Reserch On Miniature Ship Motion Simulator

Ship motion simulator is a key equipment used for simulating ship swinging conditions in sailing, which can simulate the swing state in the laboratory so as to provide the dynamic and static performance test conditions for the ship machinery and instruments. Compared with ship tests in the sea, there are some advantages of controllability, non-destructibility and economy. Developments and applications of large ship motion simulator represented by 6-DOF parallel platform have received extensively attention, and at the same time research on the miniature ship motion simulators has also begun to be concerned. Since the miniature ship motion simulator has advantages of high accuracy, low cost and short development cycle, carrying out in-depth research on relevant theories and designing ship motion simulators of superior performance is of great importance to improve the technology level of marine equipments in China.In this paper, the theories of coordinate transformation, inverse kinematics , forward kinematics of motion simulator and freedom degrees of space mechanism are presented as starting point, the research on the design scheme of a miniature dynamoelectric ship motion simulator is conducted. Kinematics analysis is made to the simulator, and in order to test the rationality of structure and the validity of mathematic model, the simulation software ADAMS is used to do the kinematics simulation. The technology of modular control is applied with the MPC02 control card is used as the core, and the master-slave control structure is adopted between the card and the PC. While the PC is in charge of works like human-computer interface management and real-time monitoring in control system, the control card completes all the details of motion control, which can greatly increase the reliability of the system and shorten the development cycle of motion simulator. Finally a prototype of the control system of the simulator is made for a test and we try to control the motions of three driving slide blocks on the straight-leadscrew in various forms at the same time, which verifies the feasibility of the ship motion simulator control system and will provide experience for the development of miniature ship motion simulator.