Simulation And Design Of Six Spacial Degrees Of Freedom For The Wave Simulator Based On The Maplesim

With the development of Marine industry,simulation technology and parallel mechanism,the multi-free wave simulator with parallel mechanism has been widely used in the research of ship swing simulation.On the one hand,compared with the computer virtual simulation,the multi degree freedom wave simulation device can reproduce the swaying motion of the ship on the sea;on the other hand,compared with the actual ship test,the multi degree freedom wave simulation device is obviously economical,controllable and adaptable.MapleSim can realize the simulation of mechanical,hydraulic and control systems.It can be combined with the Maple mathematical analysis program and tools to carry out a variety of conventional design and depth analysis of the system model.Based on MapleSim and 6-UCU wave simulator,the main research contents are as follows.First,in order to realize the simulation of six degree of freedom waves,this paper analyses the waves and the knowledge of sea wave spectrum.Through the analysis of sea wave spectrum,the disturbance law of the waves on the ship under the 6 level sea condition is obtained,which is used as the input signal of the control system of the wave simulation device.The kinematics and dynamics analysis of the 6-UCU wave simulation device is carried out,which provides a theoretical basis for the simulation of the wave simulation device in the subsequent MapleSim environment.Secondly,based on the kinematics and dynamics analysis of the 6-UCU wave simulator,the kinematics and dynamics simulation of the wave simulator are carried out in the MapleSim environment,and the simulation results are theoretically verified.Based on the kinematics simulation of the 6-UCU wave simulator,a control system,a transmission system and a perceptive system are added to form a complete 6-UCU wave simulator system.The output curve of the simulation results provides a data basis for the development of the subsequent prototype.Thirdly,based on MapleSim system simulation,designed and developed a 6-UCU wave simulator,including 6-UCU parallel mechanism design,servo drives,motors andelectric cylinder configuration,six-dimensional and limit switch selection of sensors and motion control programming.In addition,electrical control cabinet was designed for the safe and effective control of the electric cylinder.Finally,based on the virtual motion pair method,the manufacturing and installation error modeling of the Hooke hinges at the two ends of the 6-UCU sea wave simulator is modeled and the calibration experiment of the prototype is carried out by using the laser tracking instrument.After two calibration,the Hooke hinge error of the upper and lower ends of the prototype is compensated step by step.On this basis,the wave simulator is carried out to simulate the ship’s single-freedom swing motion and the six-degree-of-freedom composite swing motion.