Research On Simulation System Of Ocean Wave Motion In Parallel Six Degree Of Freedom Platform

According to the existing laboratory ship visual driving simulation system and Stewart platform objects,aims to design a set of control system for Stewart platform can simulate the ship visual simulation system of driving wave motion,as the Stewart platform above the other multi degree of freedom of compensation the compensation device and the ship motion simulator foundation.The main contents of this paper include:(1)The related motion parameters using LabVIEW to obtain the scene simulation,and through the OPC technology and the TCP/IP agreement will actually passed to the six degree of freedom parallel platform motion control system and control panel,designed a set of ship visual driving simulation system and six by method of real-time communication platform control system thus,the realization of the relevant parameters in real time communication.(2)The working space of the Stewart platform used in this paper determines its working condition,in order to determine the condition,this paper takes Matlab as the calculation tool,combined with the structure size and the actual platform constraints Stewart platform,through the theoretical calculation,using the boundary search method to solve the laboratory Stewart platform workspace,and then combined with knowledge of wave spectrum and get the Stewart platform to simulate the wave motion of ship motion and related conditions.(3)In this paper,the control strategy of the control system is to use the negative feedback closed-loop control with PID controller,in order to improve the control performance,we must find a more reasonable PID parameters.Firstly,the control principle of the system is analyzed,and the transfer function of the hydraulic control system is derived.Then describes the steady-state boundary method and intelligent algorithm for crowd conventional search method(SOA)principle,the use of these two methods PID tuning parameters,and the results were compared and analyzed the superiority of the intelligent algorithm tuning results.(4)The single channel hydraulic system simulation and the real experiment are carried out.The use of AMESim software of single channel hydraulic system and electromagnetic valve modeling and simulation experiment,analyze the static and dynamic characteristics of the electromagnetic valve,and the single channel hydraulic system with sinusoidal signalsimulation,verify the rationality of the related design.(5)Using SIEMENS touch screen control interface design of the Stewart platform,SIEMENS S7-300 PLC platform written in Stewart motion control program,using LabVIEW to build a hydraulic cylinder length change of the real-time monitoring screen,by having six degrees of freedom on the platform of sinusoidal periodic motion along the Z axis,to monitor displacement changes of No.1,and compared with the the theory of sine curve,verify the feasibility of the control system in this paper.