Research Of Mechanical-Hydraulic Co-Simulation On Parallel Shipboard Stabilized Platform

With the rapid development of economy, most countries attach great importance to the ocean environment protection and marine resource exploitation. All kinds of ships and offshore platforms are put into use increasingly. These floating offshore platforms will generate motions such as rolling, pitching, heaving, swaying, surging and yawing. By installing Stewart parallel mechanism on the motion platform, it can compensate movement of six DOF within some scope and form a stable operation platform. However, the hydraulic six DOF parallel mechanism is a complex system which relates to many science fields such as mechanics, hydraulic control, etc. Therefore, it will cause increasing errors if just with the help of a hydraulic or mechanical dynamics simulation method individually. And this paper studied the using of mechanical-hydraulic co-simulation technology for hydraulic control system of Stewart mechanism.The performance of Stewart parallel mechanism hydraulic system are studied with the method based on the co-simulation platform of multi-body dynamics software VL Motion and hydraulic simulation software AMESim, which support the realization of offshore platform motion compensation mechanism fundamentally.At first, this paper established a three-dimensional model of the Stewart parallel mechanism, and then made the dynamics simulation of six DOF mechanism by using VL Motion multi-body dynamics software to test the correctness of the dynamic system. At the same time, it analysed the movement space and provided the reference for co-simulation exercise load.Secondly, the paper realized the simulation of hydraulic system by using AMESim software and analyzed the tracking characteristics of single cylinder hydraulic position control system in AMESim. At the same time, the dynamic simulation was made in order to promote the hydraulic cylinder equipment and the performance of hydraulic system.Then, the paper built the seamless connection of the two software by making the interface between two pieces of software. In this way, it realized the sharing and real-time transmission of simulation data between two pieces of software. Thus, it realized the simulation of the Stewart platform which based on co-simulation technology.Finally, the paper took the co-simulation and analysis of the whole hydraulic mechanical on the co-simulation platform, and concluded the effects of the PID control parameters for the hydraulic mechanical location tracking characteristics.