采矿船运动模拟器的研制

来源期刊:中南大学学报(自然科学版)2011年第z2期

论文作者:郑皓 刘少军 胡琼

文章页码:257 - 265

关键词:采矿船运动模拟器;六自由度平台;姿态正反解;PID控制

Key words:mining ship motion simulator; 6-DOF platform; direct and reverse solve; PID control

摘    要:为建立深海采矿扬矿管道模拟试验系统,研制了1台采矿船运动模拟器。选择Stewart六自由度平台来模拟采矿船的运动,可实现纵摇、横摇、艏摇、纵荡、横荡、升沉6个自由度的运动。根据采矿船运动响应的分析计算,依据相似原理,确定采矿船运动模拟器的运动范围为:绕X,Y和Z轴最大角度为20°;X,Y和Z轴向最大平移量为200 mm。采用6个油缸连接上下平台,通过驱动6个液压缸协调伸缩,使平台按照给定的轨迹模拟采矿船的运动。选择Opto 22公司的SNAP PAC系统完成模拟器的测控功能,选择PID控制实现模拟器的运动控制。试验结果表明:该采矿船运动模拟器可以按照预定的运动轨迹运动,可以实现采矿船运动的模拟。

Abstract: In order to set up model test installation of lifting pipe system of deep ocean mining, a mining ship motion simulator was designed and built. Stewart platform was selected to simulate mining ship motion which is six DOFs, i.e.: pitch, roll, yaw, surge, sway and heave. According to mining ship response and similarity principles, the pitch, roll, yaw angles were less than 20° and surge, sway, heave amplitudes were less than 200 mm. The upper and bottom platform were connected by six hydraulic cylinders which were driven by six electro-hydraulic proportional valves independently. SNAP PAC from Opto 22 was selected as the control system and PID control was chosen as the control strategy. The test results show that the mining ship motion simulator can move under the predetermined attitude and can be used as a mining ship simulator.

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