摘要随着计算机成像技术的迅速发展，船舶模拟器和飞行模拟器已成为虚拟现实系统成功应用的范例。其中，六自由度船舶模拟器更是成为船舶模拟仿真领域的研究热点。通过软件仿真的方法，模拟船舶在不同海况下的运动位姿，分析船舶的运动规律，研究船舶的控制方法可以缩减研究的成本和周期，降低海上实验的风险。86544

本文的主要研究对象是六自由度船舶模拟器仿真控制软件的设计与实现，软件根据用户输入的航行环境，船舶特性等参数经过船舶运动模型仿真出六自由度船舶运动学位置姿态参数，再通过求解其运动的反解并驱动虚拟平台执行仿真运动。本文首先对并联六自由度平台运动学进行分析，然后使用C++语言实现了其反解算法，最后基于OpenGL绘制的仿真平台能够针对不同的船舶运动数学模型快速地在三维场景中演示出模型的仿真效果。软件由船舶运动模型仿真模块，六自由度运动学解算，三维虚拟Stewart平台等部分组成，使用VC++语言编写，三维模型与场景的绘制由OpenGL完成。 

毕业论文关键词：船舶；六自由度； 模拟器； 虚拟仿真

Abstract With the rapid development of computer imaging technology, ship simulator and flight simulator has become an example of the successful application of virtual reality systems。 Among them, six degrees of freedom Ship Simulator is become a hot topic in the field of ship simulation。 Through software simulation method to simulate a ship at sea under different conditions of movement Pose, analyze the movement of the ship, the ship's control study method can reduce research costs and cycle time, reduce the risk of maritime experiments。

The main object of this study is to design and implement six degrees of freedom control ship simulator software simulation software based on user input navigation environment, characteristics of the ship after ship motion parameters such as the six degrees of freedom simulation model of the ship position and attitude kinematic parameters, and through solving inverse solution of its movement and drive the implementation of a virtual platform simulation exercise。 This article firstly analysis six degree of freedom parallel platform kinematics , using the C ++ language and its inverse solution algorithm based on OpenGL rendering the final simulation platform to quickly demonstrate in a three-dimensional scene simulation models for different ship motion mathematical model effect。 Software by the ship motion model simulation modules, six degrees of freedom kinematics solver, three-dimensional virtual part of the Stewart platform and other components, using VC ++ language, rendering three-dimensional models and scenes performed by OpenGL。

Key Words: Ship; Control System; 6DOF; Simulation；OpenGL

目 录

第一章 绪论 1

1。1背景及意义 1

1。2 相关技术研究现状 1

1。2。1并联机器人概述 1

1。2。2 Stewart平台模拟器 2

1。2。3 机器人系统建模与仿真 3

1。3本文主要内容 4

第二章 并联六自由度平台运动学分析 6

2。1 引言 6

2。2坐标系 6

2。3坐标变换 7

2。3。1 欧拉角 7

2。3。2 坐标变换 7

2。3。3 平台铰点坐标