一种散货船舶的运动仿真平台控制  

Research on the Motion Control of a Bulk Carrier Simulation Platform

作　　者：王雪峰[1] 谢胜龙 WANG Xuefeng;XIE Shenglong(Department of Marine engineering,Zhejiang International Maritime College,Zhoushan Zhejiang 316021,China;School of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China)

机构地区：[1]浙江国际海运职业技术学院航海工程学院,浙江舟山316021 [2]中国计量大学机电工程学院,杭州310018

出　　处：《机械设计与研究》2022年第3期131-135,共5页Machine Design And Research

基　　金：舟山科技局项目(2019C31061);浙江省博士后科研择优资助项目(ZJ2020007);浙江省自然科学基金资助项目(LQ20E050017)。

摘　　要：针对散货船舶运输安全问题,提出了一种气动肌腱驱动的散货船舶运动仿真平台。首先分析了散货船舶在海洋航行过程中的运动特点,并结合机构学理论和气动肌腱结构特点确定了散货船舶运动仿真平台机构构型,建立了散货船舶运动仿真平台的虚拟样机;然后基于闭环矢量法和牛顿迭代法分别建立了散货船舶运动仿真平台的运动学逆解和运动学正解模型;最后采用实验建模的方法建立了气动肌腱的实验模型,并采用关节空间控制方法建立了散货船舶运动仿真平台的控制模型。试验结果表明,所提出的散货船舶运动仿真平台能精确地跟踪期望的运动轨迹,从而验证了仿真平台结构的可行性和控制方案的精确性。Aiming at the safety problem of bulk carrier transportation,a motion simulation platform of bulk carrier driven by pneumatic muscles is proposed.Firstly,the motion characteristics of the bulk carrier in the course of ocean navigation are analyzed;the configuration of the motion simulation platform of the bulk carrier is determined based on the mechanism theory and the structural characteristics of the pneumatic muscle;and a virtual prototype of the motion simulation platform of the bulk carrier is established.Then,based on the closed-loop vector method and Newton iteration method,the inverse kinematics and forward kinematics models of the motion simulation platform are established respectively.Finally,the experimental model of the pneumatic muscle is established,and the control model of the bulk cargo ship motion simulation platform is established using the joint space control method.The experimental results show that the proposed platform can accurately track the desired trajectory,which verifies the feasibility of the simulation platform and the accuracy of the control scheme.

关 键 词：散货船舶 气动肌腱 并联机构 运动控制 

分 类 号：U661.7[交通运输工程—船舶及航道工程]