Platform wave compensation analogue simulation method based on UDP communication

Abstract

The invention relates to the field of ships, in particular to a platform wave compensation analogue simulation method based on UDP (User Datagram Protocol) communication, which comprises the following steps of: constructing a Stewart platform model consistent with an entity platform as an upper platform through simulation software, additionally constructing a platform model as a lower platform, and inputting a wave model for dynamic analogue simulation; calculating and analyzing to obtain compensation data of an upper platform driving electric cylinder; generating a corresponding control signal for driving an electric cylinder on the basis of the compensation data, transmitting the control signal to an entity platform through UDP communication, and receiving actual sea condition wave feedback data of the entity platform; and constructing a new wave model according to actual sea condition wave feedback data, and repeating the above steps. The characteristics of low delay and high transmission efficiency of UDP communication are applied to Stewart platform wave compensation analogue simulation, and a complex and low-efficiency communication process in a traditional analogue simulation process is avoided, so that the real-time response speed of the platform is improved.

Description

Technical Field

[0001] The present application relates to the field of ships, and specifically to a platform wave compensation simulation method based on UDP communication. Background Art

[0002] The Stewart platform (i.e., six-degree-of-freedom platform) is a typical parallel mechanism that achieves precise attitude control of the platform through six drive electric cylinders. It has high rigidity, high load-bearing capacity, and good dynamic performance, and is therefore widely used in the fields of ship motion compensation, ocean exploration, offshore drilling platform stability, and simulation training. However, in a dynamic ocean environment, the control of the Stewart platform becomes complex and challenging due to the irregular disturbance of waves.

[0003] In the existing technology, the multi-body dynamics simulation technology based on the Simulink module of MATLAB software provides a powerful tool for the kinematic and dynamic analysis of the Stewart platform, which can accurately simulate the dynamic behavior of the platform under different working conditions. With the maturity of simulation technology, the control system can be pre-verified in a virtual environment, thereby reducing the risk and cost in actual deployment.

[0004] However, the communication protocol of the traditional Stewart platform simulation is relatively complex, and the data transmission delay is large, which makes it difficult to meet the real-time requirements. The wave compensation system needs to respond quickly to wave disturbances, but due to the slow data transmission speed, the control signal transmission of the traditional platform is delayed, resulting in unsatisfactory compensation effect and difficulty in coping with complex wave conditions. At the same time, traditional systems usually rely on retransmission mechanisms to ensure data integrity, but this increases communication overhead and further delays the transmission of control signals. Summary of the invention

[0005] The technical problem to be solved by the present application is to provide a platform wave compensation simulation method based on UDP communication, which can improve the real-time response speed of the Stewart platform. The low latency and high transmission efficiency characteristics of UDP communication are applied to the Stewart platform wave compensation simulation, avoiding the complex and inefficient communication process in the traditional simulation process, thereby improving the real-time response speed of the Stewart platform.

[0006] The specific technical solution adopted in this application is as follows: A platform wave compensation simulation method based on UDP communication, comprising the following steps: S1. Use simulation software to build a Stewart platform model that is consistent with the physical Stewart platform as the upper platform, and build another Stewart platform model as the lower platform. The upper platform and the lower platform are connected; S2. Input the wave model to control the lower platform to perform dynamic simulation, obtain the position and posture changes of the upper platform under different wave conditions, analyze the compensation requirements of each driving electric cylinder of the upper platform according to the wave compensation control algorithm, and obtain the compensation data of the driving electric cylinder of the upper platform; S3, generating a corresponding control signal for driving the electric cylinder based on the compensation data, transmitting the control signal to the physical Stewart platform through UDP communication, and receiving actual sea condition wave feedback data of the physical Stewart platform; S4. Construct a new wave model based on the actual sea condition wave feedback data, and repeat S2, S3 and S4.

[0007] Preferably, the wave model in S2 is a sine wave or a JONSWAP spectrum simulation wave.

[0008] Furthermore, the analysis of the compensation requirements of each driving electric cylinder of the upper platform according to the wave compensation control algorithm includes: The target position and posture of the upper platform are input, and the impact of the simulated waves of the lower platform on the upper platform is coupled with the target position and posture of the upper platform through the PID control algorithm to obtain the compensation requirements of each driving electric cylinder of the upper platform.

[0009] Furthermore, the communication process of the UDP communication is: using simulation software to build the sending end of the UDP communication, and packaging and converting multiple control signals of different data types to be sent into a single-precision data stream according to the sending requirements and sending it to the physical Stewart platform.

[0010] Further preferably, the physical Stewart platform is connected to the receiving port, and the IP address port and the length of the received data are set. The sending end of the UDP communication is used to send the packaged data stream to the designated IP port.

[0011] Further preferably, the UDP communication is a connectionless communication with the physical Stewart platform.

[0012] The present application also provides a simulation system based on the platform wave compensation simulation method, comprising: Simulation module: used to build Stewart platform model and perform dynamic simulation on wave model; Data analysis module: calculates and analyzes the compensation requirements of the upper platform's drive electric cylinder based on simulation results; Control signal generation module: generates the control signal of the corresponding driving electric cylinder from the compensation data of each driving electric cylinder of the upper platform; UDP communication module: sends the control model to the physical Stewart platform and receives the actual sea condition wave feedback data from the physical Stewart platform.

