99基于并联机构的船舶海浪补偿平台仿真分析戴俊1，荆学东2，李诚2，詹佳3（1.海装沈阳局驻葫芦岛地区军事代表室，辽宁葫芦岛125004；2.上海应用技术大学，上海201418；3.上海船舶设备研究所，上海200031）摘要：将基于Stewart的并联机构应用到船舶海浪补偿，利用并联平台负载大、运动精度高等优点，使海上作业设备在海浪持续且复杂的扰动下能够精确、稳定地进行作业。为验证并联平台的快速调姿的可行性与准确性，通过Adams/Control模块和MATLAB/Simulink模块库搭建控制系统，通过PID调节误差，控制并联平台的运动，达到快速调整位姿的目的。通过对并联机构的仿真分析，并联机构具有快速，精确调姿的能力，为应用到海浪补偿系统提供了理论依据。关键词：并联机构；海浪补偿；Adams；Simulink；PID中图分类号：U664.82文献标志码：ADOI：10.16443/j.cnki.31-1420.2023.03.020SimulationAnalysisofShipWaveCompensationPlatformBasedonParallelMechanismDAIJun1,JINGXuedong2,LICheng2,ZHANJia3(1.NavyMilitaryRepresentativeDepartmentofShenyangBureauinHuludao,Huludao125004,Liaoning,China;2.ShanghaiInstituteofTechnology,Shanghai201418,China;3.ShanghaiMarineEquipmentResearchInstitute,Shanghai200031,China)Abstract:TheparallelmechanismbasedonStewartisappliedtotheship'swavecompensation,andtheadvantagesoftheparallelplatform'slargeloadandhighmotionaccuracyareusedsothattheoffshoreoperationequipmentcanoperateaccuratelyandstablyunderthecontinuousandcomplexdisturbanceofthewaves.Inordertoverifythefeasibilityandaccuracyoftherapidattitudeadjustmentoftheparallelplatform,acontrolsystemisbuiltthroughAdams/ControlmoduleandMATLAB/Simulinkmodulelibraryandtheerrorisadjustedthroughproportionintegraldifferential(PID)tocontrolthemovementoftheparallelplatformtoachievethepurposeofquicklyadjustingtheattitude.Throughthesimulationanalysisoftheparallelmechanism,theparallelmechanismhastheabilitytoadjusttheattitudequicklyandaccurately,whichprovidesatheoreticalbasisfortheapplicationtothewavecompensationsystem.Keywords:parallelmechanism;wavecompensation;Adams;Simulink;proportionintegraldifferential(PID)0引言21世纪是海洋世纪，是人类全面认识、开发利用和保护海洋的新世纪[1]。随着...
