A docking simulation system and simulation method

Abstract

This application provides a docking simulation system and method. The docking simulation system includes a six-degree-of-freedom (6DOF) platform structure, a monitoring structure, and a simulation control structure. The 6DOF platform structure is electrically connected to both the monitoring and simulation control structures. The 6DOF platform structure includes a main platform and a slave platform positioned below the main platform. The monitoring structure is electrically connected to the simulation control structure, and is used to acquire motion state information of the main and slave platforms and send it to the simulation control structure. The simulation control structure is used to drive the main and slave platforms to move according to a preset ideal motion trajectory and generated random offsets, combined with the motion state information. This application reproduces the "dual-disturbance" coupling environment of low-frequency large-amplitude motion of a surface mother ship and high-frequency small-amplitude jitter of an underwater platform, significantly improving the consistency between the test conditions and the real marine environment, and increasing the testing efficiency of docking simulation.

Description

Technical Field

[0001] This application relates to the field of motion control simulation technology for marine equipment connectors, and in particular to a docking simulation system and simulation method. Background Technology

[0002] As a core hub for networked underwater equipment operations, wet-plug connectors operate in extremely harsh real-world environments. On one hand, surface vessels experience low-frequency, large-amplitude movements due to ocean waves; on the other hand, underwater operating platforms experience high-frequency, small-amplitude vibrations due to ocean currents. This dual-disturbance coupling environment can easily lead to problems such as attitude inaccuracies and speed loss during the wet-plug connector docking process. Therefore, before offshore applications, it is necessary to conduct simulation tests on the docking reliability of wet-plug connectors in a laboratory environment.

[0003] In existing technologies, the mating simulation test of wet-plug connectors mainly involves mounting the connector on a simple mechanism such as a linear guide and conducting repeated mating and unmating tests in a pressurized tank simulating water pressure to verify its sealing and electrical performance. However, linear guides can only provide periodic motion with a single degree of freedom and fixed amplitude and frequency, which cannot reproduce the broadband "dual-disturbance" coupled motion spectrum of surface mother ships and underwater platforms in a real marine environment. The test conditions are out of touch with reality, and the test process is highly dependent on experience, resulting in low test efficiency. Summary of the Invention

[0004] This application provides a docking simulation system and method to reproduce the "dual disturbance" coupled environment of low-frequency large-amplitude motion of the surface mother ship and high-frequency small-amplitude jitter of the underwater platform, thereby improving the consistency between the test conditions and the actual marine environment and increasing the test efficiency.

[0005] To achieve the above-mentioned objectives, this application adopts the following approach:

[0006] In the first aspect, this application provides a docking simulation system, including: a six-degree-of-freedom platform structure, a monitoring structure, and a simulation control structure;

[0007] The six-degree-of-freedom platform structure is electrically connected to the monitoring structure and the simulation control structure respectively. The six-degree-of-freedom platform structure includes a main platform and a slave platform set below the main platform.

[0008] The monitoring structure is electrically connected to the simulation control structure. The monitoring structure is used to acquire motion state information of the master platform and the slave platform and send it to the simulation control structure.

[0009] The simulation control structure is used to drive the main platform and the slave platform to move according to the preset ideal motion trajectory and the generated random offset, combined with the motion state information.

[0010] In one possible implementation, both the master platform and the slave platform include:

[0011] The first platform, with two first platforms positioned relative to each other;

[0012] The second platform, the two second platforms are respectively located on the side of the two first platforms that are far apart from each other;

[0013] Six servo electric cylinders are disposed between the first platform and the second platform. One end of each servo electric cylinder is hinged to the first platform, and the other end of each servo electric cylinder is hinged to the second platform.

[0014] In one possible implementation, the servo electric cylinder includes:

[0015] An electric cylinder, one end of which is hinged to the first platform and the other end of which is hinged to the second platform;

[0016] A servo motor, the output of which is connected to the power input of the electric cylinder via a reducer.

[0017] In one possible implementation, the main platform and the slave platform are respectively provided with the monitoring structure, the monitoring structure including:

[0018] A tilt sensor is disposed on one of the first platform and the second platform, and the tilt sensor is electrically connected to the servo electric cylinder.

