Design Of6-DOF Parallel Ship Motion Simulator And Research Of Its Control System

Parallel ship motion simulator is a rapid development, widely used typical motionsimulator, and its’ characteristics are energy conservation, economy, safety, controllable etc.In the laboratory parallel ship motion simulator can simulate a ship’s swaying attitude, and itcan experiment on land with put ship-borne weapons and equipment instrument on shipmotion simulator, so as to reduce the cost and research cycle. Therefore it is very importantto do the ship motion simulator key technologies research.The design is complexity for parallel ship motion simulator structure and controlsystem is diversification, this paper put forward a project that combining Stewart parallelstructure based on modular design with open control system based on EMC2controller, andit make a specific design of mechanical structure and control system according to the designparameters of parallel ship motion simulator. This study mainly includes the followingaspects:Firstly, kinematic analysis of parallel ship motion simulator, established the inversemathematical model with the Euler Angle coordinate transformation method, described thespatial relationships between moving platform, telescopic rod and fixed platform of parallelship motion simulator, utilizes Matlab simulation software and numerical analysis method tosolve the workspace of the parallel ship motion simulator.Secondly, designed moving platform module, fixed platform module and telescopic rodmodule based on the modular design and motion analysis results, according to designspecifications and the actual situation of the parallel ship motion simulator designed a ballhinges, a universal hinge, and the electric servo cylinder with modular characteristics, andutilize UG software to create three-dimensional model of the parallel ship motion simulator.Thirdly, utilized the frequency domain analysis and time domain analysis to obtain theresponse function between the wave action and ship swaying motion equation in irregularwaves, and got movement samples of the ship under100t including rolling, pitching andheaving sample through practical calculation when the ship sailing within180s in China’scoastal areas during sea condition is level6.Lastly, designed the control system of the six degrees of freedom parallel ship motionsimulator based on the EMC2open control system, compiled the kinematics module ofEMC2controller with C language according to the previous inverse mathematical model, configured the INI and HAL files of EMC2controller on the basis of the parameters ofparallel ship motion simulator, utilized G code to compile the program of ship motionsample, and simulated the ship motion in the designed EMC2controller. Finally, utilizedEMC2controller to successfully control the moving platform of3-DOF parallel mechanismmodel，which realized three degrees of freedom movement.