终保持在零位附近,用以保证载体在内环轴方向上具备全方位机动的能力。然而当外环框架角工作在±90°附近时,随动回路会失去正常功能,进入不稳定状态。为了解决这个问题,提出了一种新的随动框架控制方案,保证外环框架角在±90°时随动框架处于稳定状态,同时内环轴所指方向仍然可以进行大范围机动,从而使得三框架四轴平台实现真正的全方位机动能力。
The follow-up circuit of the three-frame four-axis platform system relies on the rotation of the control follow-up frame to keep the inner ring frame angle near zero all the time, so as to ensure the capability of the carrier to maneuver in all directions in the inner ring axis. However, when the outer ring frame angle work around ± 90 °, follow-up circuit will lose its normal function into an unstable state. In order to solve this problem, a new follow-up frame control scheme is proposed to ensure that the follow frame is in a stable state when the angle of the outer ring frame is within ± 90 °. At the same time, the direction of the inner ring axis can still be maneuvered in a wide range, Three-frame four-axis platform to achieve a true full range of mobility.