[0013] Preferably, it also includes a PID controller for storing and executing a PID control algorithm, and the PID controller is connected to the data analysis module.

[0014] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the above method is implemented.

[0015] The present application also provides an electronic device, including a processor and a memory; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method described above.

[0016] Compared with the prior art, this application has the following beneficial effects: This application applies the low latency and high transmission efficiency characteristics of UDP communication to the Stewart platform wave compensation simulation, avoiding the problem of traditional systems relying on retransmission mechanisms to ensure data integrity, reducing communication overhead, and facilitating the transmission efficiency of control signals, thereby improving the real-time response speed of the Stewart platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of a platform wave compensation simulation method based on UDP communication according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] To make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them.

[0019] Therefore, the following detailed description of the embodiments of the present application is not intended to limit the scope of the present application for protection, but merely represents some embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0020] Example The embodiment of the present application is based on the multi-body dynamics simulation technology of the Simulink module of MATLAB software, and the simulation process of the embodiment is implemented in the Simulink module. MATLAB is a high-level programming language and interactive environment, which is specially used for numerical calculation, data analysis, visualization and algorithm development. Its core is matrix-based calculation, which is very suitable for linear algebra, numerical analysis and matrix operation, and is widely used in science, engineering, mathematics and other fields. MATLAB provides a large number of built-in functions, covering from simple numerical operations to complex mathematical modeling, and can intuitively display data and simulation results through its powerful visualization tools. It supports object-oriented programming and has rich toolboxes, such as signal processing, machine learning, optimization, etc. Simulink is an extension module of MATLAB, focusing on the modeling and simulation of dynamic systems. It is an environment based on a graphical interface, and users can create complex dynamic system models by dragging and dropping modules. Simulink is particularly suitable for control system design, embedded system development and physical system modeling in multiple fields, such as mechanical, electronic, fluid and thermodynamic systems. Simulink can not only perform offline simulation, but also connect to hardware for real-time simulation and control, making it a widely used tool in automation, automotive, aerospace and other industries.

[0021] like Figure 1 As shown, this embodiment provides a platform wave compensation simulation method based on UDP communication, comprising the following steps: S1. A Stewart platform model consistent with the physical Stewart platform is constructed in the Simulink module of MATLAB software as the upper platform, and another Stewart platform model is constructed as the lower platform, and the upper platform and the lower platform are connected; S2. Input the wave model to control the lower platform to perform dynamic simulation, obtain the position and posture changes of the upper platform under different wave conditions, analyze the compensation requirements of each driving electric cylinder of the upper platform according to the wave compensation control algorithm, and obtain the compensation data of the driving electric cylinder of the upper platform; S3, generating a corresponding control signal for driving the electric cylinder based on the compensation data, transmitting the control signal to the physical Stewart platform through UDP communication, and receiving actual sea condition wave feedback data of the physical Stewart platform; S4. Construct a new wave model based on the actual sea condition wave feedback data, and repeat S2, S3 and S4.

[0022] Preferably, the wave model described in S2 is a sine wave or a JONSWAP spectrum simulation wave. The JONSWAP spectrum is a mathematical model used to describe the characteristics of ocean waves, especially for simulating wind waves with single-peak characteristics. The JONSWAP spectrum describes the energy distribution of waves through a parameterized formula, which includes factors such as wind speed, wave frequency, and steepness of the wave crest. Sine waves and JONSWAP spectra are equivalent to a wave model of the actual sea conditions of the physical Stewart platform during the initial simulation process. After initial motion compensation, the actual sea condition wave feedback data fed back by the physical Stewart platform is obtained, and then a new wave model is established.

[0023] Furthermore, the present embodiment analyzes the compensation requirements of each driving electric cylinder of the upper platform according to the heave compensation control algorithm, including: The target position and posture of the upper platform are input, and the impact of the simulated waves of the lower platform on the upper platform is coupled with the target position and posture of the upper platform through the PID control algorithm to obtain the compensation requirements of each driving electric cylinder of the upper platform.

[0024] PID control algorithm is a feedback control method widely used in automatic control systems, which includes three parts: proportional (P), integral (I) and differential (D). It makes adjustments by real-time monitoring of the error between the system output and the target value. Proportional control adjusts the output according to the current error, responds quickly but may cause oscillation; integral control eliminates steady-state errors by accumulating past errors to ensure that the system eventually reaches the target value; differential control predicts future errors based on the error change rate to reduce system oscillation and overshoot. Combining these three parts, the PID control algorithm can achieve fast and stable control effects and is widely used in industrial automation, aerospace, robotics and other fields.

[0025] Furthermore, the communication process of the UDP communication is as follows: the sending end of the UDP communication is built using simulation software, and the control signals of multiple different data types to be sent are packaged and converted into a single-precision data stream according to the sending requirements and sent to the physical Stewart platform. The physical Stewart platform is connected to the receiving port, and the IP address port and the length of the received data are set. The sending end of the UDP communication is used to send the packaged data stream to the port of the specified IP.

