CN107434010B - A kind of electronic wave Active Compensation, which is stepped on, multiplies system and its control method - Google Patents
A kind of electronic wave Active Compensation, which is stepped on, multiplies system and its control method Download PDFInfo
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- CN107434010B CN107434010B CN201710880450.8A CN201710880450A CN107434010B CN 107434010 B CN107434010 B CN 107434010B CN 201710880450 A CN201710880450 A CN 201710880450A CN 107434010 B CN107434010 B CN 107434010B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/30—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/005—Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations
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Abstract
Electronic wave Active Compensation of the invention a kind of, which is stepped on, multiplies system and its control method is related to field of ocean engineering；The system includes roll compensation mechanism, pitch compensation mechanism, flexible compensation mechanism, pose detection system, kinetic control system and electrical system；This method includes being connected on the deck of hull by pedestal；The end of the system is placed on afloat fan platform, because hull is influenced by wave, so the variation of posture and position can occur for hull, position and the attitudes vibration parameter of hull variation are detected by pose detection system, provide control information feedback to kinetic control system；Kinetic control system is according to the parameter of pose detection system, it is calculated by Models computed and motion control, real-time control roll compensation mechanism, pitch compensation mechanism and flexible compensation mechanism actively compensate wave, the present invention, which is realized, carries out Active Compensation to wave, and then ensures that maintenance personal securely and reliably goes on offshore wind turbine platform.
Description
Technical field
Electronic wave Active Compensation of the invention a kind of, which is stepped on, multiplies system and its control method is related to field of ocean engineering.
Background technique
Wind-power electricity generation is that technology is most mature in new energy field, most exploit condition and most promising generation mode
One of, various countries regard it as most important component part in new energy strategy one after another.China's offshore wind energy resource is abundant, and coastal waters 5 is arrived
25 meters of water depth lines are with about 200,000,000 kilowatts of inner region installed capacity, and there are also more abundant wind-resources for off-lying sea.Offshore wind turbine development by
It is limited to the mounting shipping resource that one of condition lacks profession, offshore construction is at high cost, risk is big.Country pays high attention to offshore wind farm
Development, gone on a journey successively some policy papers and regulation, to promote offshore wind farm stable development.Phase is built with landwid electric field
Than marine wind electric field will be in face of the test of the multiple load such as stormy waves stream, and environmental condition is more complicated, and technological development difficulty is bigger, face
Face many new challenges.Currently, intertidal zone, subtidal zone mudflat wind electric field and offshore wind farms, these depth of waters are no more than 50 meters
Marine wind electric field, the most commonly used is fixed foundation structure form, axial fan hub height 80m~110m.Fan platform is frequently necessary to
Maintenance and maintenance, however marine stormy waves reason, personnel are from ship to having very big risk on platform, it is also very desirable to mend at sea
Platform is repaid to be transported to personnel and equipment safety on fan platform from ship.
Sea, which is stepped on, at present multiplies system and belongs to blank at home, and at sea floating drilling platform and marine lifting equipment have for we
Relevant wave active compensation techniques, during the lifting of marine load, wave changes the messenger to lifting equipment
Speed is controlled, and then realizes the compensation of wave, and the freedom degree controlled is very few, usually single-degree-of-freedom；It seriously affects
Sea, which is stepped on to take the opportunity, steps on the safety for multiplying personnel.
Summary of the invention
For deficiency present in currently available technology, steps on to multiply the present invention provides a kind of electronic wave Active Compensation and be
System and its control method, posture and displacement detecting after capable of in real time being influenced hull by wave come out, freely by control three
The Active Compensation that motor drive mechanism realizes wave is spent, and then ensures that maintenance personal securely and reliably goes on offshore wind turbine platform.
The object of the present invention is achieved like this:
A kind of electronic wave Active Compensation, which is stepped on, multiplies system, including roll compensation mechanism, pitch compensation mechanism, flexible compensation
Mechanism, pose detection system, kinetic control system and electrical system；Told roll compensation mechanism includes the first direct current generator, the
One screw nut driven mechanism and the first displacement detecting sensor；Suo Su pitch compensation mechanism includes the second direct current generator, second
Screw nut driven mechanism and second displacement detection sensor；The flexible compensation mechanism includes third direct current generator, third silk
Thick stick nut transmission mechanism and third displacement detecting sensor；The pose detection system includes strapdown inertial navigation system, difference
GPS and combination resolving system；Flexible compensation mechanism is placed in pitch compensation mechanism, and pose detection system is kinetic control system
There is provided hull position and attitudes vibration parameter, kinetic control system control respectively roll compensation mechanism, pitch compensation mechanism and
Flexible compensation mechanism, electrical system provide electric power for kinetic control system.
