Research On Control System Of Six Degrees Of Freedom Experimental Bench Of Deck Machinery

The deck machinery six-degree-of-freedom test platform is used to simulate the motion posture of the ship under the action of waves in the laboratory environment,and plays an important role in the development of new ships,the development of shipborne equipment,and the training of ship personnel.This paper takes the deck machinery six-degree-of freedom test platform as the research object,and studies on its mathematical model establishment,multi-field joint simulation,platform control strategy and ship trajectory generation in waves,aiming at designing a set of high precision.Control systems to accommodate larger loads and increasingly complex conditions.The method of coordinate transformation is used to describe the pose change of six-degree-of-freedom test platform,and the pose inverse model is established.The mapping relationship between the platform attitude trajectory and the displacement trajectory of the hydraulic cylinder is obtained.At the same time,the mathematical model of valve-controlled asymmetric hydraulic cylinder is established.The pressure characteristics and output ch characteristics are analyzed.Finally,the mathematical models of servo amplifier and displacement sensor are established to provide theoretical basis for platform simulation and control strategy research.Based on the characteristics of strong coupling and compounding of the six-degree-of-freedom test platform in the hydraulic,mechanical and control fields based on ASAMS,AMESim and Simulink was used to electro-hydraulic and integrate the platform.Co-simulation is to study the dynamic characteristics of the platform.According to the characteristics of multi-input,multi-output and highly non-linearity of the six-degree-of-freedom experimental platform,combined with the advantages of the fuzzy control theory and the PID control strategy,the Fuzzy-PID control strategy for the platform is designed.According to the simulation results,the Fuzzy-PID control has higher accuracy and faster response speed,which preliminarily verifies the feasibility and superiority of the Fuzzy-PID control.With the 11000 kw rescue tug as the research object,the overlapping Grid and DFBI six-degree-of-freedom motion method were used to simulate the motion trajectory in the wave in STAR-CCM+,which provide a signed souce for the six-degree-of-freedom text platform to simulate ship motion.Experimental verification is carried out.The feasibility of the control system and the superiority of the Fuzzy-PID control strategy are verified by the experiments of the platform in Fuzzy-PID control and traditional PID control of sagging and rolling motion.In addition,the periodic motion experiments of other degrees of freedom are carried out.The results show that the six-degree-of-freedom test platform based on Fuzzy-PID control strategy can achieve six-degree-of-freedom motion.It has better following characteristics,and then simulates ship motion.