基于六自由度平台的船载波浪补偿系统控制策略研究

A Study on Control Strategy of a Ship Carrier Wave Compensation System Based on a Six-freedom Platform

研究一种基于双层六自由度平台的船载波浪补偿系统的控制策略,该系统由船舶运动模拟平台和波浪补偿稳定平台两级子系统构成.传统的半闭环控制策略将平台位姿转化成6个单通道的位置控制,无法克服机构误差和位姿扰动.本文提出一种基于交叉耦合思想,利用雅克比矩阵和运动学反解的全闭环控制策略,应用于船舶波浪补偿稳定平台.仿真结果证明,全闭环控制策略具有更好的控制精度,稳定平台具有较好的稳定性能.

In this paper,a control strategy of a ship carrier wave compensation system based on a double-deck six-freedom platform is studied.The system consists of two subsystems:a ship motion simulation platform and a stabilization platform for wave compensation.The traditional semi-closed-loop control strategy converts the position and attitude of the platform into six single-channels'position control,which cannot overcome the mechanism error and position and attitude disturbance.This paper applies it to the ship motion simulation platform.In this paper,a closed loop control strategy based on cross coupling theory,Jacobian matrix and inverse kinematics is proposed for wave compensation stabilization platform.The simulation results show that the closed-loop control strategy has better control accuracy and the stable platform has better stability performance.