非惯性系下舰载稳定平台动力学建模与分析

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摘要为解决舰船在恶劣海况下产生的大幅度、多维度的不规则摇荡运动，提出了一种6-DOF并联平台隔离舰船运动的方案，并对该方案的动力学特性进行了深入研究。首先，基于矢量关系推导该平台构件在惯性坐标下的速度、Jacobi矩阵和能量方程式，由拉格朗日方程和虚功原理得到其在非惯性系下的显式动力学方程。其次，利用Adams搭建该平台的虚拟缩比模型，采用P-M波谱和RAO模拟复杂海况下舰船的摇荡运动，基于Simulink实现MATLAB与Adams联合仿真。最后，计算分析5级海况下的运动实例，理论结果与仿真结果的驱动力误差在0.11%内，验证了本文动力学模型的正确性，且计算结果表明，平台可分别补偿船舶95.7%、97.7%和87.9%的横、纵和艏摇运动，验证了所提方案的有效性。研究结果对非惯性系下舰载稳定平台的动力学控制具有指导意义。

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	仇伟晗
	牛安琪
	王生海
	邱建超
	范昆龙
	陈海泉

关键词 ：非惯性系, 拉格朗日动力学建模, 虚功原理, 显示动力学方程, 联合仿真

Abstract：In order to solve the large magnitude and multi-dimensional irregular rocking motions generated by ships in bad sea conditions, a 6-DOF parallel platform is proposed to isolate the ship's motion, and the dynamics characteristics of the scheme are thoroughly investigated. Firstly, the velocity, Jacobi matrix, and energy equations of the platform member in inertial coordinates are derived based on vector relations, and its explicit dynamical equations in a non-inertial system are obtained from the Lagrange equation and the principle of virtual work. Secondly, Adams is used to build a virtual scaling model of the platform, and P-M wave spectrum and RAO are used to simulate the rocking motion of the ship under a complex sea state, and the co-simulation of MATLAB and Adams is realized based on Simulink. Finally, the motion examples under 5 levels of sea state are calculated and analyzed, and the driving force error between the theoretical results and the simulation results is within 0.11%, which verifies the correctness of the dynamics model in this paper, and the computational results show that the platform can compensate the ship's roll, pitch, and yaw rocking motions by 95.7%, 97.7%, and 87.9%, respectively, which verifies the validity of the proposed scheme. The research results are of guidance for the dynamics control of the Ship-borne stabilized platform in the non-inertial system.

Key words： non-inertial system Lagrangian dynamics modeling virtual work principle explicit dynamical equations co-simulation

收稿日期: 2023-06-26 出版日期: 2024-05-15

引用本文:

仇伟晗，牛安琪，王生海，邱建超，范昆龙，陈海泉. 非惯性系下舰载稳定平台动力学建模与分析[J]. 振动与冲击, 2024, 43(9): 186-194.
QIU Weihan, NIU Anqi, WANG Shenghai, QIU Jianchao, FAN Kunlong, CHEN Haiquan. Dynamic modeling and analysis of shipborne stable platforms in non-inertial system. JOURNAL OF VIBRATION AND SHOCK, 2024, 43(9): 186-194.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2024/V43/I9/186

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