The electronic wave Active Compensation of described one kind, which is stepped on, multiplies system, described
Roll compensation mechanism: the angular deviation in the roll direction generated when being influenced for compensating hull by wave；
Pitch compensation mechanism: the angular deviation of the pitch orientation generated when being influenced for compensating hull by wave；
Flexible compensation mechanism: the offset deviation of the direction of advance generated when being influenced for compensating hull by wave；
Pose detection system: for detecting position and the attitudes vibration parameter of hull, control is provided for kinetic control system
Information feedback；
Kinetic control system: it for the parameter according to pose detection system, is calculated by Models computed and motion control, is
Hybrid mechanism provides real-time control amount, steady security control executing agency；
Electrical system: it is supervised in real time for providing stable electricity power, man-machine information butt joint and system parameter for total system
Control.
The electronic wave Active Compensation of described one kind, which is stepped on, multiplies method, and the present invention is the small-sized O&M ship system according to low sea situation
Calmly, when low sea situation, wave one-way is strong, and in face of wave, the main thruster and sideways-acting propeller of ship can be controlled the fore of O&M ship
Ship's head and horizontal position processed, and the heave of the roll of ship, two postures of pitching and ship just needs wave Active Compensation to step on
Multiply system to compensate.
The electronic wave Active Compensation of described one kind, which is stepped on, multiplies system, further includes ascending stair and pedestal, and ascending stair is connected to roll benefit
It repays in mechanism, has a fixed gap with deck, roll compensation mechanism connects on the base with pitch compensation mechanism, and pedestal is connected in deck
On.
A kind of electronic wave Active Compensation for multiplying and realizing in system is stepped in the electronic wave Active Compensation of described one kind to step on
Multiply system control method, including
Step a, the electronic wave Active Compensation of described one kind is stepped on by pedestal and multiplies system and is connected on the deck of hull；
Step b, the electronic wave Active Compensation of described one kind is stepped on the afloat fan platform of end placement for multiplying system
On, because hull is influenced by wave, the variation of posture and position can occur for hull, according to kinematic principle, therefore
Forming one includes that stepping on for three degree of freedom multiplies system coordinate system, and the transformation matrix for obtaining each joint is as follows:
Then the last electronic wave Active Compensation of described one kind steps on the position auto―control for multiplying system end are as follows:
According to the expression formula of gained position auto―control, carry out stepping on the control for multiplying system resolving:
If initial time t0Step on the position for multiplying system base center and attitude matrix are as follows:
Then find out initial time t0Step on the position for multiplying system end and attitude matrix are as follows:
Three kinematic variables θ of initial time1、θ2, l be it is known that d1It is the intrinsic parameter of mechanism, also for it is known that then Dt0Intrinsic parameter
Also it is it is known that being set as:
Step c, position and the attitudes vibration parameter that hull variation is detected by pose detection system, to kinetic control system
Control information feedback is provided；
Step d, kinetic control system determines that the electronic wave of described one kind is actively mended according to the parameter of pose detection system
Repaying and stepping on the position for multiplying system base center and attitude matrix at any time is known, the electronic wave active benefit of described one kind
It repays to step on to multiply main function of system and be just to maintain the electronic wave Active Compensation of described one kind and step on and multiplies system end and connect with fan platform
Contact position is relatively constant, if any time t, steps on the position for multiplying system base center and attitude matrix are as follows:
Then have:
It is equal according to homography position element in above formula, six equatioies of simultaneous are established, but required unknown quantity is θ1、θ2、
L tri-, therefore equation quantity is greater than unknown number quantity, steps on according to the electronic wave Active Compensation of described one kind and multiplies the main function of system
Can, it is that the wave Active Compensation for guaranteeing that described one kind is electronic steps on that multiply system end opposite with fan platform contacting points position constant,
Following three equatioies can be established:
n'x(a14-p'x)+n'y(a24-p'y)+n'z(a34-p'z)=d1-lsinθ1cosθ2
o'x(a14-p'x)+o'y(a24-p'y)+o'z(a34-p'z)=lcos θ1cosθ2
a'x(a14-p'x)+a'y(a24-p'y)+a'z(a34-p'z)=lsin θ2
Then have:
After calculating, kinetic control system real-time control roll compensation mechanism rotates band by the first direct current generator of control
Dynamic first screw nut driven mechanism realizes roll movement；Real-time control pitch compensation mechanism passes through control the second direct current generator rotation
Turn that the second screw nut driven mechanism is driven to realize pitching motion；Real-time control flexible compensation mechanism passes through control third direct current
Machine rotation drives third screw nut driven mechanism to realize expanding-contracting action, therefore the wave Active Compensation for keeping described one kind electronic
It steps on the end for multiplying system and marine fan platform contacting points position is opposite constant.
