Research On Motion Modeling And Simulation Control Of Large Marine Compensating Manipulator Arm

Ships are affected by the complex sea conditions,such as wind,waves and surges,making it difficult to carry out marine operations and subsea construction normally.Therefore,in order to make the ships operate safely under the complex sea conditions,this paper proposes a compensation scheme for the hybrid operation arm.The compensated hybrid operation arm has the characteristics of large heave compensation and strong bearing capacity,so that it can provide a more stable operating environment for the offshore operation devices.In this paper,the helical theory is used to analyze equivalently on the parallel mechanism of the compensated hybrid operating arm,and the decoupling design of the parallel mechanism is performed with a closed-loop sub-chain.At the same time,the input of the parallel mechanism after decoupling design is selected,and the reversed position is get.According to the inverse kinematics solution and mechanism constraints,the workspace of the parallel mechanism is obtained.Based on the actual application requirements,the configuration of the serial part mechanism is designed and analyzed,and the D-H method is used to find the positive position of the serial part.The kinematics model of the mechanism is established.Meanwhile,the speed mapping of the parallel mechanism is obtained,and the acceleration is analyzed.Also,the sway compensation of the compensated hybrid operation arm is analyzed,and the numerical example analysis and simulation verification are carried out.In view of the influence of the servo system delay,this paper researches the ship motion prediction,and applies the method of least square and RBF neural network to predict and analyze the data collected on the sea.Otherwise,this paper filters the data predicted by the RBF neural network.According to the actual engineering needs,this paper gets the transfer function of the hydraulic valve-controlled position servo control system and uses the PI controller to control.At the same time,this paper uses the method of stable boundary to tune the parameters of the PI controller.The reason of system overshoot is analyzed and corrected.Finally,Simulink simulation software is used to obtain the error curve of each degree of freedom of position control.