一种三自由度海上廊桥试验台的建模与实验

Modeling and Experiment of a Three-degree-of-freedom Offshore Gangway

海上廊桥在作业时由于受到风、浪、流等载荷的扰动会产生较大摇摆,极大地降低了海上作业安全。针对该问题,设计出一种具备运动补偿功能的三自由度海上廊桥试验台。首先构建海上廊桥试验台三维结构模型,建立包括不规则海浪以及船-海上廊桥试验台的运动学模型。通过欧拉角坐标转换法,运用运动学逆解得到每个电动缸的运动规律,利用拉格朗日法建立了试验台的动力学模型,在运动学和动力学推导结果的基础上,从实用性的角度确定采用运动学为该系统的控制基础。最后利用船舶运动模拟平台对试验台及其逆解算法进行验证。实验结果验证了该试验台具有良好的运动补偿效果,具有广泛的工程应用前景。

The offshore gangway has a large swing due to the perturbation of the wind, waves, and streams, which greatly reduces the safety of maritime operations. For this problem, a three-degree-of-freedom offshore gangway test bench was designed with a motion compensation function. The article first built the three-dimensional structure model of the offshore gangway test bench, established a motion model including irregular waves and ship-test beads, and used inverse kinematics to obtain motion regularity of each electric cylinder through the eurus coordinate conversion method. And the dynamic model of the test bench was established by the Lagrangian method. On the basis of the kinematics and dynamics derivation results, from the perspective of practicability, kinematics should be adopted as the control basis of the system. Finally, the test bench and its inverse algorithm were verified using the ship motion simulation platform. The experimental results verify that the test table has a good exercise compensation effect, and has a wide range of engineering application prospects.