并联船载稳定平台波浪补偿控制HIL仿真器研制  

Development of HIL simulator for wave compensation control of parallel vessel-borne stabilization platform

作　　者：刘文吉 杜佳璐 李萌 李诤 LIU Wenji;DU Jialu;LI Meng;LI Zheng(College of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China;College of Naval Architecture and Ocean Engineering,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学船舶电气工程学院,辽宁大连116026 [2]大连海事大学船舶与海洋工程学院,辽宁大连116026

出　　处：《大连海事大学学报》2025年第1期1-10,共10页Journal of Dalian Maritime University

基　　金：国家自然科学基金面上项目(52371362)。

摘　　要：针对一个三自由度并联船载稳定平台,利用PC机和OP4510仿真机及MATLAB和AMESim软件,研制一个三自由度并联船载稳定平台波浪补偿控制硬件在环(hardware-in-the-loop,HIL)仿真器,用于船载稳定平台波浪补偿控制器性能测试。该仿真器可降低船载稳定平台波浪补偿控制器测试成本和海试风险,缩短其研制周期。以一个关节空间波浪补偿镇定控制器为例,采用研制的HIL仿真器对该控制器性能进行仿真测试。结果表明,关节空间波浪补偿镇定控制器可保证船载稳定平台支撑面始终保持期望的水平位姿,同时验证了该HIL仿真器可用于测试船载稳定平台波浪补偿控制器性能。Vessel-borne stabilization platforms can isolate vessel-borne equipment from vessel motions and ensure the operation safety of vessel-borne equipment.For a three-degree-of-freedom parallel vessel-borne stabilization platform,a wave compensation control hardware-in-the-loop(HIL)simulator is developed by using a personal computer(PC)and OP4510 real-time computer,as well as MATLAB and AMESim software for testing the performance of vessel-borne stabilization platform wave compensation controllers,which can reduce the test cost and the risk of sea trial,and shorten the development cycle of vessel-borne stabilization platform wave compensation controllers.The developed HIL simulator is used to test the performance of a joint space wave compensation stabilization controller as an example.The test results indicate that the joint space wave compensation stabilization controller can guarantee that the supporting surface of the vessel-borne platform is maintained at a desired horizontal position and orientation,while verifying that the developed HIL simulator can be used to test the performance of vessel-borne stabilization platform wave compensation controllers.

关 键 词：船载稳定平台 波浪补偿控制 硬件在环(HIL)仿真器 

分 类 号：U664.69[交通运输工程—船舶及航道工程]