【摘要】 为了研究在一定海况下船舶起重机工作时如何消除吊钩摆动的问题,设计了由液压系统驱动的六自由度仿真平台来模拟海洋中船舶甲板的运动。在三维软件环境中进行平台的设计;导入MSC ADAMS软件进行运动学仿真;采用AMESim软件建立平台液压驱动系统模型,并与MSC ADAMS平台模型进行联合仿真,建立油缸运动的闭环控制。联合仿真结果表明:设计的平台可以模拟船舶在海洋中的各种运动,垂荡幅度达0.1米,横摇5度和纵摇角度达2度,并可同时实现垂荡和横摇等运动控制。该平台的设计仿真为真实的船舶运动模拟平台的设计制造提供了理论依据,为下一步船舶起重机吊钩消摆研究奠定基础。更多还原

【Abstract】 In order to study the problem of eliminating the hook swing when the ship works under certain sea condition, the six degree of freedom simulation platform driven by hydraulic system is designed to simulate the movement of the ship’s deck in the ocean. The 3D software is used to design the platform; the MSC ADAMS software is used to carry out the kinematics simulation. The AMESim software is used to build the platform hydraulic drive system model. Then co-simulation between the MSC ADAMS model and the AMESim model is done and the closed-loop control of the cylinders is built. The simulation results show that the platform can simulate various kinds of motion of the ship in the sea, and its heave amplitude is 0.1 meters, and the roll angle of 5degrees and pitch angle of 2 degrees. Heaving and rolling motion control can be achieved. The design and simulation of the platform provide a theoretical basis for real ship motion simulation platform design and manufacture and lay the foundation for the further anti-swing control of the ship crane.更多还原