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

doi:10.3901/JME.2020.01.020

Abstract

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

CLC Number:

TH137

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.

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