基于并联机构的船舶运动模拟控制器设计与仿真

基于Stewart并联机构设计六自由度船舶运动模拟器，推导模拟器在给定运动位姿下驱动支链伸缩量的逆解算法。以垂荡-纵摇耦合运动为例，联合MATLAB/Simulink和SimMechanics构建运动模拟器仿真模型，并建立基于PID控制算法的驱动模型。为有效提高模拟器运动精度，基于模糊PID控制算法，应用模糊规则和推理方法对PID参数进行在线整定，设计相应的模糊控制器。结果表明：对波浪运动模拟器实施模糊PID控制后，计算得到的驱动支链伸缩位移误差能较快达到稳定值，稳定后误差明显比经典PID控制算法低。

Design and Simulation of Ship Motion Simulation Controller Based on Parallel Mechanism

Based on Stewart parallel mechanism, a 6-DOF ship motion simulation platform was designed, and the inverse solution algorithm of the expansion and contraction of the driving branch chain of the platform under the given motion position and posture was derived. Taking the ship heave pitch coupling motion as an example, the ship motion simulation model was constructed by combining MATLAB/Simulink and SimMechanics, and the driving model based on PID control algorithm was established. In order to effectively improve the motion accuracy of the simulation platform, based on fuzzy PID control algorithm, the fuzzy rules and reasoning method were used to adjust the PID parameters online, and the corresponding fuzzy controller was designed.The results show that the calculated displacement error of the driving branch chain can reach the stable value quickly by using the Fuzzy PID control, and the error value after stabilization is obviously reduced compared with the traditional PID control algorithm.