Research Of Ship Motion Simulator Control Technology

The parallel structured ship motion simulator is able to simulate the motion of ship in libratory to test the performance of shipboard instruments. It can reduce the number of experiments at sea. For the ship motion simulator has advantages of safety and economic, study the key technologies of the ship motion simulator have great significance. This paper mainly researched the system design, kinematics, workspace and control algorithm for the ship motion simulator.In this paper, after theoretical analysis of a large number of domestic and foreign literatures, according to the design index, the design of mechanical structure and control system was implemented. Firstly, the parameters of the mechanical structure were optimized by the virtual prototype method and parameter-subsection-compages search algrithm. The electric cylinder control system was constructed by industry PC and montion control card, the software was also programed to complete the design of position servo control system. On this basis, the kinematics was analysised. A modified Euler angle representation was promoted to avoid the coupling between standard Euler angles. After analysised the inverse and forward kinematics of the simulator, the orientation workspace of the simulator was calculated in a cylindrical coordinate system and the CP trajectory planning was studied. Then, using the parametric design method, a multi-domain simulation model was constructed and linearized. To overcome the interface problem between different softwares, the construction of the simulation model was entirely implemented in the Simulink environment which has high efficiency. The multi-domain simulation model could be used in inverse kinematics analysis, trajectory tracking and controller simulation, the controller module can be switched between different control methods to compare the control effectiveness conveniently.Finally, the ADRC controller of ship motion simulator was designed. The structure of the ADRC controller and each part's functions was analysised. The Simulink model of the ADRC was constructed by S-function and the parameters of ADRC controller were obtained using the 3D graphic analysis method. The comparison of the trajectory tracking experiments results between PID and ADRC indicated that the ADRC controller has high steady-state accuracy and anti-interference capability to better meet the motion control requirements.