Offshore parallel stable platform control method based on EtherCAT bus

Offshore parallel stable platform control method based on EtherCAT bus

The invention relates to the technical field of stabilized platform control, in particular to an offshore parallel stabilized platform control method based on an EtherCAT bus. A trajectory planning function of a function library is used firstly, and after position and speed errors of a tracking curv...

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Hauptverfasser: WANG FUSHEN, AN KANGKANG, MENG FANJUN, WANG XING
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Sprache:chi ; eng
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CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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creator WANG FUSHEN
AN KANGKANG
MENG FANJUN
WANG XING
description The invention relates to the technical field of stabilized platform control, in particular to an offshore parallel stabilized platform control method based on an EtherCAT bus. A trajectory planning function of a function library is used firstly, and after position and speed errors of a tracking curve and an actual curve meet requirements, a real-time tracking mode with a Kalman filtering algorithm as a core is switched into, so that the dynamic tracking capability of the offshore parallel stabilized platform is improved. Through the actual test of an offshore parallel stable platform, a curve of 10 degrees and 0.5 Hz is tracked, and the tracking error of a controller function module is about 0.5 degree; after the real-time tracking algorithm, the tracking error is reduced to about 0.06 degree, and the tracking precision of the platform is improved. The high reliability of a mature industrial controller is utilized, the research and development period is greatly shortened, the research and development cost is
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subjects CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
title Offshore parallel stable platform control method based on EtherCAT bus
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