3UPS/S舰船稳定平台非惯性系动力学建模

doi:10.3901/JME.2020.01.020

机械工程学报 ›› 2020, Vol. 56 ›› Issue (1): 20-29.doi: 10.3901/JME.2020.01.020

扫码分享

3UPS/S舰船稳定平台非惯性系动力学建模

王力航¹, 郭菲², 卢文娟^3,4, 李永泉^3,4, 张立杰^1,3

1. 燕山大学河北省重型机械流体动力传输与控制重点实验室秦皇岛 066004;
2. 河北工程大学机械与装备工程学院邯郸 056038;
3. 燕山大学先进锻压成形技术与科学教育部重点实验室秦皇岛 066004;
4. 燕山大学河北省并联机器人与机电系统实验室秦皇岛 066004

收稿日期:2019-01-23 修回日期:2019-03-17 出版日期:2020-01-05 发布日期:2020-03-09
通讯作者: 张立杰(通信作者),男,1969年出生,教授,博士研究生导师。主要研究方向为机构学、机械结构力学性能分析及结构优化设计、电液控制系统、流体机械优化设计。E-mail:ljzhang@ysu.edu.cn
作者简介:王力航,男,1989年出生,博士研究生。主要研究方向为液压伺服控制技术。E-mail:wlh5578@qq.com;郭菲,女,1986年出生,讲师。主要研究方向为电液驱动并联机构动力学建模及性能指标。E-mail:guof_ysu@163.com;卢文娟,女,1983年出生,博士,副教授。主要研究方向为并联机构自由度分析、型综合。E-mail:wenjuan_lu@163.com;李永泉,男,1979年出生,副教授。主要研究方向为并联机构及机器人技术。E-mail:lijiang197879@sina.com
基金资助:
国家自然科学基金（51405421，51875499）和河北省自然科学基金（E2015203101）资助项目。

Non-inertial System Dynamic Modeling of 3UPS/S Ship Stability Platform

WANG Lihang¹, GUO Fei², LU Wenjuan^3,4, LI Yongquan^3,4, ZHANG Lijie^1,3

1. Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004;
2. College of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038;
3. Key Laboratory of Advanced Forging&Stamping Technology and Science(Yanshan University), Ministry of Education of China, Qinhuangdao 066004;
4. Parallel Robot and Mechatronic System of Laboratory of Hebei Provincie, Yanshan University, Qinhuangdao 066004

Received:2019-01-23 Revised:2019-03-17 Online:2020-01-05 Published:2020-03-09

摘要/Abstract

摘要： 舰船稳定平台实时检测并补偿船体在海浪中运动，为舰载设备提供对地稳定空间。稳定平台处于不断运动着的工作环境，准确高效的非惯性系动力学模型是提升稳定控制品质的重要前提。借鉴串并混联机构动力学建模过程，通过虚拟低阶参考系机构，将惯性系动力学研究方法扩展非惯性系当中，利用凯恩方法建立3UPS/S并联稳定平台非惯性系下动力学模型。为了验证建模方法的正确性，分别搭建Simulink/SimMechanics多体动力学仿真模型以及非惯性运动试验平台。试验结果表明，计算驱动力与实测驱动力在量值上相近且变化趋势一致，验证了动力学模型的合理性。

关键词: 并联机构, 非惯性动力学, 凯恩方法, 舰船稳定平台

Abstract: The ship stabilization platform can detect and compensate the movement of the ship on the waves in real time, so as to provide a stable space for shipborne equipment. Since the stable platform is in a constantly moving working environment, accurate and efficient non inertial system dynamics model is an important prerequisite for improving the quality of stability control. Based on the dynamic modelling process of the series-parallel hybrid mechanism, the inertial system dynamics research method is extended to non-inertial frames through a virtual low-order reference system. The Kane method is used to establish the dynamic model of the 3UPS/S parallel stable platform under the non inertial system. In order to verify the correctness of the modeling method, Simulink/SimMechanics multi-body dynamics simulation model and non-inertial motion experimental platform were built. The experimental results show that the calculated driving force and the measured driving force are similar in magnitude and the trend is consistent, which verifies the rationality of the dynamic model.

Key words: parallel mechanism, non-inertia dynamics, Kane method, ship stability platform

中图分类号:

TH137

王力航, 郭菲, 卢文娟, 李永泉, 张立杰. 3UPS/S舰船稳定平台非惯性系动力学建模[J]. 机械工程学报, 2020, 56(1): 20-29.