The electronic wave Active Compensation of described one kind, which is stepped on, multiplies system control method, and the pose detection system is used using strapdown
Property the navigation system short time in high-precision settlement data, making up differential GPS, data output frequencies are not high and connect in a short time
Receive the inadequate disadvantage of number of satellite；It goes to make up strap-down inertial system using the long-time absolute location information of differential GPS information
It unites prolonged accumulated error, and then meets kinetic control system to the real-time requirement of feedback information.
The electronic wave Active Compensation of described one kind, which is stepped on, multiplies system control method, and the kinetic control system uses sliding formwork control
Method processed.
The utility model has the advantages that
A kind of electronic wave Active Compensation of the invention, which is stepped on, multiplies system and its control method, and it is real-time to monitor system by pose
Monitoring ship body position and posture information provide control information feedback for kinetic control system, and kinetic control system is examined according to pose
The parameter of examining system is calculated by Models computed and motion control, real-time control roll compensation mechanism, pitch compensation mechanism and is stretched
Contracting compensation mechanism carries out Active Compensation to wave, and ensures maintenance personal and securely and reliably go on offshore wind turbine platform.
The present invention have it is light-weight, small in size, compact-sized, integrated level is high, motion control is flexible, meet low sea conditions
Under small-sized O&M ship requirement.
The present invention uses motor drive mode, has starting speed fast, at low cost, relative to hydraulic driving mode, power
It is low, occupy little space.
The present invention can obtain higher control precision using sliding formwork control under the conditions of uncertain parameter and unknown disturbances.
The present invention can be calibrated mutually and complementary, output is high using strapdown inertial navigation system and differential GPS combination
Frequency, the position of real-time O&M ship and posture information provide feedback to step on to multiply system and accurately and reliably control.
Detailed description of the invention
Fig. 1 is that a kind of electronic wave Active Compensation steps on and multiplies system composition figure.
Fig. 2 is that a kind of electronic wave Active Compensation steps on and multiplies system construction drawing.
Fig. 3 is that the electronic wave Active Compensation of one kind steps on the Kinematic Model figure for multiplying system.
Fig. 4 is the flow chart of hull position and attitude detecting method.
In figure: 1 roll compensation mechanism, 11 first direct current generators, 12 first screw nut driven mechanisms, 13 first displacement inspections
Survey sensor, 2 pitch compensation mechanisms, 21 second direct current generators, 22 second screw nut driven mechanisms, 23 second displacements detection biography
Sensor, 3 flexible compensation mechanisms, 31 third direct current generators, 32 third screw nut driven mechanisms, 33 third displacement detectings sensing
Device, 4 pose detection systems, 41 strapdown inertial navigation systems, 42 differential GPSs, 43 combination resolving systems, 5 kinetic control systems, 6
Electrical system, 7 ascending stairs, 8 pedestals.
Specific embodiment
The specific embodiment of the invention is described in further detail with reference to the accompanying drawing.
Specific embodiment one
A kind of electronic wave Active Compensation, which is stepped on, multiplies system, as shown in Figure 1, including roll compensation mechanism 1, pitch compensation machine
Structure 2, flexible compensation mechanism 3, pose detection system 4, kinetic control system 5 and electrical system 6；Told roll compensation mechanism 1 wraps
Include the first direct current generator 11, the first screw nut driven mechanism 12 and the first displacement detecting sensor 13；Told pitch compensation machine
Structure 2 includes the second direct current generator 21, the second screw nut driven mechanism 22 and second displacement detection sensor 23；The flexible benefit
Repaying mechanism 3 includes third direct current generator 31, third screw nut driven mechanism 32 and third displacement detecting sensor 33；Institute's rheme
Appearance detection system 4 includes strapdown inertial navigation system 41, differential GPS 42 and combination resolving system 43；Flexible compensation mechanism 3 is placed
In pitch compensation mechanism 2, pose detection system 4 is that kinetic control system 5 provides position and the attitudes vibration parameter of hull, is transported
Autocontrol system 5 controls roll compensation mechanism 1, pitch compensation mechanism 2 and flexible compensation mechanism 3 respectively, and electrical system 6 is movement
Control system 5 provides electric power.
