發(fā)布時間：2018-08-04 16:21

【摘要】：隨著世界航海事業(yè)和造船的發(fā)展,船舶運動模擬器也應運成為以一種發(fā)展極為迅速,應用廣泛的運動模擬器。它能在實驗室內將船舶在海面上的各種姿態(tài)復現(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;也可以作為船舶運動學研究的實驗設備,將艦載武器和設備安裝在船舶模擬器上進行陸地實驗,具有節(jié)能、可控、安全、經(jīng)濟等優(yōu)點,鑒于船舶模擬器的諸多優(yōu)點,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機構作為運動平臺,并采用液壓伺服驅動方式。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、升降等運動。首先,分析了海浪的運動規(guī)律,建立了海浪運動和Stewart上平臺運動之間的函數(shù)關系。得到了船舶在不規(guī)則波中的運動規(guī)律和參數(shù)。闡述并聯(lián)機構的反解理論,建立了船舶軌跡的反解模型,運用matlab編程編制了的運動學反解程序,計算出各桿的長度,對船舶的基本運動軌跡進行了軌跡規(guī)劃,形成了模擬軌跡運動庫,并對Stewart平臺機構并聯(lián)應用Pro/ENGINEER建立了三維的模型,并通過運動仿真,驗證了反解理論的正確性。其次,對Stewart平臺的進行了詳細的動力學分析,建立了完整的動力學模型,并運用Matlab對模型進行了動力學仿真分析計算,對針對幾種預定軌跡,進行實例分析,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)學模型,運用Simulink進行仿真,分析了系統(tǒng)模型的特性,并以此為根據(jù)設計了船舶模擬器單通道改進的PID控制器,引入同步控制思想設計了六通道協(xié)同運動控制器。再次,以Stewart平臺為實驗對象,通過電氣原理設計,接線圖設計、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計選型安裝。運用Labview圖形化編程語言將控制算法編入程序,采用工控機對Stewart平臺的電液伺服系統(tǒng)進行控制,并進行現(xiàn)場調試,對已規(guī)劃的軌跡進行實驗跟蹤模擬,實現(xiàn)對于平臺的協(xié)調控制。
[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.
【學位授予單位】：燕山大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：U666.158

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