摘要
以三自由度波浪补偿控制平台为研究对象,探索其在横摇、纵摇及垂荡三种运动的复合运动下的运动特性。分析该补偿装置平台的空间结构和空间姿态的位置解算,使用ADAMS软件完成了平台在复合运动下的运动学正、逆解及动力学仿真与分析。结果表明:该装置平台的正、反解完全吻合,这为后期物理样机控制系统的建立奠定了基础。
In this paper, the motion characteristics of the 3-DOF wave compensation control platform under combined motion of rolling,pitching and heaving were explored. The space structure and spatial position solution of the platform were analyzed, and the motion state of the three degree of freedom platform was simulated by use of ADAMS. The results show that the positive results fit the reverse results perfectly, which may lay a foundation for the establishment of the control system of the physical prototype.
出处
《机械工程与自动化》
2017年第5期91-93,共3页
Mechanical Engineering & Automation
关键词
运动学
动力学
仿真
浮式起重机
补偿装置平台
kinematics
dynamics
simulation
floating crane
wave compensation
plateform
