三自由度海浪模拟器运动分析和控制系统设计  

Motion analysis and control system design of 3DOF wave simulator

作　　者：王仕奇 李向国[1,2] 梅志千 朱灯林[1,2] WANG Shi-qi;LI Xiang-guo;MEI Zhi-qian;ZHU Deng-lin(College of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China;Changzhou Key Laboratory of Special Robot and Intelligent Technology,Changzhou 213022,China)

机构地区：[1]河海大学机电工程学院,江苏常州213022 [2]常州市特种机器人及智能技术实验室,江苏常州213022

出　　处：《机电工程》2020年第2期201-205,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51375140)

摘　　要：针对船舶及船用设备在研发过程中的陆上海浪模拟问题,对一种采用3自由度并联机构的3自由度波浪模拟器的机械结构设计,工作空间分析及运动控制系统进行了研究。推导了3-RPS并联机构基于欧拉角的逆运动学分析,在Matlab中运用边界搜索法计算了海浪模拟器的工作空间;使用SolidWorks建立了海浪模拟器的三维模型并进行了运动学和动力学的仿真,加工零件并装配完成了海浪模拟器的机械结构本体,采用固高科技的嵌入式运动控制器作为控制核心设计了完整的控制系统;开展船舶受海浪影响下的运动模型分析,取得特定海浪环境下的船舶运动样本,使用该样本在海浪模拟器进行了试验。研究结果表明:模拟器具有完整的海浪模拟功能,能实现自动曲线跟随、手动控制等多项功能。Aiming at the problem of onshore wave simulation in the development of ships and marine equipment,the mechanical structure design,workspace analysis and motion control system of a 3DOF wave simulator using a 3DOF parallel mechanism were studied.The inverse kinematics analysis of the 3-RPS parallel mechanism based on Euler angles was derived.The working space of the wave simulator was calculated by using the boundary search method in Matlab.The 3D model of the wave simulator was built using SolidWorks,the kinematics and dynamics simulation was performed,the parts of the wave simulator were machined and assembled.The Googol embedded motion controller was used as the control core to design a complete control system.After the analysis of the motion model of the ship under the influence of the waves,the ship motion sample under the specific wave environment was obtained,and the sample was used to test the wave simulator.The results indicate that the simulator has complete wave simulation functions including automatic curve following,manual control,and other functions.

关 键 词：海浪模拟 3-RPS并联机构 工作空间 运动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]