| With the development of the world’s maritime industry and shipbuilding industry, Ship motion simulator can also be shipped to an extremely rapid development and has become widely used in the area of the motion simulator. It can simulate various postures and tracks of ship on the sea in the laboratory. Simulating the ship movement on the sea conditions at all levels, provides a convenient experimental conditions for the study of seasickness. Besides the Ship motion simulator can be used as a laboratory equipment for kinematics studies, and by installating shipboard weapons and equipments on the ship simulator we can carry out experiments on land,which has the advantages of Energy saving, Controllability, security, economic and so on. Given the many advantages of a ship motion simulator, its research has long been a high priority.In the article Stewart mechanism is used as the motion platform of six degree of freedom parallel ship simulator,which is drived by hydraulic servo system. Through Control the change in length of the six cylinders to by controlling the value,we can change the position and orientation of the platform in order to complete simulating the ship Locus of pitch, roll, yaw, lifting, longitudinal and lateral movement.Firstly, the law of movement of the waves movement had been analyzed, and a functional relationship between Stewart movement and the waves movement had been established. Ships in irregular waves got the motion law and parameters of Ship had been achieved. In the article,the inverse solution theory of parallel mechanism were described in detail and Anti-solution model of ship trajectory were also established.using the kinematics inverse solution procedures were programmed by using matlab to calculate the length of each rod, which made the basic trajectory of the ship be trajectory-planned, forming a sports library.we made use of Pro/ENGINEER to establish a three-dimensional model of the Stewart platform and t we verified the correctness of the theory of inverse solution through motion simulation.Secondly, in the article made on the Stewart platform a detailed kinetic analysis were made of the Stewart platform in detail, on the basis of which a complete dynamic model were established. Besides we made the use of dynamic simulation software Matlab to carry out simulation analysis. For several pre-conducted track, simulation analysis were also made to get disturbing-force curve of each cylinder which provides a reliable data for modeling electro-hydraulic servo system. This paper also analyzes the electro-hydraulic servo system of the Ship Simulator, and mathematical model is made,and SIMULINK are used to simulate the mathematical model. Based on the result of simulation, a single-channel ship simulator improved PID controller is designed and a synchronization control designing ideas is introduced to design a six-channel coordinated motion controller.Finally, with the Stewart platform as the experimental subject, the design, selection and installation of all hardwares that experiments require are completed through electrical schematic design, wiring diagram design, field wiring, data-acquisition card selection’purchase and installation. Labview graphical programming language are used to programme the control algorithm. The electro-hydraulic servo control system of the Stewart platform are controlled by IPC. and I completed on-site commissioning of the ship motion simulator and the planned trajectory tracks are simulated through experiments and the coordinated control for the platform are achieved at last. |
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