[0026] Further preferably, the UDP communication communicates with the physical Stewart platform in a connectionless manner, avoiding the connection establishment, confirmation and data retransmission processes in the TCP protocol, greatly reducing communication overhead, thereby improving the real-time response capability of the system under dynamic marine conditions.

[0027] The communication protocol simulated by the traditional Stewart platform is the TCP protocol, which is relatively complex and has a large data transmission delay. UDP communication (User Datagram Protocol) is a network communication protocol, belonging to the transport layer protocol, mainly used to achieve connectionless data transmission in IP networks. Unlike the TCP protocol, UDP communication does not guarantee the reliable transmission, order and integrity of data, so it has a low delay and is suitable for applications with high real-time requirements, such as video streaming, voice calls and online games. UDP communication divides data into independent datagrams for transmission, which may cause data loss or errors, but its simplicity and efficiency make it widely used in many real-time applications.

[0028] In addition, the simplicity and flexibility of UDP communication makes it easy to integrate with external sensors and control units. UDP communication has a simple structure and supports multi-point data transmission, which ensures that the control system can quickly transmit sensor data, control commands and feedback information in a complex and dynamic environment, and improves the flexibility of the system. Even if the network environment is unstable, UDP communication can still ensure the continuity of data transmission, and the overall control effect will not be affected by occasional packet loss, which further improves the robustness of the system.

[0029] The present application also provides a simulation system based on the platform wave compensation simulation method, comprising: Simulation module: used to build Stewart platform model and perform dynamic simulation on wave model; Data analysis module: calculates and analyzes the compensation requirements of the upper platform's drive electric cylinder based on simulation results; Control signal generation module: generates the control signal of the corresponding driving electric cylinder from the compensation data of each driving electric cylinder of the upper platform; UDP communication module: sends the control model to the physical Stewart platform and receives the actual sea condition wave feedback data from the physical Stewart platform.

[0030] Preferably, it also includes a PID controller for storing and executing a PID control algorithm, and the PID controller is connected to the data analysis module.

[0031] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the above method is implemented.

[0032] The present application also provides an electronic device, including a processor and a memory; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method described above.

[0033] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0034] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A platform wave compensation simulation method based on UDP communication, characterized in that: The steps include: S1. Use simulation software to build a Stewart platform model that is consistent with the physical Stewart platform as the upper platform, and build another Stewart platform model as the lower platform. The upper platform and the lower platform are connected; S2. Input the wave model to control the lower platform to perform dynamic simulation, obtain the position and posture changes of the upper platform under different wave conditions, analyze the compensation requirements of each driving electric cylinder of the upper platform according to the wave compensation control algorithm, and obtain the compensation data of the driving electric cylinder of the upper platform; S3, generating a corresponding control signal for driving the electric cylinder based on the compensation data, transmitting the control signal to the physical Stewart platform through UDP communication, and receiving actual sea condition wave feedback data of the physical Stewart platform; S4. Construct a new wave model based on the actual sea condition wave feedback data, and repeat S2, S3 and S4.

2. The platform wave compensation simulation method according to claim 1, characterized in that: The wave model described in S2 is a sine wave or a JONSWAP spectrum simulation wave.

3. The platform wave compensation simulation method according to claim 1, characterized in that: The analysis of the compensation requirements of each driving electric cylinder of the upper platform according to the heave compensation control algorithm includes: The target position and posture of the upper platform are input, and the impact of the simulated waves of the lower platform on the upper platform is coupled with the target position and posture of the upper platform through the PID control algorithm to obtain the compensation requirements of each driving electric cylinder of the upper platform.

4. The platform wave compensation simulation method according to claim 1, characterized in that: The communication process of the UDP communication is: using simulation software to build a sending end of the UDP communication, and according to the sending requirements, packaging and converting multiple control signals of different data types to be sent into a single-precision data stream and sending it to the physical Stewart platform.

5. The platform wave compensation simulation method according to claim 4 is characterized in that: The physical Stewart platform connects to the receiving port, sets the IP address port for receiving data and the length of the received data, and the sending end of the UDP communication is used to send the packaged data stream to the port of the specified IP.

6. The platform wave compensation simulation method according to claim 1, characterized in that: The UDP communication is a connectionless communication with the physical Stewart platform.

7. A simulation system based on the platform wave compensation simulation method according to any one of claims 1 to 6, characterized in that: include: Simulation module: used to build Stewart platform model and perform dynamic simulation on wave model; Data analysis module: calculates and analyzes the compensation requirements of the upper platform's drive electric cylinder based on simulation results; Control signal generation module: generates the control signal of the corresponding driving electric cylinder from the compensation data of each driving electric cylinder of the upper platform; UDP communication module: sends the control model to the physical Stewart platform and receives the actual sea condition wave feedback data from the physical Stewart platform.

8. The simulation system according to claim 7, characterized in that: It also includes a PID controller for storing and executing a PID control algorithm, and the PID controller is connected to the data analysis module.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the method according to any one of claims 1 to 6 is implemented.

10. An electronic device, characterized in that: including a processor and a memory; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

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