6-DOF摆台多系统联合仿真与实验研究

Multi-system Co-Simulation and Experimental Study of 6-DOF Swing Platform

六自由度并联液压摇摆台(6-DOF)在模拟船舶受海浪扰动的运动中发挥重要作用,为改善6-DOF控制性能,将6-DOF的机械、液压和控制系统有机结合起来联合仿真,并针对6-DOF本身强耦合、多变量的特点,将BP神经网络整定PID控制策略应用到6-DOF联合仿真中,最终在6-DOF上进行了验证实验。结果表明,联合仿真后开发的基于BP神经网络整定PID控制策略的6-DOF系统具有更好的跟随特性。显示出综合了各软件优点的联合仿真方法所建立的控制系统模型,能够充分考虑系统的机械运动动态特性与液压控制系统的随动特性,能够对机电液系统的工作过程进行更为精准的控制,具有建模精度高的优点,对6-DOF系统优化具有重要的参考价值。

The six-degree-of-freedom parallel hydraulic oscillating table(6-DOF)plays an important role in simulating the ship’s undulating changes in the sea wave. To improve the 6-DOF control performance,the 6-DOF mechanical,hydraulic and control systems are combined. Co-simulation and the BP neural network tuning PID control strategy is applied to 6-DOF co-simulation for the strong coupling and multivariate characteristics of 6-DOF itself. Finally,the verification experiment is carried out on 6-DOF. The results show that the 6-DOF system based on BP neural network tuning PID control strategy developed after co-simulation has better follow-up characteristics. The control system model established by the co-simulation method that combines the advantages of each software can fully consider the dynamic characteristics of the mechanical motion of the system and the follow-up characteristics of the hydraulic control system,and can more accurately control the working process of the electro-hydraulic system.It has the advantage of high modeling accuracy and has important reference value for 6-DOF system optimization.