MATLAB武装机器人稳定平台随动控制设计
（2）采用牛顿-欧拉法对稳定平台进行动力学进行分析，得到欧拉动力学方程。
（3）对稳定平台控制回路的结构进行分析，建立数学模型。参考控制工程中经典频域法对数学模型校正，推导出系统的传递函数。
（4）通过MATLAB/Simulink对校正前后的传递函数进行仿真。结果显示，校正后的系统拥有更好的抗干扰能力和响应速度。
关键词 武装机器人 稳定平台 动力学 MATLAB/Simulink
毕业论文设计说明书外文摘要
Title Servo Control Design of the armed robot stabilized platform
Abstract
This article studies the armed robots are two-dimensional stabilized platform stabilized platform,The platform is a kind of can make the controlled object in an inertial space in two directions at a specific location,Or under the specific command control,In both directions can be positioning device.Platform performance good or bad will have a significant impact to robot working precision,So this article focus on the following aspects of the structure of the stabilized platform is analyzed.
This paper introduces the principle of stabilized platform.According to the structure of the platform, the platform of the translational motion and rotation motion is analyzed.Various points in the process of displacement of gyroscope, the installation scheme comparison, get the best installation location.
using the Newton - euler method were analyzed, and the dynamics of stabilized platform for euler dynamics equation is obtained.
To analyze the structure of the stabilized platform control circuit, the mathematical model is established.Reference classic frequency domain method in control engineering correction on mathematical model, the system transfer function is deduced.
Through the MATLAB/Simulink transfer function before and after the correction. After, according to the results of calibration system has better anti-interference ability and speed of response.
Keywords The armed robot Turntables Kinematics Dynamics MATLAB/Simulink
目 次
1 绪论 1
1．1 课题背景 1
1．2 国内外发展历史与现状 2
1．3 国内外发展趋势 2
1．4 本文主要研究内容与要求 3
2 两自由度稳定平台的运动学分析 4
2．1 引言 4
2．2 基本概念与理论基础 4
2．3 稳定平台运动学方程 6
2．4 小结 10
3 两自由度稳定平台的动力学分析 11
3．1 引言 11
3．2 基本概念与理论基础 11
3．3 刚体绕固定点转动的动量矩方程 11
3．4 转动惯量的空间转换 13
3．5 转动惯量的计算 13
3．6 角速度的计算 15
3．7 转动力矩的计算 16
3．8 小结 17
4 稳定平台系统建模 18
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