使用 6 自由度 Gough-Stewart 并联机器人模拟船舶振动再生系统的研究

Q4 Engineering

Journal of Automation, Mobile Robotics and Intelligent Systems Pub Date : 2024-06-04 DOI:10.14313/jamris/2-2024/10

Anh Nguyen Duc, Nguyen Quang Vinh

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引用次数: 0

摘要

本文介绍了基于具有 6 自由度高夫-斯图尔特形式的并联机器人建立模型以再现船舶振动的研究成果。模拟软件计算出的船舶重心处的振动数据将作为模型的输入。再生控制系统使用一个简单的 PID 控制器来控制输入轨迹跟踪。Matlab/Simulink 软件的仿真结果表明，在允许误差范围内再现了船舶振动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Research to Simulate the Ship’s Vibration Regeneration System using a 6-Degree Freedom Gough-Stewart Parallel Robot

This article presents research results on building a model to reproduce ship vibrations based on a Parallel robot with 6 degrees of freedom Gough – Stewart form. Vibration data at the ship’s center of gravity calculated by simulation software will be the input to the model. The regenerative control system uses a simple PID controller to control input trajectory tracking. Simulation results on Matlab/Simulink software have demonstrated the reproduction of ship vibrations within the allowable error.

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来源期刊

Journal of Automation, Mobile Robotics and Intelligent Systems Engineering-Control and Systems Engineering

CiteScore

1.10

自引率

0.00%

发文量

期刊介绍： Fundamentals of automation and robotics Applied automatics Mobile robots control Distributed systems Navigation Mechatronics systems in robotics Sensors and actuators Data transmission Biomechatronics Mobile computing