并联型光电设备稳定平台稳定解算研究

并联型光电设备稳定平台是针对光电跟踪系统需要而设计的一种新型并联机构，具有两个相互独立的转动自由度。以并联稳定平台为研究对象，介绍了动载体下并联稳定平台的工作原理，进行了并联稳定平台的运动学分析。采用齐次坐标变换方法，推导了从大地坐标系到平台定坐标系的转移矩阵，建立了并联稳定平台的稳定解算模型，进行了并联稳定平台的数值仿真研究。结果表明：随着旋转角增大，并联稳定平台的姿态角偏差和方位角偏差越来越大；在实际控制系统中若不考虑旋转角作用，这将严重影响并联型光电设备稳定平台的稳定精度。该研究为并联型稳定平台控制系统设计提供了一定的理论依据。

Stabilized Equation of Parallel Photoelectrical-Device Stabilization Platform

As a novel lower-mobility parallel mechanism,the parallel photoelectrical device stabilization platform is designed,which has two independent degrees of rotational freedom.Taking the stabilization platform as the study object,the working principle was introduced on moving vehicles,and the kinematics of parallel stabilization platform was analyzed.Using the homogeneous coordinate transformation method,the transfer matrix was derived from geodetic coordinate system to fixed coordinate system,and stabilized solution model was established.A study on numerical simulation of the platform was conducted.The results show that with the rotation angle increasing,the attitude-angle deviation and the azimuth-angle deviation are increasing.Without considering the role of the rotation angle in the actual control system,it will seriously affect the stabilization precision.