[0019] A torque sensor is mounted on the servo cylinder and is electrically connected to the servo cylinder.

[0020] In one possible implementation, the simulation control structure includes:

[0021] A digital simulation unit is used to receive motion data during connector docking and to simulate the ideal motion trajectory based on the motion data.

[0022] Motion controllers are provided on the main platform and the slave platform respectively. The motion controllers are located on one of the first platform and the second platform. The motion controllers are electrically connected to the digital simulation unit and the servo electric cylinder respectively.

[0023] The digital simulation unit is also used to generate the random offset.

[0024] In one possible implementation, the digital simulation unit includes a host computer that is electrically connected to the motion controller.

[0025] In one possible implementation, a support frame is also included, the support frame comprising:

[0026] Multiple supports, all of which are arranged vertically;

[0027] A truss, which is disposed at the top of the plurality of supports;

[0028] The truss is equipped with guide rails that extend vertically, and the bottom end of the guide rails is connected to the main platform.

[0029] In one possible implementation, it also includes:

[0030] A ground rail platform is provided below the truss, and the platform is slidably mounted on the ground rail platform.

[0031] Secondly, this application provides a simulation method for a docking simulation system, applied to the docking simulation system described in any of the above claims, the method comprising:

[0032] Obtain the random offset between the master platform and the slave platform;

[0033] The master platform and the slave platform are driven to move according to the random offset.

[0034] The current motion state information of the master platform and the slave platform is obtained, and the motion state of the master platform and the slave platform is adjusted so that the master platform and the slave platform move along a preset ideal motion trajectory.

[0035] In one possible implementation, driving the master platform and the slave platform to move according to the random offset includes:

[0036] In response to obtaining the ideal motion trajectory of the master platform and the slave platform, the master platform and the slave platform are driven to move according to the ideal motion trajectory and the random offset.

[0037] The docking simulation system of this application simulates the male and female connectors of a wet-plug connector through a master platform and a slave platform of a six-degree-of-freedom platform. The simulation control structure drives the master platform and the slave platform to move independently or collaboratively along a preset ideal motion trajectory. The simulation control structure generates random offsets and converts them into motion commands for the master platform and the slave platform. The detection structure monitors the motion status information of the master platform and the slave platform in real time and feeds it back to the simulation control structure to adjust the motion status of the master platform and the slave platform. This reproduces the "dual disturbance" coupling environment of low-frequency large-amplitude motion of the surface mother ship and high-frequency small-amplitude jitter of the underwater platform, so that the test conditions maintain dynamic consistency with the real ocean, improving test efficiency and the accuracy of test results. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0039] Figure 1 This is a schematic diagram of the docking simulation system in one embodiment of this application;

[0040] Figure 2 This is a schematic diagram of the platform structure in one embodiment of this application;

[0041] Figure 3 This is a schematic diagram of the installation from the platform in one embodiment of this application;

[0042] Figure 4 This is a topology diagram of the docking simulation system in one embodiment of this application;

[0043] Figure 5 This is a flowchart of a simulation method for docking simulation system in one embodiment of this application.

[0044] Explanation of reference numerals in the attached figures:

[0045] 100. Six-degree-of-freedom platform structure; 101. Main platform; 102. Slave platform; 103. First platform; 104. Second platform; 105. Servo electric cylinder; 1051. Electric cylinder; 1052. Servo motor; 1053. Reducer; 200. Monitoring structure; 201. Tilt sensor; 202. Torque sensor; 300. Simulation control structure; 301. Digital simulation unit; 302. Motion controller; 400. Support frame; 401. Bracket; 402. Truss; 403. Guide rail; 500. Ground rail platform. Detailed Implementation

[0046] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0047] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The following will be combined with the appendix... Figure 1-5 The embodiments of this application will be described below.