The electronic wave Active Compensation of described one kind, which is stepped on, multiplies system, described
Roll compensation mechanism 1: the angular deviation in the roll direction generated when being influenced for compensating hull by wave；
Pitch compensation mechanism 2: the angular deviation of the pitch orientation generated when being influenced for compensating hull by wave；
Flexible compensation mechanism 3: the offset deviation of the direction of advance generated when being influenced for compensating hull by wave；
Pose detection system 4: for detecting position and the attitudes vibration parameter of hull, control is provided for kinetic control system 5
Information feedback processed；
Kinetic control system 5: for the parameter according to pose detection system 4, being calculated by Models computed and motion control,
Real-time control amount, steady security control executing agency are provided for hybrid mechanism；
Electrical system 6: it is supervised in real time for providing stable electricity power, man-machine information butt joint and system parameter for total system
Control.
The present invention monitors system real-time monitoring hull position and posture information by pose, provides control for kinetic control system
Information feedback processed, kinetic control system are calculated, in real time according to the parameter of pose detection system by Models computed and motion control
It controls roll compensation mechanism, pitch compensation mechanism and flexible compensation mechanism and Active Compensation is carried out to wave, and ensure maintenance personal
Securely and reliably go on offshore wind turbine platform.
Specific embodiment two
The electronic wave Active Compensation of described one kind, which is stepped on, multiplies method, and the present invention is the small-sized O&M ship system according to low sea situation
Calmly, when low sea situation, wave one-way is strong, and in face of wave, the main thruster and sideways-acting propeller of ship can be controlled the fore of O&M ship
Ship's head and horizontal position processed, and the heave of the roll of ship, two postures of pitching and ship just needs wave Active Compensation to step on
Multiply system to compensate.
The present invention using roll compensation, pitch compensation and flexible compensation scheme is formulated according to the small-sized O&M ship of low sea situation
's.Under low sea conditions, small-sized O&M ship have the characteristics that it is small-sized flexibly, work it is convenient, can be transported for fan platform and ship
Moving member and equipment, when low sea situation, wave one-way is strong, and the fore of O&M ship the main thruster of ship and is laterally pushed away in face of wave
Ship's head and horizontal position can be controlled into device, and the heave of the roll of ship, two postures of pitching and ship just needs wave
Active Compensation, which is stepped on, to be multiplied system and compensates, and just be can guarantee that maintenance personal is safe and reliable and is multiplied system by stepping on, goes to fan platform
On.
Specific embodiment three
The electronic wave Active Compensation of described one kind, which is stepped on, multiplies system, as shown in Fig. 2, further including ascending stair 7 and pedestal 8, ascending stair 7
It is connected on roll compensation mechanism 1, has a fixed gap with deck, roll compensation mechanism 1 and pitch compensation mechanism 2 are connected to pedestal
On 8, pedestal 8 connects above deck.
The present invention is made of roll compensation mechanism 1, pitch compensation mechanism 2, flexible compensation mechanism 3, pedestal 8 and ascending stair 7: being stepped on
Ladder 7 is the mechanism that maintenance personal climbs up shelter bridge from deck, which is connected on roll compensation mechanism 1, has certain sky with deck
Gap；Pedestal 8 is connected above deck, and the motor placement of the executing agency of roll compensation mechanism 1 is on the base；Roll compensation mechanism 1
It places on the base, using both ends supporting way, axis is consistent with the bow stern direction of O&M ship, by controlling the first direct current generator
11 rotations drive screw nut driven mechanism 12 to realize roll movement；Pitch compensation mechanism 2 is placed on roll compensation mechanism 1,
Using both ends supporting way, axis is vertical with the bow stern direction of O&M ship, drives the by control the second direct current generator 21 rotation
Two screw nut driven mechanisms 22 realize pitching motion；Flexible compensation mechanism 3 is placed in pitch compensation mechanism 2, using sliding rail
Supporting way, the sliding rail direction of motion is parallel with the bow stern direction of O&M ship, drives silk by the control rotation of third direct current generator 31
Thick stick nut transmission mechanism 32 realizes expanding-contracting action.
