并联六自由度平台海浪运动仿真控制系统研究

发布时间：2018-04-26 05:00

本文选题：数据实时通信 + 6-DOF平台工作空间求解　；参考：《江苏科技大学》2017年硕士论文

【摘要】：本文结合本实验室已有的船舶视景模拟驾驶系统与Stewart平台实物,旨在于设计一套控制系统,让Stewart平台能够模拟船舶视景模拟驾驶系统中相关海浪的运动,为Stewart平台上面的其他多自由度补偿设备与船舶运动模拟器的研究奠定基础。全文主要内容包括:(1)应用LabVIEW获取海浪视景模拟的相关海浪运动参数,并通过OPC技术和TCP/IP协议将其实时传递给并联六自由度平台运动控制系统和控制操作面板,设计了一套船舶视景模拟驾驶系统与六自由度平台控制系统实时通信的方法,从而实现了相关参数实时通信。(2)Stewart平台工作空间决定了其工况,为了确定其工况,以Matlab为计算工具,结合Stewart平台的运动约束条件和实际平台的结构尺寸,通过理论计算推导,用边界搜索法求解本实验室Stewart平台的工作空间,然后结合海浪谱的相关知识,得到该Stewart平台能够模拟的海浪运动以及相关船舶运动的工况。(3)控制系统的控制策略是采用带有PID控制器的负反馈闭环控制,为了提高控制性能就必须求出较为合理的PID参数。首先分析了本系统的控制原理,推导了液压控制系统的传递函数,并进行了仿真分析了其静态和动态特性。然后详细阐述了常规的稳态边界法与智能算法人群搜索法(SOA)的原理,最后利用这两种方法分别整定PID参数,并将结果进行对比,分析了智能算法整定结果的优越性。(4)对平台进行单通道液压系统仿真实验和实机实验。运用AMESim软件对单通道液压系统和电磁阀建模并进行仿真实验,对电磁阀的静态和动态特性进行分析,并对单通道液压系统进行正弦信号跟随仿真实验,验证相关设计的合理性。利用西门子触摸屏设计Stewart平台的控制界面,用西门子S7-300PLC编写Stewart平台的运动控制程序,利用LabVIEW搭建液压缸长度变化实时监控画面,通过让六自由度上平台沿Z轴做正弦周期运动,来监控1号缸位移变化情况,并将其与理论正弦曲线进行对比,验证了本文所设计的控制系统的可行性。
[Abstract]:Combining the ship visual simulation driving system and the Stewart platform, this paper aims to design a control system to enable the Stewart platform to simulate the motion of the related waves in the ship visual simulation driving system. It lays a foundation for the research of other multi-degree-of-freedom compensators and ship motion simulators on Stewart platform. The main contents of this paper include: (1) LabVIEW is used to obtain the parameters of wave motion in the simulation of ocean waves, and it is transmitted to the motion control system and control panel of parallel six-degree-of-freedom platform through OPC technology and TCP/IP protocol in real time. A method of real-time communication between ship visual simulation driving system and six degree of freedom platform control system is designed, and the real-time communication of correlative parameters is realized. The workspace of Stewart platform determines its working condition. In order to determine its working condition, Matlab is used as the calculation tool. Combined with the movement constraints of the Stewart platform and the structure size of the actual platform, the workspace of the laboratory Stewart platform was solved by the boundary search method through theoretical calculation and derivation, and then combined with the relevant knowledge of the wave spectrum. The control strategy of the control system is to adopt negative feedback closed-loop control with PID controller. In order to improve the control performance, reasonable PID parameters must be obtained. Firstly, the control principle of the system is analyzed, the transfer function of the hydraulic control system is deduced, and its static and dynamic characteristics are simulated and analyzed. Then the principle of conventional steady-state boundary method and intelligent algorithm crowd search method is described in detail. Finally, the parameters of PID are adjusted by these two methods, and the results are compared. The advantages of intelligent algorithm tuning results are analyzed. (4) A single channel hydraulic system simulation experiment and a real computer experiment are carried out on the platform. The single channel hydraulic system and solenoid valve are modeled and simulated by using AMESim software. The static and dynamic characteristics of the solenoid valve are analyzed, and the sinusoidal signal following simulation experiment of the single channel hydraulic system is carried out to verify the rationality of the related design. The control interface of Stewart platform is designed by Siemens touch screen, the motion control program of Stewart platform is written by Siemens S7-300PLC, the real-time monitoring picture of hydraulic cylinder length change is built by LabVIEW, and the sine cycle motion of the platform with six degrees of freedom is carried out along Z axis. The displacement of cylinder No. 1 is monitored and compared with the theoretical sinusoidal curve, which verifies the feasibility of the control system designed in this paper.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U661.74;TP273

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