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Modeling analysis and signal tracking experiment of a novel series–parallel stable platform system

Published online by Cambridge University Press:  10 December 2025

Xinlei Xiao ,
Da Song Open the ORCID record for Da Song [Opens in a new window] ,
Lei Lu ,
Gang Li ,
Feng Xue  and
Lixun Zhang
Xinlei Xiao
Affiliation:
School of Automation Engineering, Northeast Electric Power University, Jilin, China School of Mechanical and Civil Engineering, JiLin Agricultural Science and Technology College, Jilin, China
Da Song*
Affiliation:
School of Mechanical Engineering, Northeast Electric Power University, Jilin, China
Lei Lu
Affiliation:
Avic Chengdu Aircraft Industrial (Group) Co., Ltd., Chengdu, China
Gang Li
Affiliation:
School of Mechanical Engineering, Northeast Electric Power University, Jilin, China
Feng Xue
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
Lixun Zhang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
*
Corresponding author: Da Song; Email: songda@neepu.edu.cn
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Abstract

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.

Keywords

series–parallel stable platformkinematic modeldynamic modelsignal trackingcontrol system

Information

Type
Research Article
Information
Robotica , First View , pp. 1 - 22
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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