基于Stewart平台的舰船运动模拟平台的轨迹研究

Research on Trajectory of Ship Motion Simulation Platform Based on Stewart Platform

针对舰船运动模拟平台需要提供6个自由度的运动,提出设计一种舰船运动模拟平台并且将Stewart平台作为底座。为了模拟舰船在航行时波浪对其造成的影响,对上平台中心点处设定了相应的运动规律。首先建立Stewart平台的运动学模型进行运动学分析,然后编写Stewart平台运动学反解程序并在MATLAB中进行计算,综合运用SolidWorks、ADAMS两款软件搭建虚拟样机,将规划的上平台运动函数添加到ADAMS中虚拟样机中运行,验证该设计的可行性。利用在ADAMS中的控制模块,搭建PID控制系统,得到控制前后的平台相关部件的位移、速度情况。仿真结果表明,该舰船运动模拟平台设计正确,并且表明此PID控制可以对振动进行有效的抑制。

Aiming at the ship's motion simulation platform that needs to provide six degrees of freedom,a ship motion simulation platform is proposed and the Stewart platform is used as the base.In order to simulate the impact of waves on the ship during navigation,the corresponding movement rule is set at the center point of the moving platform.First,the kinematics model of the Stewart platform was established by the Newton-Taylor method to perform kinematics analysis,and the calculation of the inverse kinematics solution of the six-degree-of-freedom platform was completed in MATLAB.The motion function of the motion platform was added to the virtual prototype in ADAMS to run and verify the feasibility of the design.And use the control module in ADAMS to build a PID control system to get the displacement and speed of the relevant parts of the platform before and after the control.Simulation results show the correctness of the design of the ship's motion simulation platform,and that this PID control can effectively suppress vibration.