电液伺服并联六自由度船舶模拟器控制研究
发布时间：2018-08-04 16:21
【摘要】：随着世界航海事业和造船的发展,船舶运动模拟器也应运成为以一种发展极为迅速,应用广泛的运动模拟器。它能在实验室内将船舶在海面上的各种姿态复现出来,通过模拟各级海况,对研究晕船病提供了便利的实验条件;也可以作为船舶运动学研究的实验设备,将舰载武器和设备安装在船舶模拟器上进行陆地实验,具有节能、可控、安全、经济等优点,鉴于船舶模拟器的诸多优点,对于它的研究很早就受到高度重视。本文中的并联六自由度船舶模拟器采用Stewart机构作为运动平台,并采用液压伺服驱动方式。通过控制六个阀控液压缸的长度变化来改变上平台的位姿,从而实现模拟船舶在海浪作用下俯仰、滚转、升降等运动。首先,分析了海浪的运动规律,建立了海浪运动和Stewart上平台运动之间的函数关系。得到了船舶在不规则波中的运动规律和参数。阐述并联机构的反解理论,建立了船舶轨迹的反解模型,运用matlab编程编制了的运动学反解程序,计算出各杆的长度,对船舶的基本运动轨迹进行了轨迹规划,形成了模拟轨迹运动库,并对Stewart平台机构并联应用Pro/ENGINEER建立了三维的模型,并通过运动仿真,验证了反解理论的正确性。其次,对Stewart平台的进行了详细的动力学分析,建立了完整的动力学模型,并运用Matlab对模型进行了动力学仿真分析计算,对针对几种预定轨迹,进行实例分析,得到了各个液压缸干扰力变化曲线,为电液伺服系统建模提供了可靠的数据;本文还分析了船舶模拟器电液伺服系统,并建立了阀控非对称缸数学模型,运用Simulink进行仿真,分析了系统模型的特性,并以此为根据设计了船舶模拟器单通道改进的PID控制器,引入同步控制思想设计了六通道协同运动控制器。再次,以Stewart平台为实验对象,通过电气原理设计,接线图设计、现场接线、数据采集卡选型购买安装完成了实验所需的所有硬件设计选型安装。运用Labview图形化编程语言将控制算法编入程序,采用工控机对Stewart平台的电液伺服系统进行控制,并进行现场调试,对已规划的轨迹进行实验跟踪模拟,实现对于平台的协调控制。
[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.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U666.158
本文编号：2164433
[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.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U666.158
【参考文献】
相关期刊论文 前10条
1 韩俊伟,姜洪洲;用于航海模拟的六自由度并联机器人的研究[J];高技术通讯;2001年03期
2 张尚盈,赵慧,韩俊伟;六自由度运动平台实时控制的正/反解算法[J];机床与液压;2003年03期
3 傅绍文;姚郁;;对称6-6 Stewart平台实时位置正解的高效算法[J];机械科学与技术;2007年08期
4 杨军宏;尹自强;李圣怡;;阀控非对称缸的非线性建模及其反馈线性化[J];机械工程学报;2006年05期
5 吕云嵩;;阀控非对称缸频域建模[J];机械工程学报;2007年09期
6 母东杰;李长春;延皓;孙萌;;双喷嘴挡板伺服阀非线性建模及其线性化[J];机械工程学报;2012年02期
7 晁智强;郭小牛;刘相波;韩寿松;李华莹;;六自由度运动平台位置反解的建模与仿真研究[J];流体传动与控制;2010年06期
8 杨春龙;;基于同步控制思想PID的Stewart平台控制系统仿真分析[J];水雷战与舰船防护;2014年03期
9 朱冰莲;潘哲明;李单单;;一种中值滤波的快速算法[J];信号处理;2008年04期
10 王珏;牛宝良;宋琼;严侠;;伺服阀非线性特性建模的电液振动台动态特性[J];液压与气动;2008年06期
相关硕士学位论文 前3条
1 何芝强;PID控制器参数整定方法及其应用研究[D];浙江大学;2005年
2 车林仙;基于粒子群算法的平面四至六杆机构综合[D];重庆大学;2005年
3 吕锋;六自由度并联船舶运动模拟器的设计及其控制系统设计[D];江苏科技大学;2012年
，本文编号：2164433
本文链接：https://www.wllwen.com/kejilunwen/chuanbolw/2164433.html
