Modeling analysis reveals kinematic and dynamic properties of a stable platform, suggesting improved control system stability.
In this paper, a novel series–parallel stable platform is proposed, and its kinematic and dynamic models are established. The relationship between the length, speed, and acceleration of rolling and pitching electric push rods is analyzed. The workspace of the series–parallel stable platform is determined, and the singularity and interference are analyzed. The state-machine-based control system of the stable platform is designed. An experimental environment of the principle of the real-time control system based on dSPACE was built. A position–speed double closed-loop experiment, simulating mounting carrier of the random signal tracking, and system comprehensive performance experiment were conducted to verify the accuracy of the kinematics and dynamics model of the series–parallel stable platform and the rationality and stability of the control system.
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Xiao et al. (2025) studied this question.
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