| In the marine environment,lifting work has become an important role in maritime transport,and its typical equipment includes ship cranes,lifting machines,etc.However,due to the influence of tides,wind and waves,the sea staff cannot work stably on the ship,which brings great risks to the personal safety of the operators,and also brings inconvenience to the exploitation of marine resources.At present,it is common to use single-DOF and three-DOF compensation systems to solve the above problems.But according to the different operating environments,the equipment has different requirements for compensation.Therefore,in order to study the wave compensation technology in a laboratory environment,this paper uses 10 tons ships under Level 2 waves as compensation background.The ship motion simulation system and compensation system superimposed on the double six-DOF Stewart platform were designed to compensate for the ship movement caused by the waves.The paper combines the project "Study on intelligent control platform for marine logistics equipment"(No.2014FJPT03),researches the wave compensation simulation system based on the six-DOF Stewart platform,and separately selects hinges,hinges and hardware for the platform.The structural parameters were designed,and which wefe optimized using the SQP algorithm.The platform system with the best performance was obtained,which laid a good foundation for subsequent research.At the same time,this system carries out experimental research on the compensation system by simulating the ship movement,which not only saves resources and financial resources,but also provides theoretical and practical foundations for follow-up research on offshore operations.The main work of this article is as follows:(1)According to the functional requirements of the wave compensation simulation system,the six-DOF Stewart platform structure is designed,including hinge selection,hinge layout,hardware selection,structural form,and initial parameters of the platform.(2)Analyze the platform system by mechanics,establish a complete kinematics and dynamics model,calculate the inverse relationship between its position,velocity and acceleration,then describe the performance indicators of the platform by using the Jacobian matrix,Which provides goals for the following optimization algorithms.(3)Determine the objective function,variables and constraints of the optimization algorithm according to the requirements of the project,and then use the SQP algorithm to optimize the function with GCI and GMI as the goal.The Matlab software repeatedly debugs it to get the optimal structure parameters.(4)Using Adams software to parametrically model the optimized platform system,analyzing its kinematic and dynamic performance through simulation,and determining whether the obtained platform system meets the design requirements;The degree of freedom and the cylinder in the dangerous position during the exercise are subjected to force analysis to determine whether the bearing requirements of the motor are satisfied.(5)Construct the entity of this system platform,and use the platform monitoring software of the subject to conduct control experiments on the system,and detect the synchronization,dynamic and coordination of the system.Through the experimental results obtained,the rationality of the system performance,electric cylinder accuracy and other indicators are qualitatively verified,which plays an important role in the continuous research of this subject. |
PDF Full Text Request