摘要
舰船稳定平台实时检测并补偿船体在海浪中运动,为舰载设备提供对地稳定空间。稳定平台处于不断运动着的工作环境,准确高效的非惯性系动力学模型是提升稳定控制品质的重要前提。借鉴串并混联机构动力学建模过程,通过虚拟低阶参考系机构,将惯性系动力学研究方法扩展非惯性系当中,利用凯恩方法建立3UPS/S并联稳定平台非惯性系下动力学模型。为了验证建模方法的正确性,分别搭建Simulink/SimMechanics多体动力学仿真模型以及非惯性运动试验平台。试验结果表明,计算驱动力与实测驱动力在量值上相近且变化趋势一致,验证了动力学模型的合理性。
The ship stabilization platform can detect and compensate the movement of the ship on the waves in real time,so as to provide a stable space for shipborne equipment.Since the stable platform is in a constantly moving working environment,accurate and efficient non inertial system dynamics model is an important prerequisite for improving the quality of stability control.Based on the dynamic modelling process of the series-parallel hybrid mechanism,the inertial system dynamics research method is extended to non-inertial frames through a virtual low-order reference system.The Kane method is used to establish the dynamic model of the 3 UPS/S parallel stable platform under the non inertial system.In order to verify the correctness of the modeling method,Simulink/SimMechanics multi-body dynamics simulation model and non-inertial motion experimental platform were built.The experimental results show that the calculated driving force and the measured driving force are similar in magnitude and the trend is consistent,which verifies the rationality of the dynamic model.
作者
王力航
郭菲
卢文娟
李永泉
张立杰
WANG Lihang;GUO Fei;LUWenjuan;LI Yongquan;ZHANG Lijie(Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao 066004;College of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan 056038;Key Laboratory of Advanced Forging&Stamping Technology and Science(Yanshan University),Ministry of Education of China,Qinhuangdao 066004;Parallel Robot and Mechatronic System of Laboratory of Hebei Provincie,Yanshan University,Qinhuangdao 066004)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2020年第1期20-29,共10页
Journal of Mechanical Engineering
基金
国家自然科学基金(51405421,51875499)
河北省自然科学基金(E2015203101)资助项目
关键词
并联机构
非惯性动力学
凯恩方法
舰船稳定平台
parallel mechanism
non-inertia dynamics
Kane method
ship stability platform