WANG Lihang, GUO Fei, LU Wenjuan, LI Yongquan, ZHANG Lijie. Non-inertial System Dynamic Modeling of 3UPS/S Ship Stability Platform[J]. Journal of Mechanical Engineering, 2020, 56(1): 20-29.

参考文献

[1] 刘应中. 船舶在波浪上的运动理论[M]. 上海:上海交通大学出版社,1987. LIU Yingzhong. Theory of ship motions in waves[M]. Shanghai:Shanghai Jiao Tong University Press,1987.
[2] 刘晓,赵铁石,李二伟,等. 非惯性系折叠式并联稳定平台机构建模及分析[J]. 机械工程学报,2013,49(17):101-109. LIU Xiao,ZHAO Tieshi,LI Erwei,et al. Modeling and analysis of foldable parallel stabilized platform in non-inertial system[J]. Journal of Mechanical Engineering,2013,49(17):101-109.
[3] KHALIL W,GUEGAN S. Inverse and direct dynamic modeling of Gough-Stewart robots[J]. Robotics IEEE Transactions on Robotics,2004,20(4):754-761.
[4] ZHANG Lijie,GUO Fei,LI Yongquan,et al. Global dynamic modeling of electro-hydraulic 3-UPS/S parallel stabilized platform by bond graph[J]. Chinese Journal of Mechanical Engineering,2016,29(6):1-10.
[5] ABDELLATIF H,HEIMANN B. Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism[J]. Mechanism & Machine Theory,2009,44(1):192-207.
[6] LEI Jingtao,YU Huangying,WANG Tianmiao. Dynamic bending of bionic flexible body driven by pneumatic artificial muscles(PAMs) for spinning gait of quadruped robot[J]. Chinese Journal of Mechanical Engineering,2016,29(1):11-20.
[7] 贾凯凯,梅江平,刘松涛,等. 4自由度并联机构刚体动力学模型[J]. 机械工程学报,2016,52(13):10-16. JIA Kaikai,MEI Jiangping,LIU Songtao,et al. Rigid-body dynamic model of a four-DOF parallel mechanism[J]. Journal of Mechanical Engineering,2016,52(13):10-16.
[8] SOKOLOV A,XIROUCHAKIS P. Singularity analysis of a 3-DOF parallel manipulator with R-P-S joint structure[J]. Mechanism and Machine Theory,2007,42(5):541-557.
[9] WU Jun,WANG Jinsong,WANG Liping,et al. Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy[J]. Mechanism & Machine Theory,2009,44(4):835-849.
[10] STAICU S. Recursive modelling in dynamics of agile wrist spherical parallel robot[J]. Robotics and Computer-Integrated Manufacturing,2009,25(2):409-416.
[11] YANG Chifu,HUANG Qitao,HAN Junwei. Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot[J]. Robotics & Computer Integrated Manufacturing,2012,28(1):14-23.
[12] YANG Chifu,HUANG Qitao,JIANG Hongzhou,et al. PD control with gravity compensation for hydraulic 6-DOF parallel manipulator[J]. Mechanism & Machine Theory,2010,45(4):666-677.
[13] KOEKEBAKKER S H. Model based control of a flight simulator motion system[D]. Delft:Delft University of Technology,2001.
[14] YUAN Yun,LI Yangmin. Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning[J]. Nonlinear Dynamics,2010,61(4):829-845.
[15] LIU Jinguo,LI Yangmin,ZHANG Yang,et al. Dynamics and control of a parallel mechanism for active vibration isolation in space station[J]. Nonlinear Dynamics,2014,76(3):1737-1751.
[16] 祝长生,陈拥军. 机动飞行时航空发动机转子系统的振动特性[J]. 航空学报,2006,27(5):835-841. ZHU Changsheng,CHEN Yongjun. Vibration characteristics of aeroengine's rotor system during maneuvering flight[J]. Acta Aeronautica Et Astronautica Sinica,2006,27(5):835-841.
[17] 林富生,黄其柏,黄新乐,等. 非惯性系动力学研究综述[J]. 武汉理工大学学报,2007,29(4):67-71. LIN Fusheng,HUANG Qibai,HUANG Xinle et al. A survey of the dynamic investigation in non-inertial systems[J]. Journal of Wuhan University of Technology,2007,29(4):67-71.
[18] 刘晓,赵铁石,王唱,等. 非惯性系稳定平台运动分析与仿真[J]. 机器人,2013,35(6):723-730. LIU Xiao,ZHAO Tieshi,WANG Chang,et al. Kinematics analysis and simulation of stabilizing platform in non-inertial system[J]. Robot,2013,35(6):723-730.
[19] HU Bo,ZHANG Liandong,YU Jingjing. Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator[J]. Journal of Mechanical Science & Technology,2016,30(11):5183-5195.
[20] THOMAS R K,DAVID A L. Dynamics:Theory and applications[M]. McGraw-Hill Book Company,1985.
[21] 赵云峰,程丽,赵永生. 3-UPS/S并联机构运动学分析及机构优化设计[J]. 机械设计,2009,26(1):46-49. ZHAO Yunfeng,CHENG Li,ZHAO Yongsheng. Kinematic analysis of 3-UPS/S parallel mechanism and its optimization design[J]. Journal of Machine Design,2009,26(1):46-49.
[22] 李新友,陈五一,韩先国. 基于Kane方程的3UPS/S并联机构动力学研究[J]. 机床与液压,2011,39(13):1-5. LI Xinyou,CHEN Wuyi,HAN Xianguo. Dynamics analysis of a 3UPS/S parallel mechanism based on Kane equations[J]. Machine Tool & Hydraulics,2011,39(13):1-5.

