• CN:11-2187/TH
  • ISSN:0577-6686

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

• 机构学及机器人 • 上一篇    下一篇

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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. 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 Wenjuan3,4, LI Yongquan3,4, ZHANG Lijie1,3   

  1. 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: 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

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