Research On Marine Parallel Stabilized Platform

When the ship sailing on the sea, due to the wind, waves and currents, tide and otherharsh environments, the ship will inevitably produce6-DOF movement, which containsrolling, pitching, yawing, sway, surge and heave. It can lead to non-normal use of someimportant ship-borne weapons. As a device placed in a moving vehicle, stable platform hasthe function of isolating disturbance of moving objects. Moreover, it has a relatively widerange of uses in the aerospace, industrial control, military and commercial vessels.In order to effectively reduce the influence on ship-borne radar caused by themovement of hull. From the point of view of application innovation, this article proposedthe parallel stable platform which is created on board to provide a real-time compensationfunction of wave motion. Compared with traditional stable platform, this parallel stableplatform not only has following advantages: a high load carrying capacity, large stiffness, asimple and stable structure, high precision, easy to implement high-speed movement, andeasy to reach inverse solution. It also able to compensate the6-DOF movement of the ship,so that the stability of the stable platform can get a better guarantee to improve theoperational capability of the ship at sea. And by the same time, it will rich the parallelinstitutions in industrial production. Therefore, the subject is of great practical significanceand research value. The paper is focused on the following aspects:Firstly, structure-design was carried out on the parallel stable platform based on6-UPSparallel Stewart platform. Determining the location of each hinge point on up and downplatform.Secondly, kinematic analysis was carried out on the parallel stable platform. In this step,it needs to define the coordinate system. Then it deduces the conditions of the stabilizedplatform isolating the hull motion and get the length function of the legs in MATLAB.Thirdly, motion simulation was carried out on the parallel stable platform, after thekinematic analysis, establish virtual prototype model of parallel stable platform in Adams.Then importing the law of motion of each driven rod obtained from MATLAB into Adamsto verify the correctness the conditions of the stabilized platform isolating the hull motion.Fourthly, mathematical model of ship wave motion is set up. Time series analysis ofship movements is carried out to do very short-term forecast. And the optimal AR predictionmodel is established to lay the foundation for the further study of the forecast controlsystem.Fifthly, designing the hydraulic drive system of parallel stable platform, calculating the hydraulic components’ parameters and establishing the hydraulic system model of theparallel stable platform based on Adams/Hydraulics modules.Sixthly, co-simulation of the parallel stable platform which uses MATLAB and Adamsis done to illustrate the feasibility of application of a parallel mechanism to the field ofship-borne stable platform.