3UPS/S舰船稳定平台非惯性系动力学建模

Non-inertial System Dynamic Modeling of 3UPS/S Ship Stability Platform

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	梁友鉴, 赵杰亮, 阎绍泽. 基于蜜蜂腹部变体机制的空天飞行器仿生变体头锥设计[J]. 机械工程学报, 2020, 56(5): 47-54.
[2]	胡波, 施东生, 史艳国, 张达, 叶妮佳. 非对称3-PRS机构运动等效机构演化及约束性能对比分析[J]. 机械工程学报, 2020, 56(3): 31-40.
[3]	王启明, 苏建, 隋振, 林慧英, 赵礼辉. 一种新型冗余驱动并联机构位姿正解研究[J]. 机械工程学报, 2019, 55(9): 40-47.
[4]	李剑锋, 张凯, 张雷雨, 张子康, 左世平. 并联踝康复机器人的设计与运动性能评价[J]. 机械工程学报, 2019, 55(9): 29-39.
[5]	沈惠平, 许可, 杨廷力, 邓嘉鸣. 一种零耦合度且运动解耦的新型3T1R并联操作手2-(RPa3R)3R的设计及其运动学[J]. 机械工程学报, 2019, 55(5): 53-64.
[6]	叶伟, 杨臻, 李秦川. 一种远中心并联机构运动学与性能分析[J]. 机械工程学报, 2019, 55(5): 65-73.
[7]	杨彦东, 甄春江, 侯雨雷, 曾达幸. 对称单自由度螺旋运动并联机构型综合[J]. 机械工程学报, 2019, 55(3): 27-33.
[8]	李研彪, 郑航, 孙鹏, 徐涛涛, 王泽胜, 秦宋阳. 考虑关节摩擦的5-PSS/UPU并联机构动力学建模及耦合特性分析[J]. 机械工程学报, 2019, 55(3): 43-52.
[9]	刘伟, 刘宏昭. 具有2R1T和3R运动模式的并联机构综合[J]. 机械工程学报, 2019, 55(3): 53-63.
[10]	李永泉, 张阳, 郭雨, 李旭冉, 张立杰. 两转一移冗余驱动并联机构构型综合新方法研究[J]. 机械工程学报, 2019, 55(23): 25-37.
[11]	赵裕明, 金振林. 基于含有冗余支链3-RPS/3-SPS并联机构的波浪能转换装置优化设计[J]. 机械工程学报, 2019, 55(23): 93-102.
[12]	李建钢, 杨桂林, 张林, 张驰. 基于柔性并联机构的变刚度夹持器设计分析[J]. 机械工程学报, 2019, 55(21): 64-72.
[13]	陈栋, 李世其, 王峻峰, 何旺, 丰意. 并联机构的运动学多目标轨迹规划方法[J]. 机械工程学报, 2019, 55(15): 163-173.
[14]	杨毅, 鹿碧洲, 李小毛, 姚骏峰, 蒲华燕, 彭艳. 一种2自由度柔顺移动并联机构研究及其在对接装置上应用[J]. 机械工程学报, 2019, 55(11): 114-122.
[15]	孙海宁, 唐晓强, 王晓宇, 崔志伟, 侯森浩. 基于索驱动的大型柔性结构振动抑制策略研究[J]. 机械工程学报, 2019, 55(11): 53-60.