[0048] This application provides a docking simulation system, see [link to relevant documentation]. Figure 1 See also Figure 2 The docking simulation system includes a six-degree-of-freedom platform structure 100, a monitoring structure 200, and a simulation control structure 300. The six-degree-of-freedom platform structure 100 is electrically connected to the monitoring structure 200 and the simulation control structure 300. The six-degree-of-freedom platform structure 100 includes a master platform 101 and a slave platform 102 located below the master platform 101. The monitoring structure 200 is electrically connected to the simulation control structure 300. The monitoring structure 200 is used to acquire the motion state information of the master platform 101 and the slave platform 102 and send it to the simulation control structure 300. The simulation control structure 300 is used to drive the master platform 101 and the slave platform 102 to move according to the preset ideal motion trajectory and the generated random offset, combined with the motion state information.

[0049] In this embodiment, the master platform 101 and the slave platform 102 form a six-degree-of-freedom platform structure 100. The master platform 101 is positioned above the slave platform 102. The master platform 101 is used to simulate the male connector of a wet-plug connector, and the slave platform 102 is used to simulate the female connector of a wet-plug connector. A driving device drives the master platform 101 and the slave platform 102 to move closer to each other, simulating the approach of the male and female connectors of the wet-plug connector. The simulation control structure 300 drives the master platform 101 and the slave platform 102 to move independently or collaboratively according to a preset ideal motion trajectory, simulating the approach of the male and female connectors of the wet-plug connector. When the platforms 101 and 102 are docked, the simulation control structure 300 generates random offsets and superimposes them onto the ideal motion trajectory, causing changes in the motion state of the master platform 101 and slave platform 102. The monitoring structure 200 monitors the motion state information of the master platform 101 and slave platform 102 in real time and sends the monitored motion state information to the simulation control structure 300. The simulation control structure 300 adjusts the motion state of the master platform 101 and slave platform 102 according to the motion state information, so that the motion trajectories of the master platform 101 and slave platform 102 are corrected to the ideal motion trajectory.

[0050] In one possible implementation, the male socket of the wet-molecular connector is detachably mounted on the main platform 101, and the female socket of the wet-molecular connector is detachably mounted on the slave platform 102.

[0051] In some embodiments, see Figure 2Both the master platform 101 and the slave platform 102 include a first platform 103, a second platform 104, and six servo cylinders 105. The two first platforms 103 are arranged opposite each other, and the two second platforms 104 are respectively arranged on the opposite sides of the two first platforms 103. The six servo cylinders 105 are arranged between the first platform 103 and the second platform 104. One end of the servo cylinder 105 is hinged to the first platform 103, and the other end of the servo cylinder 105 is hinged to the second platform 104. In this way, both the master platform 101 and the slave platform 102 are six-degree-of-freedom platforms, realizing the simulation of various motion postures of the male and female seats of wet-plug connectors during docking in a marine environment. This reproduces the "dual-disturbance" coupling environment of low-frequency large-amplitude motion of the surface mother ship and high-frequency small-amplitude jitter of the underwater platform, so that the test conditions maintain dynamic consistency with the real ocean.

[0052] In one possible implementation, the master platform 101 and the slave platform 102 can both be six-degree-of-freedom parallel mechanisms, or they can both be six-degree-of-freedom series-parallel mechanisms.

[0053] In one possible implementation, one of the master platform 101 and the slave platform 102 can be a six-degree-of-freedom parallel mechanism, and the other of the master platform 101 and the slave platform 102 can be a six-degree-of-freedom series-parallel mechanism.

[0054] In one possible implementation, the load capacity of the main platform 101 can be no less than 350 kg, and the load capacity of the slave platform 102 can be no less than 60 kg.

[0055] In one possible implementation, the translational travel of the master platform 101 and the slave platform 102 in the X, Y, and Z axes can be 0 to 120 mm.

[0056] In one possible implementation, the attitude adjustment range of the master platform 101 and the slave platform 102 is ±5°.

[0057] In one possible implementation, the cross-section of the first platform 103 can be circular, or it can be oriented, or it can be other irregular shapes.

[0058] In one possible implementation, the cross-section of the second platform 104 can be circular, or it can be oriented, or it can be other irregular shapes.

[0059] In one possible implementation, see Figure 2 Multiple mounting seats are evenly arranged on the side walls of the two first platforms 103 that are close to each other. The male socket of the wet plug connector is installed on the first platform 103 of the main platform 101 through the mounting seats, and the female socket of the wet plug connector is installed on the first platform 103 of the secondary platform 102 through the mounting seats.

