| 三自由度并联式波浪补偿平台建模与仿真 |
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| 引用本文： | 唐刚,胡超,胡雄.三自由度并联式波浪补偿平台建模与仿真[J].上海海事大学学报,2020,41(1):20-26. |
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| 作者姓名： | 唐刚 胡超 胡雄 |
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| 作者单位： | 上海海事大学物流工程学院,上海海事大学物流工程学院,上海海事大学物流工程学院 |
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| 基金项目： | 上海市青年科技英才扬帆计划(19YF1419100,19YF1418900) |
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| 摘 要： | 鉴于船舶在波浪中的六自由度运动中,其升沉、横摇和纵摇运动对船舶工作平台上的设备影响较大,设计一种三自由度并联式波浪补偿平台来减少这种影响。通过对平台进行运动学分析,得到平台的运动学模型。利用ADAMS和Simulink建立带有控制系统时间延迟参数的虚拟样机模型,依据平台的运动学模型设计对船舶运动进行补偿的控制策略,并利用虚拟样机进行仿真,验证平台机构和相应控制策略对船舶运动的补偿效果。结果表明:当控制系统的时间延迟参数取值为1 ms时,平台对船舶升沉、横摇和纵摇运动的补偿效果分别为88.81%、95.44%和91.97%;当控制系统的时间延迟参数取值为0.1 ms时,平台对船舶升沉、横摇和纵摇运动的补偿效果分别为96.04%、99.07%和97.65%。由此可见:平台对误差有一定的包容性;可利用具有船舶运动预测功能的算法为平台提供超前的船舶运动数据或者提高控制系统的实时性来提高补偿效果。
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| 关 键 词： | 三自由度并联平台 波浪补偿 运动学模型 仿真 |
| 收稿时间： | 2019/3/2 0:00:00 |
| 修稿时间： | 2019/5/6 0:00:00 |
Modeling and simulation of three-degree-of-freedom parallel wave compensation platform |
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| GANG TANG,HU CHAO and HU XIONG.Modeling and simulation of three-degree-of-freedom parallel wave compensation platform[J].Journal of Shanghai Maritime University,2020,41(1):20-26. |
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| Authors: | GANG TANG HU CHAO and HU XIONG |
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| Institution: | Shanghai Maritime University,Shanghai Maritime University and Shanghai Maritime University |
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| Abstract: | In view of the fact that the heave, roll and pitch motions in the six degree of freedom motion of a ship in the wave have a great influence on the equipment on the ship working platform, a three degree of freedom parallel wave compensation platform is designed to reduce the influence. Through the kinematic analysis of the platform, the kinematic model of the platform is obtained. The virtual prototype model with a time delay parameter of the control system is established by ADAMS and Simulink. The control strategy of ship motion compensation is designed according to the kinematic model of the platform, and the simulation is carried out by the virtual prototype to verify the compensation effect of the platform mechanism and the corresponding control strategy on the ship motion. The results show that: when the time delay parameter of the control system is set to 1 ms, the platform has the compensation effect of 88.81% for ship heave motion, 95.44% for ship roll motion and 91.97% for ship pitch motion; when the time delay parameter of the control system is set to 0.1 ms, the platform has the compensation effect of 96.04% for ship heave motion, 99.07% for ship roll motion and 97.65% for ship pitch motion. It can be seen that the platform has certain tolerance to the error. The compensation effect can be improved by the algorithm with the ship motion prediction function to provide the platform with advanced ship motion data, or by improving the real time performance of the control system. |
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| Keywords: | three-degree-of-freedom parallel platform wave compensation kinematic model simulation |
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