The Research And Realization Of The Control System Of Ship Motion Simulation Platform

According to different purposes,the platform of ship motion simulating(SMS)can be divided into the platform of training SMS,the platform of engineering SMS,the platform of research SMS and the platform of entertainment SMS.On the basis of Stewart 6-DOF parallel mechanism,this thesis is dedicated to the study of entertainment SMS platform and its control system.The entertainment simulation platform used passive simulated motion and collected the simulation data based on the seastate in advance.when the customer experienced,simulated data was passed to the control system.Firstly,this thesis analyzed the characteristics of parallel and serial mechanism,established parallel mechanism of the kinematic model,put forward the means to verify the theoretical validity by using forward kinematics analysis of parallel mechanism of the output parameters as the input parameters of the calculation of inverse displacement.Besides,this thesis provided a theoretical basis for the ADAMS dynamics simulation based on the analysis of Lagrange equation of dynamics by SolidWorks software to build 3D models.Secondly,in order to achieve the realistic effect of simulating ship motion,the thesis collected simulation data by the use of the 6 low-power,16-bit high-precision data acquisition board and high-precision displacement sensor in pitman style.At the same time,in order to eliminate external interference signal and noise signal in the process of data acquisition,this thesis comparatively analyzed two kinds of methods including five-point cubic smoothing filter and moving average filter and achieved the signal pre-processing.The author put forward the method of curve fitting to generate simulation movement function library,which can be more convenient to simulate the ship under different wave actions of rolling,pitching and elevating etc.Then,the author developed two man-machine interaction interface software based on Visual C++6.0.One is motion data acquisition system software,which is used for collecting and editing ship motion simulation data under different sea conditions.Another is ship motion control system software,which is used for reading simulated data in the database and controlling the ship motion simulation system.Finally,on the basis of DSP technology,using TMS320F28335 chip as the core,with 6-DOF parallel mechanism as the experimental platform,the author developed control system of small ship motion simulation based on DSP small entertainment ship motion simulation platform.In accordance with the way of electric servo drive,the author selected the type of the simulation platform of servo system and designed circuit by controlling the length of six the servo electric cylinder to change the pose of the moving platform,so as to realize different motions of simulation ship under the waves.At the same time,addition and subtraction of the S curve was used in the lower computer control procedure,which made the system more stable and reliable,smooth trajectory.Many experiments of physical prototypes was conducted to verify the accuracy and the reliability of SMS platform control system.