Simulation of vessel oscillation using parallel robot41 views
Keywords:Parallel robots; Kinematics; Reproducing the ship's oscillations; Oscillation simulation.
This paper presents the research results of building a model for reproducing the vessel's oscillations based on a Gough - Stewart parallel robot with 6 degrees. Oscillation data at the vessel's center of gravity calculated by simulation software will be input to the model. The control system uses a simple PID controller to track the input trajectory. The simulation results on Matlab/Simulink software have shown the reproducing of vessel oscillations with the allowed error.
. Charles C., et al, “Analysis and implementation of a 6 DOF Stewart Platform-based robotic wrist,” Computers & electrical engineering 17.3, pp. 191-203, (1991).
. Fossen, T. I, “Handbook of marine craft hydrodynamics and motion control,” John Wiley & Sons, pp. 200-220, (2011).
. Trương Sĩ Cáp, Lê Hồng Bang, “Động lực học tàu biển trên sóng,” Đại học Hàng Hải Việt Nam (2001).
. Faltinsen O., “Sea Loads on Ships and Oﬀshore”, Cambridge University Press, ISBN-10: 0521458706, (1993).
. Ghadimi P., Abbas D., and Yaser F. M., “Initiating a Mathematical Model for Prediction of
-DOF Motion of Planing Crafts in Regular Wave”, Hindawi Publishing Corporation
International Journal of Engineering Mathematics, , Article ID 853793, (2013).
. Hamid D. Taghirad, “Parallel Robots: Mechanics and Control”, CRC Press, ISBN-10: 1138077380, ISBN-13: 978-1138077386, (2017).
. Lewis E.V. “Principles of Naval Architecture volume III: Motions in Waves and Controllability” SNAME, (1989).
. MIT, “Water waves”. http://web.mit.edu/13.021/demos/lectures/lecture19.pdf.
. Trần Công Nghị, “ Lý thuyết tàu thủy,” Đại học Giao thông vận tải TP Hồ Chí Minh, tr. 190-196, (2009).
. Nikolai Kornev, “Ship dynamics in waves”, https://www.lemos.uni-rostock.de/storages/uni-rostock/Alle_MSF/Lemos/Lehre/Sommersemester/Dynamik_ST_II/STII_Ship_dynamics_in_waves.pdf
. Skandali, Danai, “Identification of response amplitude operators for ships based on full scale measurements,” Delft: Heerema Marine Contractors, (2015).
. Shashwat S., Anindya C., “Planar oscillations of a boat in a tank”, International Journal of Mechanical Sciences 79, pp. 152–161, (2014).
. Nguyen Thanh Son, Hoang Quang Chinh, Nguyen Dinh Quan, “Investigation on offshore access stabilization Systems-Simulation using the blockset SimMechanics in Matlab/Simulink,” J. of Science and Technique, Military Technical Academy, Vol. 183, pp. 88-100, (2017).
. Yang S., Yan L., Mingxia Z. and Pinle Q., “The simulation of ship oscillatory motions in irregular waves”, Applied Mechanics and Materials Vols 66-68, pp 1296-1300, (2011).
. Yang S., Wang X., Chen G. “Design and Implement on Intelligent Ship Handling Simulator”, International Conference on Digital Manufacturing & Automation, (2010).
. Zhang X., Jin Y., Yin Y., Ren H., Liu X., “Ship Motion Modeling and Simulation in Ship Handling Simulator”, International Conference on Audio, Language and Image Processing, Proceedings, (2012).
. “Coriolis force”, https://en.wikipedia.org/wiki/Coriolis_force.