【摘要】：隨著世界航海事業(yè)和造船的發(fā)展,船舶運(yùn)動模擬器也應(yīng)運(yùn)成為以一種發(fā)展極為迅速,應(yīng)用廣泛的運(yùn)動模擬器。它能在實驗室內(nèi)將船舶在海面上的各種姿態(tài)復(fù)現(xiàn)出來,通過模擬各級海況,對研究暈船病提供了便利的實驗條件;也可以作為船舶運(yùn)動學(xué)研究的實驗設(shè)備,將艦載武器和設(shè)備安裝在船舶模擬器上進(jìn)行陸地實驗,具有節(jié)能、可控、安全、經(jīng)濟(jì)等優(yōu)點(diǎn),鑒于船舶模擬器的諸多優(yōu)點(diǎn),對于它的研究很早就受到高度重視。本文中的并聯(lián)六自由度船舶模擬器采用Stewart機(jī)構(gòu)作為運(yùn)動平臺,并采用液壓伺服驅(qū)動方式。通過控制六個閥控液壓缸的長度變化來改變上平臺的位姿,從而實現(xiàn)模擬船舶在海浪作用下俯仰、滾轉(zhuǎn)、升降等運(yùn)動。首先,分析了海浪的運(yùn)動規(guī)律,建立了海浪運(yùn)動和Stewart上平臺運(yùn)動之間的函數(shù)關(guān)系。得到了船舶在不規(guī)則波中的運(yùn)動規(guī)律和參數(shù)。闡述并聯(lián)機(jī)構(gòu)的反解理論,建立了船舶軌跡的反解模型,運(yùn)用matlab編程編制了的運(yùn)動學(xué)反解程序,計算出各桿的長度,對船舶的基本運(yùn)動軌跡進(jìn)行了軌跡規(guī)劃,形成了模擬軌跡運(yùn)動庫,并對Stewart平臺機(jī)構(gòu)并聯(lián)應(yīng)用Pro/ENGINEER建立了三維的模型,并通過運(yùn)動仿真,驗證了反解理論的正確性。其次,對Stewart平臺的進(jìn)行了詳細(xì)的動力學(xué)分析,建立了完整的動力學(xué)模型,并運(yùn)用Matlab對模型進(jìn)行了動力學(xué)仿真分析計算,對針對幾種預(yù)定軌跡,進(jìn)行實例分析,得到了各個液壓缸干擾力變化曲線,為電液伺服系統(tǒng)建模提供了可靠的數(shù)據(jù);本文還分析了船舶模擬器電液伺服系統(tǒng),并建立了閥控非對稱缸數(shù)學(xué)模型,運(yùn)用Simulink進(jìn)行仿真,分析了系統(tǒng)模型的特性,并以此為根據(jù)設(shè)計了船舶模擬器單通道改進(jìn)的PID控制器,引入同步控制思想設(shè)計了六通道協(xié)同運(yùn)動控制器。再次,以Stewart平臺為實驗對象,通過電氣原理設(shè)計,接線圖設(shè)計、現(xiàn)場接線、數(shù)據(jù)采集卡選型購買安裝完成了實驗所需的所有硬件設(shè)計選型安裝。運(yùn)用Labview圖形化編程語言將控制算法編入程序,采用工控機(jī)對Stewart平臺的電液伺服系統(tǒng)進(jìn)行控制,并進(jìn)行現(xiàn)場調(diào)試,對已規(guī)劃的軌跡進(jìn)行實驗跟蹤模擬,實現(xiàn)對于平臺的協(xié)調(diào)控制。
[Abstract]:With the development of navigation and shipbuilding in the world, ship motion simulator has become a kind of motion simulator with rapid development and wide application. It can reproduce the various positions of the ship on the sea surface in the laboratory. By simulating the sea conditions at all levels, it provides a convenient experimental condition for the study of seasickness, and can also be used as an experimental equipment for the study of ship kinematics. The installation of shipborne weapons and equipment on the ship simulator for land experiments has the advantages of energy saving, controllable, safety and economy. In view of the many advantages of the ship simulator, the research of ship simulator has been attached great importance to very early. In this paper, the parallel 6-DOF ship simulator uses Stewart mechanism as the motion platform and adopts hydraulic servo drive mode. By controlling the length change of six valve controlled hydraulic cylinders, the position and pose of the upper platform are changed, thus simulating the motion of the ship under the action of the waves, such as pitching, rolling, lifting and lifting. Firstly, the law of ocean wave motion is analyzed, and the functional relationship between wave motion and platform motion on Stewart is established. The motion rules and parameters of ships in irregular waves are obtained. The inverse solution theory of parallel mechanism is expounded, and the inverse solution model of ship trajectory is established. The kinematics inverse solution program compiled by matlab is used to calculate the length of each pole, and the trajectory planning of the basic motion track of ship is carried out. The simulated trajectory motion library is formed, and the 3D model of parallel mechanism of Stewart platform is established by using Pro/ENGINEER, and the correctness of the inverse solution theory is verified by the motion simulation. Secondly, the dynamics of Stewart platform is analyzed in detail, and a complete dynamic model is established. The dynamic simulation calculation of the model is carried out by using Matlab. The disturbance force curve of each hydraulic cylinder is obtained, which provides reliable data for the modeling of electro-hydraulic servo system. This paper also analyzes the electro-hydraulic servo system of ship simulator, establishes the mathematical model of valve controlled asymmetric cylinder, and simulates it with Simulink. The characteristics of the system model are analyzed, and based on this, an improved PID controller for ship simulator is designed, and a six-channel cooperative motion controller is designed by introducing the idea of synchronous control. Thirdly, taking the Stewart platform as the experimental object, through the electrical principle design, wiring diagram design, field wiring, data acquisition card selection and installation completed all the hardware design and installation of the experiment. The control algorithm is programmed by using Labview graphical programming language, and the electro-hydraulic servo system of Stewart platform is controlled by industrial control computer, and the field debugging is carried out, the planned track is tracked and simulated, and the coordinated control of the platform is realized.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：U666.158

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