Specific embodiment four
A kind of electronic wave Active Compensation for multiplying and realizing in system is stepped in the electronic wave Active Compensation of described one kind to step on
Multiply system control method, including
Step a, the electronic wave Active Compensation of described one kind is stepped on by pedestal 8 by the deck for multiplying system and being connected to hull
On；
Step b, the electronic wave Active Compensation of described one kind is stepped on the afloat fan platform of end placement for multiplying system
On, because hull is influenced by wave, the variation of posture and position can occur for hull, as shown in figure 3, according to kinematics
Principle, therefore forming one includes that stepping on for three degree of freedom multiplies system coordinate system, obtains the following institute of transformation matrix in each joint
Show:
Then the last electronic wave Active Compensation of described one kind steps on the position auto―control for multiplying system end are as follows:
According to the expression formula of gained position auto―control, carry out stepping on the control for multiplying system resolving:
If initial time t0Step on the position for multiplying 8 center of system base and attitude matrix are as follows:
Then find out initial time t0Step on the position for multiplying system end and attitude matrix are as follows:
Three kinematic variables θ of initial time1、θ2, l be it is known that d1It is the intrinsic parameter of mechanism, also for it is known that then Dt0Intrinsic parameter
Also it is it is known that being set as:
Step c, position and the attitudes vibration parameter that hull variation is detected by pose detection system 4, to motion control system
System 5 provides control information feedback；
Step d, kinetic control system 5 determines the electronic wave of described one kind actively according to the parameter of pose detection system 4
The position for multiplying 8 center of system base is stepped in compensation and attitude matrix is known, the electronic wave master of described one kind at any time
Dynamic compensation, which steps on to multiply main function of system and be just to maintain the electronic wave Active Compensation of described one kind and step on, to be multiplied system end and blower and puts down
Platform contacting points position is relatively constant, if any time t, steps on the position for multiplying 8 center of system base and attitude matrix are as follows:
Then have:
It is equal according to homography position element in above formula, six equatioies of simultaneous are established, but required unknown quantity is θ1、θ2、
L tri-, therefore equation quantity is greater than unknown number quantity, steps on according to the electronic wave Active Compensation of described one kind and multiplies the main function of system
Can, it is that the wave Active Compensation for guaranteeing that described one kind is electronic steps on that multiply system end opposite with fan platform contacting points position constant,
Following three equatioies can be established:
n'x(a14-p'x)+n'y(a24-p'y)+n'z(a34-p'z)=d1-lsinθ1cosθ2
o'x(a14-p'x)+o'y(a24-p'y)+o'z(a34-p'z)=lcos θ1cosθ2
a'x(a14-p'x)+a'y(a24-p'y)+a'z(a34-p'z)=lsin θ2
Then have:
After calculating, 5 real-time control roll compensation mechanism 1 of kinetic control system passes through control the first direct current generator 11 rotation
Turn that the first screw nut driven mechanism 12 is driven to realize roll movement；Real-time control pitch compensation mechanism 2 is straight by control second
The rotation of galvanic electricity machine 21 drives the second screw nut driven mechanism 22 to realize pitching motion；Real-time control flexible compensation mechanism 3 passes through
Controlling the rotation of third direct current generator 31 drives third screw nut driven mechanism 32 to realize expanding-contracting action, therefore keeps described one kind
Electronic wave Active Compensation steps on the end for multiplying system and marine fan platform contacting points position is opposite constant.
Specific embodiment five
The electronic wave Active Compensation of described one kind, which is stepped on, multiplies system control method, and the pose detection system 4 utilizes strapdown
High-precision settlement data in 41 short time of inertial navigation system, making up differential GPS 42, data output frequencies are not in a short time
Disadvantage high and that reception number of satellite is inadequate；It is used to remove to make up strapdown using the long-time absolute location information of 42 information of differential GPS
The property prolonged accumulated error of navigation system 41, and then meet kinetic control system 5 to the real-time requirement of feedback information.