[0060] In some embodiments, the master platform 101 and the slave platform 102 may each include: a first platform 103, a second platform 104, and six hydraulic cylinders or six linear motors.

[0061] In some embodiments, see Figure 2 The servo electric cylinder 105 includes an electric cylinder 1051 and a servo motor 1052. One end of the electric cylinder 1051 is hinged to the first platform 103, and the other end is hinged to the second platform 104. The output end of the servo motor 1052 is connected to the power input end of the electric cylinder 1051 through a reducer 1053. This allows for precise adjustment of the motion states of the master platform 101 and the slave platform 102, achieving independent high-precision positioning and synchronous coordinated movement of the master platform 101 and the slave platform 102.

[0062] In one example, the servo motor 1052 and the reducer 1053 are located at one end of the electric cylinder 1051 near the second platform 104.

[0063] In some embodiments, see Figure 2 Monitoring structures 200 are respectively installed on the main platform 101 and the slave platform 102. Each monitoring structure 200 includes a tilt sensor 201 and a torque sensor 202. The tilt sensor 201 is installed on one of the first platform 103 and the second platform 104 and is electrically connected to the servo cylinder 105. The torque sensor 202 is installed on the servo cylinder 105 and is also electrically connected to it. This allows for real-time monitoring of the motion state information of the main platform 101 and the slave platform 102, facilitating the simulation control structure 300 to adjust the motion state of the main platform 101 and the slave platform 102 based on the monitored data.

[0064] In one possible implementation, the tilt sensor 201 is used to monitor the current attitude of the master platform 101 and the slave platform 102 in real time.

[0065] In one possible implementation, the torque sensor 202 is used to monitor the contact torque during the docking process between the master platform 101 and the slave platform 102 in real time.

[0066] In one possible implementation, the monitoring structure 200 also includes a grating ruler, which is mounted on the servo cylinder 105 and electrically connected to the servo cylinder 105. The grating ruler is used to monitor the displacement of the master platform 101 and the slave platform 102 in real time.

[0067] Understandably, the grating ruler detects the displacement of the main platform 101 and the slave platform 102 by detecting the extension of the piston rod of the servo electric cylinder 105.

[0068] In some embodiments, see Figure 2See also Figure 4 The simulation control structure 300 includes a digital simulation unit 301 and a motion controller 302. The digital simulation unit 301 receives motion data during connector docking and simulates the ideal motion trajectory based on the motion data. Motion controllers 302 are respectively installed on the main platform 101 and the slave platform 102. The motion controllers 302 are located on one of the first platform 103 and the second platform 104. The motion controllers 302 are electrically connected to the digital simulation unit 301 and the servo cylinder 105. The digital simulation unit 301 also generates random offsets. Thus, the motion controller 302 drives the main platform 101 and the slave platform 102 to move according to the ideal motion trajectory and random offsets generated by the digital simulation unit 301, achieving the reproduction of the "dual-disturbance" coupling environment of low-frequency large-amplitude motion of the surface mother ship and high-frequency small-amplitude jitter of the underwater platform, thereby improving the accuracy of the test results.

[0069] It should be noted that the digital simulation unit 301 receives sea state information, surface mother ship parameters, and empirical motion data during wet-plug connector docking. Based on the received information, the digital simulation unit 301 uses a fluid dynamics model to simulate and calculate the ideal motion trajectory of the main platform 101 and the slave platform 102, and transmits the ideal motion trajectory to the motion controller 302. The motion controller 302 uses a bidirectional mapping relationship model to convert the ideal motion trajectory into motion commands for the main platform 101 and the slave platform 102. Thus, the main platform 101 and the slave platform 102 move independently or collaboratively according to the ideal motion trajectory. The digital simulation unit 301 generates a random function... The motion controller 302 receives random offsets through a bidirectional mapping model and superimposes these random offsets onto the ideal motion trajectory, causing changes in the motion states of the master platform 101 and slave platform 102. The monitoring structure 200 monitors the motion state information of the master platform 101 and slave platform 102 in real time and sends the monitored motion state information to the motion controller 302 and the digital simulation unit 301. The motion controller 302 adjusts the motion states of the master platform 101 and slave platform 102 according to the motion state information, so that the motion trajectories of the master platform 101 and slave platform 102 are corrected to the ideal motion trajectory, forming a closed-loop verification between simulation and physical objects.

