大惯性摇摆台建模与半实物仿真  

Modeling and Hardware-in-the-loop Simulation of Rolling Cabin with Large Inertia

作　　者：冯璐璐 张维[1] 高洁 吴俊浩 徐国华[1] FENG Lulu;ZHANG Wei;GAO Jie;WU Junhao;XU Guohua(School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;Wuhan Huahai Chuangzhi Technology Co.,Ltd.,Wuhan 430223,China)

机构地区：[1]华中科技大学船舶与海洋工程学院,湖北武汉430074 [2]武汉华海创智科技有限公司,湖北武汉430223

出　　处：《机械与电子》2021年第5期40-45,共6页Machinery & Electronics

摘　　要：针对船舶横摇海试困难的情况,为测试高海情下的船体及内部设备可靠性,在实验室条件下搭建摇摆驱动试验台架,模拟海上航行船舶以特定频率和幅值长时间摇摆。提出了能量原理辅助角度反馈进行力矩规划控制策略的实现方案,以装载人机交互软件的控制台、装载实时控制系统的控制柜作为实物介入,液压执行机构、摇摆台滚筒、水流环境等数学模型模拟末端执行机构运动响应,设计并搭建了大惯性摇摆台控制系统半实物仿真平台,并分析仿真方案及控制策略的有效性和实用性。In order to test the reliability of the ship and equipment under dangerous sea conditions,a rolling cabin was built to simulate the longterm rolling with a specific frequency and amplitude under laboratory conditions,for it is difficult to test the ship rolling at sea.The torqueplanning control strategy with energy principle assisted by angle feedback was proposed.A hardware-in-the-loop(HIL)simulation platform of rolling cabin system was designed and built,on which the controller with humancomputer interaction software and real-time control software was hardware part,mathematical models of the hydraulic actuator,rolling cabin and water flow environment were taken as the simulation parts.The paper conducts a HIL simulation of rolling cabin and analyzes the effectiveness and practicability of the HIL simulation platform and management strategy.

关 键 词：柔索并联驱动 摇摆台 能量反馈 半实物仿真 驱动力受限 

分 类 号：TH137[机械工程—机械制造及自动化] U664.6[交通运输工程—船舶及航道工程]