As shown in figure 4, due to the complexity of wave, wave Active Compensation, which is stepped on, to be multiplied system and can respond real-time, quickly, is compensated
Hull is influenced the position generated and attitude misalignment by wave, it is therefore desirable to wave Active Compensation step on multiply the control frequency of system compared with
Height proposes very high request to the frequency of the posture of hull and position detection indirectly.Strapdown inertial navigation system can export higher
The angular speed and linear acceleration information of frequency, and differential GPS output frequency is lower, it is impossible to meet the needs of real-time control, have
When received number of satellite deficiency, also will appear output data inaccuracy phenomenon.Furthermore strapdown inertial navigation system is defeated
Data out work long hours there are accumulated error and will appear relatively large deviation, and differential GPS can export accurate position letter
Breath.Differential GPS is made up using the high-precision settlement data in the strapdown inertial navigation system short time in conjunction with the advantage and disadvantage of the two
Data output frequencies are not high in a short time and receive the inadequate disadvantage of number of satellite；It is exhausted using the long-time of differential GPS information
Location information is gone to make up the prolonged accumulated error of strapdown inertial navigation system, and then meets control system to feedback information
Real-time requirement.
Specific embodiment six
The electronic wave Active Compensation of described one kind, which is stepped on, multiplies system control method, and the kinetic control system 5 uses sliding formwork
Control method.
The present invention, which uses to be controlled electronic wave Active Compensation using sliding-mode control and stepped on, multiplies system.Due to wave and gush
Complexity, interference be it is unknown, can not obtain accurately model and parameter, but according to sea area sea text record, can obtain
The parameter and disturbance range in the sea area are obtained, therefore can be obtained under the conditions of uncertain parameter and unknown disturbances using sliding formwork control
Higher control precision.
Claims (7)
1. a kind of electronic wave Active Compensation, which is stepped on, multiplies system, which is characterized in that including roll compensation mechanism (1), pitch compensation
Mechanism (2), flexible compensation mechanism (3), pose detection system (4), kinetic control system (5) and electrical system (6)；The roll
Compensation mechanism (1) includes the first direct current generator (11), the first screw nut driven mechanism (12) and the first displacement detecting sensor
(13)；The pitch compensation mechanism (2) includes the second direct current generator (21), the second screw nut driven mechanism (22) and second
It moves detection sensor (23)；The flexible compensation mechanism (3) includes third direct current generator (31), third screw nut driven mechanism
(32) and third displacement detecting sensor (33)；The pose detection system (4) includes strapdown inertial navigation system (41), difference
GPS (42) and combination resolving system (43)；Flexible compensation mechanism (3) is placed on pitch compensation mechanism (2), pose detection system
(4) position of hull is provided for kinetic control system (5) and attitudes vibration parameter, kinetic control system (5) control roll respectively
Compensation mechanism (1), pitch compensation mechanism (2) and flexible compensation mechanism (3), electrical system (6) are kinetic control system (5) offer
Electric power.
2. a kind of electronic wave Active Compensation, which is stepped on, according to claim 1 multiplies system, which is characterized in that described
Roll compensation mechanism (1): the angular deviation in the roll direction generated when being influenced for compensating hull by wave；
Pitch compensation mechanism (2): the angular deviation of the pitch orientation generated when being influenced for compensating hull by wave；
Flexible compensation mechanism (3): the offset deviation of the direction of advance generated when being influenced for compensating hull by wave；
Pose detection system (4): for detecting position and the attitudes vibration parameter of hull, control is provided for kinetic control system (5)
Information feedback processed；
Kinetic control system (5): for the parameter according to pose detection system (4), being calculated by Models computed and motion control,
Real-time control amount, steady security control executing agency are provided for hybrid mechanism；
Electrical system (6): it is supervised in real time for providing stable electricity power, man-machine information butt joint and system parameter for total system
Control.
3. a kind of electronic wave Active Compensation, which is stepped on, according to claim 1 multiplies system, which is characterized in that electronic wave master
Dynamic compensation steps on that multiply system formulated according to the small-sized O&M ship of low sea situation, and when low sea situation, wave one-way is strong, the fore of O&M ship
In face of wave, the main thruster and sideways-acting propeller of ship can control ship's head and horizontal position, and the roll of ship, pitching two
The heave of a posture and ship just needs wave Active Compensation to step on to multiply system and compensate.
4. a kind of electronic wave Active Compensation, which is stepped on, according to claim 1 multiplies system, which is characterized in that further include ascending stair
(7) it is connected on roll compensation mechanism (1) with pedestal (8), ascending stair (7), has a fixed gap, roll compensation mechanism (1) with deck
It is connected on pedestal (8) with pitch compensation mechanism (2), pedestal (8) connects above deck.
