Title :
A ship active vibration isolation system based on a novel 5-DOF parallel mechanism
Author :
Jun Guo ; Guotao Li ; Bing Li ; Shuai Wang
Author_Institution :
Key Eng. Lab. of Ind. Robots & Syst., Harbin Inst. of Technol., Shenzhen, China
Abstract :
Based on the ship vibration motion characteristics, in this paper, it has put forward a new kind of 3 rotations and 2 translations five degrees of freedom parallel mechanism, the 4-CPS/RPS, which suites for shipboard active vibration isolation. The inverse kinematic solution of the 4-CPS/RPS is obtained, the dynamics model is established by using Lagrange method; Then the wave model and ship motion gestures are simulated, the PID control and the force-position redundant control are further researched; finally the Adams-Simulink joint simulation is used to verify the correctness of the PID control and the force-position redundant control.
Keywords :
force control; motion control; position control; ships; simulation; three-term control; vibration isolation; 4-CPS/RPS; 5-DOF parallel mechanism; Adams-Simulink joint simulation; Lagrange method; PID control; force-position redundant control; inverse kinematic solution; ship active vibration isolation system; ship vibration motion characteristics; Dynamics; Equations; Joints; Marine vehicles; Mathematical model; PD control; Vibrations; 4-CPS/RPS; Adams-Simulink Joint Simulation; PID Control and Force-Position Redundant Control; Parallel Mechanism; Ship Motion Simulation;
Conference_Titel :
Information and Automation (ICIA), 2014 IEEE International Conference on
Conference_Location :
Hailar
DOI :
10.1109/ICInfA.2014.6932761
