Trestle docking analog simulation method and system based on multi-degree-of-freedom motion platform

Abstract

The invention provides a trestle docking analog simulation method and system based on a multi-degree-of-freedom motion platform. The system comprises a first parallel multi-degree-of-freedom motion platform, a second parallel multi-degree-of-freedom motion platform, a sliding rail mechanism, a platform control simulation part, a sliding rail control part, a distance calculation part, a swing frequency calculation part, a swing amplitude calculation part and a butt joint simulation part. According to the trestle butt docking analog simulation method and system, the trestle butt docking analog simulation system and method can achieve large-amplitude horizontal transverse movement simulation through an existing multi-degree-of-freedom parallel motion platform, the design structure and complexity of the platform are reduced, the cost is reduced, and the reliability and stability of the system are improved; meanwhile, the docking time, the docking distance, the docking frequency and the required traction data which are actually required for docking in different sea condition environments can be obtained by simulating the docking process in the sea condition environment, and accurate data support is provided for actual seaborne docking trestle construction and deployment.

Description

technical field [0001] The invention relates to the technical field of motion control simulation, in particular to a method for simulating trestle docking at sea, and in particular to a trestle docking simulation method and system based on a multi-degree-of-freedom motion platform. Background technique [0002] Under the conditions of maritime combat, it is necessary to dock two or more ships to form a cross-sea channel, realize the connection and docking of fast sea channels, and realize the rapid transportation of personnel, materials, and equipment. However, in the actual docking process at sea, the ocean environment will interfere with the six degrees of freedom of the ship's sway, surge, heave, roll, pitch and yaw, making it difficult for the power system to control the hull according to the established To implement docking on the docking track, it is necessary to repeatedly adjust the position and attitude of the hull, which greatly reduces the docking efficiency, whic...

AI Technical Summary

Problems solved by technology

[0004] In the simulation process, two parallel multi-degree-of-freedom motion platforms are used to simulate the multi-degree-of-freedom motion of the hull, which is affected by the ocean environment, namely sway, surge, heave, roll, pitch and yaw Movement is realized through the movement coordination of servo electric cylinders. For example, the upper computer is based on simulated sea conditions and environmental data, especially under different wind levels, generally below 4-5 levels of wind and sea conditions, on ships with predetermined tonnage, size, and speed. , in the case of trestle docking simulation, the data such as the docking time, the oscillation reaching the same frequency, etc., but in the design of the existing multi-degree-of-freedom motion simulation platform, the pitch of the upper platform relative to the movement of the lower platform The magnitude of the yaw movement is large, but the offset distance in the horizontal plane is limited, and it is difficult to simulate the displacement of 3 meters to 5 meters in the process of ship docking

[0005] If it is necessary to simulate the displacement of 3 meters to 5 meters in the horizontal direction, according to the size and performance calculation of the platform and electric cylinder, very strict requirements are put forward for the operation performance of the electric cylinder, and a very large volume needs to be designed, and the platform is huge The design cost, structural complexity, platform rigidity and operation coordination performance of structural design are difficult to obtain guarantees, which may easily lead to abnormal positions or interference in complex poses

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