[0070] It is understandable that the digital simulation unit 301 generates random offsets at any time through a random function, and the motion states of the master platform 101 and the slave platform 102 change constantly.

[0071] In one possible implementation, the digital simulation unit 301 generates a random number sequence that conforms to a uniform or normal distribution through a random function, and transmits the random number sequence as random offsets to the motion controller 302 in sequence.

[0072] Furthermore, the male connector of the wet-molecular connector is mounted on the main platform 101, and the female connector is mounted on the slave platform 102. When the male and female connectors of the wet-molecular connector begin to mate, the guide mechanism of the male and female connectors of the wet-molecular connector generates a continuous lateral contact force due to the constantly changing motion states of the main platform 101 and the slave platform 102. The torque sensor 202 monitors the generated lateral contact force and feeds the monitoring data back to the motion controller 302 and the digital simulation unit 301. If the feedback lateral contact force exceeds the safety threshold of the wet-molecular connector, the motion controller 302 shuts down the main platform 101 and the slave platform 102, and the digital simulation unit 301 stops generating random offsets.

[0073] In some embodiments, see Figure 4 The digital simulation unit 301 includes a host computer, which is electrically connected to the motion controller 302. This enables remote control of the movement of the master platform 101 and the slave platform 102, improving the safety of simulation testing.

[0074] In one possible implementation, the host computer pre-installs fluid dynamics model software, bidirectional mapping model software, and random function software. For example, the fluid dynamics model software could be PERA SIM Fluid, the bidirectional mapping model software could be Simcenter STAR-CCM+, and the random function software could be MATLAB.

[0075] In some embodiments, see Figure 1 The docking simulation system also includes a support frame 400, which comprises multiple supports 401 and a truss 402. The supports 401 are all vertically oriented, and the truss 402 is positioned at the top of the supports 401. A guide rail 403 extending vertically is mounted on the truss 402, and the bottom end of the guide rail 403 is connected to the main platform 101. This allows for adjustment of the longitudinal position of the main platform 101, facilitating docking between the main platform 101 and the slave platform 102.

[0076] In one possible implementation, trusses 402 are provided at the top of two adjacent supports 401, and each truss 402 is provided with a vertically extending, liftable guide rail 403. The main platform 101 is located at the bottom of the guide rail 403 and is located below the truss 402.

[0077] In some embodiments, see Figure 1 See also Figure 3The docking simulation system also includes a ground rail platform 500, which is positioned below the truss 402. The slave platform 102 is slidably mounted on the ground rail platform 500. This allows for adjustment of the horizontal position of the slave platform 102, facilitating its movement below the main platform 101 and enabling docking between the main platform 101 and the slave platform 102.

[0078] In one possible implementation, the ground rail platform 500 is positioned between two adjacent supports 401 and below the guide rail 403.

[0079] Understandably, multiple trusses 402 can be mounted on multiple supports 401, each truss 402 has a guide rail 403, each guide rail 403 has a main platform 101 at its bottom, and each truss 402 has a ground rail platform 500 below it. Each ground rail platform 500 has a slidably mounted slave platform 102. Thus, the docking simulation system can include multiple sets of main platforms 101 and slave platforms 102, thereby enabling batch simulation testing.

[0080] In one possible implementation, the projections of the ground track 500 and the truss 402 onto the horizontal plane are perpendicular to each other.

[0081] In one possible implementation, the top of the ground rail platform 500 is provided with a guide rail extending along the axial direction, and a support plate is provided on the guide rail, which is detachably mounted on the top of the support plate from the platform 102.

[0082] In some embodiments, see Figure 4 The simulation control structure 300 may also include: a servo driver, a coupler, and a relay module. The motion controller 302 is electrically connected to the servo driver and the coupler respectively. The servo driver is electrically connected to the servo motor 1052. The coupler is electrically connected to the servo motor 1052 through the relay module.

