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强冲击扰动下舰船摇摆姿态模拟控制技术研究
Control technology research on posture simulation of ship swaying under strong impact disturbance
- DOI:
- 作者:
- 闫智辉, 刘伟超, 周淳
YAN Zhi-hui, LIU Wei-chao, ZHOU Chun
- 作者单位:
- 中国船舶集团有限公司第七一三研究所，河南 郑州 450015
The 713 Reseach Institute of CSSC, Zhengzhou 450015, China
- 关键词:
- 冲击扰动;姿态模拟;运动求解;多液压缸控制
impact disturbance; posture simulation; kinematical solving; hydraulic cylinders control
- 摘要:
- 为抑制舰船摇摆姿态模拟时的舰炮射击扰动，在串联机构+多液压缸并联驱动的混合结构基础上，对总体结构进行动力学和轴系惯量耦合分析；利用位置反解的方法给出平台姿态角和各液压缸长度之间的转换关系；以雅可比矩阵的条件数为评估判据，对各液压缸的运动参数进行优化；根据阀控液压缸流量方程和负载力平衡方程，建立多缸控制系统模型。最后通过机-电-液联合仿真得到不同极限工况下的冲击抑制误差曲线，仿真实验结果证明了技术的合理性。
In order to restrain the shooting disturbances of naval gun when simulating the ship swaying posture, based the hybrid structure of serial mechanism and parallel driven, the dynamics and inertia coupling effect between axis were analyzed; the relationship between platform posture angle and length of hydraulic chlinders was provided by position inverse solution, the motion parameters of hydraulic chlinders were optimized based on the condition of Jacobian matrix. At last, according to the flow equation and force balance equation, control mechanism was analyzed, general parallel control model of hydraulic chlinders was established, and then the technical rationality was verified through electromechanical hydraulic integration simulation under limiting operational condition.
2023,45(2): 175-180 收稿日期：2022-03-16
DOI：10.3404/j.issn.1672-7649.2023.02.032
分类号：U665.26；TP273.3
作者简介：闫智辉(1976-),男,高级工程师,研究方向为伺服控制技术