5. the electronic wave Active Compensation of claim 1,2,3 or 4 described one kind step on multiply realized in system one kind it is electronic
Wave Active Compensation, which is stepped on, multiplies system control method, which is characterized in that including
Step a, the electronic wave Active Compensation of described one kind is stepped on by pedestal (8) and multiplies system and is connected on the deck of hull；
Step b, the electronic wave Active Compensation of described one kind is stepped on the afloat fan platform of end placement for multiplying system, because
It is influenced for hull by wave, so the variation of posture and position can occur for hull, according to kinematic principle, therefore forms one
A includes that stepping on for three degree of freedom multiplies system coordinate system, and the transformation matrix for obtaining each joint is as follows:
Then the last electronic wave Active Compensation of described one kind steps on the position auto―control for multiplying system end are as follows:
According to the expression formula of gained position auto―control, carry out stepping on the control for multiplying system resolving:
If initial time t0Step on the position for multiplying system base (8) center and attitude matrix are as follows:
Then find out initial time t0Step on the position for multiplying system end and attitude matrix are as follows:
Three kinematic variables θ of initial time1、θ2, l be it is known that d1It is the intrinsic parameter of mechanism, also for it is known that then Dt0Intrinsic parameter is also
It is known that being set as:
Step c, position and the attitudes vibration parameter that hull variation is detected by pose detection system (4), to kinetic control system
(5) control information feedback is provided；
Step d, kinetic control system (5) determines the electronic wave of described one kind actively according to the parameter of pose detection system (4)
The position for multiplying system base (8) center is stepped in compensation and attitude matrix is known, the electronic wave of described one kind at any time
Active Compensation, which steps on to multiply main function of system and be just to maintain the electronic wave Active Compensation of described one kind and step on, multiplies system end and blower
Contact with platform point position is relatively constant, if any time t, steps on the position for multiplying system base (8) center and attitude matrix are as follows:
Then have:
It is equal according to homography position element in above formula, six equatioies of simultaneous are established, but required unknown quantity is θ1、θ2, l tri-
It is a, therefore equation quantity is greater than unknown number quantity, steps on according to the electronic wave Active Compensation of described one kind and multiplies main function of system,
It is that the wave Active Compensation for guaranteeing that described one kind is electronic steps on that multiply system end opposite with fan platform contacting points position constant, can builds
Make three, face equation:
n'x(a14-p'x)+n'y(a24-p'y)+n'z(a34-p'z)=d1-l sinθ1cosθ2
o'x(a14-p'x)+o'y(a24-p'y)+o'z(a34-p'z)=l cos θ1cosθ2
a'x(a14-p'x)+a'y(a24-p'y)+a'z(a34-p'z)=l sin θ2
Then have:
After calculating, kinetic control system (5) real-time control roll compensation mechanism (1) passes through control the first direct current generator (11)
Rotation drives the first screw nut driven mechanism (12) to realize roll movement；Real-time control pitch compensation mechanism (2) passes through control
Second direct current generator (21) rotation drives the second screw nut driven mechanism (22) to realize pitching motion；Real-time control flexible compensation
Mechanism (3) drives third screw nut driven mechanism (32) to realize expanding-contracting action by control third direct current generator (31) rotation,
Therefore the wave Active Compensation for keeping described one kind electronic steps on the end for multiplying system and marine fan platform contacting points position phase
To constant.
6. a kind of electronic wave Active Compensation, which is stepped on, according to claim 5 multiplies system control method, which is characterized in that described
Pose detection system (4) makes up differential GPS using the high-precision settlement data in strapdown inertial navigation system (41) short time
(42) data output frequencies are not high in a short time and receive the inadequate disadvantage of number of satellite；Utilize differential GPS (42) information
Long-time absolute location information goes to make up strapdown inertial navigation system (41) prolonged accumulated error, and then meets motion control
Real-time requirement of the system (5) to feedback information.
7. a kind of electronic wave Active Compensation, which is stepped on, according to claim 5 multiplies system control method, which is characterized in that described
Kinetic control system (5) uses sliding-mode control.
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| CN108545149B (en) * | 2018-03-30 | 2019-09-13 | 华中科技大学 | A kind of tandem heave compensation device peculiar to vessel |
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| CN110027678B (en) * | 2019-04-22 | 2021-03-19 | 哈尔滨工程大学 | Series-parallel boarding mechanism motion planning method based on sea wave active compensation |
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