[0083] It should be noted that the number of servo drives is the same as the number of servo motors 1052. Multiple servo drives are electrically connected to multiple servo motors 1052 in a one-to-one correspondence. Couplers are electrically connected to multiple servo motors 1052 simultaneously through relay modules.

[0084] In some embodiments, the six-degree-of-freedom platform structure 100 in this application can be replaced by a dual-arm robotic system.

[0085] In some embodiments, the bidirectional mapping relationship model in this application can be replaced by a model predictive control-based or deep learning-based neural network.

[0086] Furthermore, embodiments of this application also provide a simulation method for docking simulation systems, see [link to relevant documentation]. Figure 5The docking simulation system applied in any of the above embodiments, wherein the simulation method of the docking simulation system includes:

[0087] Obtain the random offset between the master platform 101 and the slave platform 102.

[0088] Based on the random offset, drive the main platform 101 and the slave platform 102 to move.

[0089] The current motion state information of the master platform 101 and the slave platform 102 is obtained, and the motion state of the master platform 101 and the slave platform 102 is adjusted so that the master platform 101 and the slave platform 102 move along a preset ideal motion trajectory.

[0090] In this embodiment, the ideal motion trajectories of the master platform 101 and slave platform 102 are preset in the host computer. The host computer transmits the ideal motion trajectories to the motion controller 302. The motion controller 302 drives the master platform 101 and slave platform 102 to move independently or collaboratively according to the ideal motion trajectories, thereby causing the male seat on the master platform 101 and the female seat on the slave platform 102 to move independently or collaboratively according to the ideal motion trajectories. The digital simulation unit 301 generates a random offset through a random function. The motion controller 302 superimposes the random offset onto the ideal motion trajectory, causing the motion state of the master platform 101 and slave platform 102 to change. The motion state information of the master platform 101 and slave platform 102 is monitored in real time by the monitoring structure 200. The motion controller 302 adjusts the motion state of the master platform 101 and slave platform 102 according to the motion state information, so that the motion trajectories of the master platform 101 and slave platform 102 are corrected to the ideal motion trajectory.

[0091] When the male and female connectors begin to dock, the digital simulation unit 301 continuously generates random offsets. The motion controller 302 drives the master platform 101 and slave platform 102 to generate corresponding lateral swings, causing the motion states of the master platform 101 and slave platform 102 to change constantly, which in turn causes the motion states of the male and female connectors to change constantly. The male and female connectors generate continuous lateral contact forces. The monitoring structure 200 monitors the generated lateral contact forces in real time and feeds the monitoring data back to the motion controller 302, causing the motion controller 302 to adjust the motion states of the master platform 101 and slave platform 102. If the feedback lateral contact force does not exceed the safety threshold of the wet-plug connector, the motion controller 302 drives the master platform 101 and slave platform 102 to complete the docking test. If the feedback lateral contact force exceeds the safety threshold of the wet-plug connector, the motion controller 302 shuts down the master platform 101 and slave platform 102, and the digital simulation unit 301 stops generating random offsets.

[0092] In some embodiments, driving the master platform 101 and the slave platform 102 to move according to a random offset includes:

[0093] In response to obtaining the ideal motion trajectory of the master platform 101 and the slave platform 102, the master platform 101 and the slave platform 102 are driven to move according to the ideal motion trajectory and the random offset.

[0094] In this embodiment, sea state information, surface mother ship parameters, and empirical motion data during wet-plug connector docking are pre-input into the fluid dynamics model software in the host computer. The ideal motion trajectory of the master platform 101 and slave platform 102 is obtained through simulation calculation by the fluid dynamics model software. The motion controller 302 drives the master platform 101 and slave platform 102 to move independently or collaboratively according to the ideal motion trajectory.

[0095] The random number sequence that conforms to a uniform or normal distribution is generated by the random function software in the host computer, and the random number sequence is transmitted to the motion controller 302 in sequence as random offset. The motion controller 302 superimposes the random offset on the ideal motion trajectory, drives the main platform 101 and the slave platform 102 to move, so that the motion state of the main platform 101 and the slave platform 102 changes.

[0096] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," and "some embodiments" used in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0097] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A docking simulation system, characterized in that, include: A six-degree-of-freedom platform structure (100), a monitoring structure (200), and a simulation control structure (300); The six-degree-of-freedom platform structure (100) is electrically connected to the monitoring structure (200) and the simulation control structure (300) respectively. The six-degree-of-freedom platform structure (100) includes a main platform (101) and a slave platform (102) set below the main platform (101). The monitoring structure (200) is electrically connected to the simulation control structure (300). The monitoring structure (200) is used to acquire the motion status information of the main platform (101) and the slave platform (102) and send it to the simulation control structure (300). The simulation control structure (300) is used to drive the main platform (101) and the slave platform (102) to move according to the preset ideal motion trajectory and the generated random offset, and in combination with the motion state information.

2. The docking simulation system according to claim 1, characterized in that, Both the main platform (101) and the slave platform (102) include: The first platform (103) is set opposite to the other platform (103); The second platform (104) is located on the side of the two first platforms (103) that are far apart from each other; Six servo electric cylinders (105) are arranged between the first platform (103) and the second platform (104). One end of each servo electric cylinder (105) is hinged to the first platform (103), and the other end of each servo electric cylinder (105) is hinged to the second platform (104).

3. The docking simulation system according to claim 2, characterized in that, The servo electric cylinder (105) includes: An electric cylinder (1051) is provided, with one end of the electric cylinder (1051) hinged to the first platform (103) and the other end of the electric cylinder (1051) hinged to the second platform (104). A servo motor (1052) is provided, the output of which is connected to the power input of the electric cylinder (1051) via a reducer (1053).

4. The docking simulation system according to claim 2, characterized in that, The main platform (101) and the slave platform (102) are respectively provided with the monitoring structure (200), and the monitoring structure (200) includes: An inclination sensor (201) is disposed on one of the first platform (103) and the second platform (104), and the inclination sensor (201) is electrically connected to the servo electric cylinder (105); A torque sensor (202) is disposed on the servo electric cylinder (105) and is electrically connected to the servo electric cylinder (105).

5. The docking simulation system according to claim 2, characterized in that, The simulation control structure (300) includes: A digital simulation unit (301) is used to receive motion data during connector docking and to simulate the ideal motion trajectory based on the motion data. Motion controller (302), the main platform (101) and the slave platform (102) are respectively provided with motion controller (302), the motion controller (302) is provided on one of the first platform (103) and the second platform (104), and the motion controller (302) is electrically connected to the digital simulation unit (301) and the servo electric cylinder (105) respectively; The digital simulation unit (301) is also used to generate the random offset.

6. The docking simulation system according to claim 5, characterized in that, The digital simulation unit (301) includes a host computer, which is electrically connected to the motion controller (302).

7. The docking simulation system according to claim 1, characterized in that, It also includes a support frame (400), the support frame (400) comprising: Multiple supports (401) are provided, all of which are arranged in a vertical direction; A truss (402) is disposed at the top of the plurality of supports (401); The truss (402) is provided with a guide rail (403) extending in the vertical direction, and the bottom end of the guide rail (403) is connected to the main platform (101).

8. The docking simulation system according to claim 7, characterized in that, Also includes: A ground rail platform (500) is disposed below the truss (402), and the platform (102) is slidably disposed on the ground rail platform (500).

9. A simulation method for a docking simulation system, characterized in that, The method, applied to the docking simulation system according to any one of claims 1-8, comprises: Obtain the random offset between the master platform (101) and the slave platform (102); The main platform (101) and the slave platform (102) are driven to move according to the random offset; Obtain the current motion state information of the main platform (101) and the slave platform (102), and adjust the motion state of the main platform (101) and the slave platform (102) so that the main platform (101) and the slave platform (102) move along a preset ideal motion trajectory.

10. The simulation method for the docking simulation system according to claim 9, characterized in that, The step of driving the main platform (101) and the slave platform (102) to move according to the random offset includes: In response to obtaining the ideal motion trajectory of the master platform (101) and the slave platform (102), the master platform (101) and the slave platform (102) are driven to move according to the ideal motion trajectory and the random offset.

Images