CN113060250B - Six-degree-of-freedom marine wave compensation multipurpose boat and wave compensation method thereof - Google Patents

Six-degree-of-freedom marine wave compensation multipurpose boat and wave compensation method thereof Download PDF

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CN113060250B
CN113060250B CN202110401036.0A CN202110401036A CN113060250B CN 113060250 B CN113060250 B CN 113060250B CN 202110401036 A CN202110401036 A CN 202110401036A CN 113060250 B CN113060250 B CN 113060250B
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cylinder
cylinders
wave compensation
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freedom
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CN113060250A (en
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卢道华
唐向东
仲纪松
王佳
郑博文
汤雁冰
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Jiangsu University of Science and Technology
Marine Equipment and Technology Institute Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
Marine Equipment and Technology Institute Jiangsu University of Science and Technology
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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
    • B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B17/06—Refuse discharge, e.g. for ash
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B34/00—Vessels specially adapted for water sports or leisure; Body-supporting devices specially adapted for water sports or leisure
    • 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
    • B63B39/10—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by damping the waves, e.g. by pouring oil on water

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  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Oil, Petroleum & Natural Gas (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a six-degree-of-freedom marine wave compensation multipurpose boat and a wave compensation method thereof, wherein the wave compensation multipurpose boat comprises a sailing boat body, a deck and a six-degree-of-freedom electric wave compensation system, and the deck is an integral body needing wave compensation; the six-freedom-degree electric wave compensation system is a connecting part of a sailing boat body and a deck and consists of an electric cylinder and other components or auxiliary accessories necessary for electric wave compensation. By measuring the motion attitude values of the rolling, the pitching, the heaving, the swaying, the pitching and the yawing of the ship body and calculating the compensation values of the rolling, the pitching, the heaving, the swaying, the pitching and the yawing according to the inverse solution algorithm of the wave compensation value, the actions of all the servo electric cylinders are controlled, and the six-degree-of-freedom compensation of the upper deck is realized; the invention can compensate the whole deck by waves, reduces the influence of waves on the boat body, controls the six degrees of freedom in groups by the layered wave compensation platform structure and provides more working space for the wave compensation structure.

Description

Six-degree-of-freedom marine wave compensation multipurpose boat and wave compensation method thereof
Technical Field
The invention relates to the field of ship design and manufacture, in particular to a six-degree-of-freedom marine wave compensation multipurpose boat and a wave compensation method thereof.
Background
The yachts for leisure and entertainment on the sea are mostly small and medium-sized ships which are influenced by sea waves more obviously than medium and large ships, and are easy to cause dizzy and inconvenient actions along with passengers. With the development of wave compensation technology, the parallel type stable platform for ships becomes a main solution for dealing with the influence of waves on shipborne personnel and equipment, and the hydraulic type parallel platform has the advantages of large rigidity, stable structure, strong bearing capacity, high precision, small movement inertia and the like, and is mainly used for the application of medium-sized and even large-sized ship shipborne equipment, such as a wave compensation trestle, a wave compensation crane and the like. But the available space of the small and medium-sized ships is limited, and the hydraulic parallel platform has the limitations of complex structure, low precision, slow response, low stability and the like, and is not suitable for commercial multipurpose yachts any more.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a multipurpose boat for six-degree-of-freedom offshore wave compensation, and aims to provide a wave compensation method for the multipurpose boat for six-degree-of-freedom offshore wave compensation.
The technical scheme is as follows: the invention relates to a six-degree-of-freedom marine wave compensation multipurpose boat which comprises a sailing boat body, a deck and a six-degree-of-freedom electric wave compensation system, wherein the sailing boat body is a part for sailing on the water surface, has the basic properties of a basic small boat, and comprises an energy power system, a propulsion steering device, a control driving cabin and devices and other necessary devices of the small boat; the deck is an integral body which needs to be subjected to wave compensation; the six-degree-of-freedom electric wave compensation system is a connecting part of the sailing boat body and the deck and consists of an electric cylinder and other components or auxiliary accessories necessary for electric wave compensation;
the six-degree-of-freedom electric wave compensation system comprises a lower platform, a first wave compensation platform, a second wave compensation platform and an upper deck, wherein each wave compensation platform surface is symmetrical about the longitudinal central axis of the boat. The arrangement form of the electric cylinders of the six-degree-of-freedom electric wave compensation system comprises vertical cylinders, horizontal cylinders, inclined cylinders and auxiliary bearing cylinders, wherein the vertical cylinders compensate rolling, pitching and heaving, the horizontal cylinders compensate rolling and pitching, the inclined cylinders compensate yawing, and the auxiliary bearing cylinders play an auxiliary bearing role.
The connection form of each electric cylinder is as follows: the lower end of the vertical cylinder is vertically fixed on the lower platform, and the upper end of the vertical cylinder is fixed on the first wave compensation platform; the lower end of the horizontal cylinder is horizontally fixed on a second wave compensation platform, and the upper end of the horizontal cylinder is connected with the lower plane of the upper deck through a slide rail; the lower end of the inclined cylinder is fixed on the lower platform, and the upper end of the inclined cylinder is connected with the lower plane of the wave compensation platform II through a slide rail; the upper end and the lower end of the auxiliary bearing cylinder are respectively vertically fixed on the lower plane of the lower platform and the upper deck.
The device comprises a plurality of executing parts, a plurality of attitude sensors, a plurality of wave compensation platforms, a plurality of control systems and a plurality of control systems, wherein each executing part is provided with a linear displacement sensor for measuring the displacement of the telescopic motion of the executing part, the lower ends of the two inclined cylinders are connected with an angle sensor for measuring the angle change of the inclined cylinders, the center of gravity of the lower platform is provided with an attitude sensor, the attitude sensors are connected with a motion controller through signal lines, the attitude sensors are used for detecting the rolling, pitching, heaving, rolling, pitching and yawing values of the sailing boat body and inputting the detection values into the motion controller, the first wave compensation platform is provided with an xy-axis rotation angle sensor, the second wave compensation platform is provided with a z-axis rotation angle sensor, and the upper deck is provided with an xy-axis movement displacement sensor which are all used as the detection input of the closed-loop control signals of the control systems.
Preferably, the number of the vertical cylinders is 3, and the vertical cylinders comprise a first vertical cylinder, a second vertical cylinder and a third vertical cylinder, the three vertical cylinders are arranged along the circumference in a pairwise included angle of 120 degrees, the arrangement position of the first vertical cylinder is located on the central axis of the course boat body, and the three vertical cylinders are fixedly connected with the lower platform and connected with the first wave compensation platform through hooke joints; the number of the inclined cylinders is 2, the inclined cylinders comprise first inclined cylinders and second inclined cylinders, included angles between the three inclined cylinders and the lower platform surface are 45 degrees, the arrangement positions of the two inclined cylinders on the lower platform surface and the circle center of the lower platform surface are symmetrically distributed and are connected with the lower platform through pin shafts, the upper ends of the two inclined cylinders are spherical hinges, the spherical hinges are connected with the second wave compensation platform through slide rails, and the arrangement positions of the slide rails are located on the central axis of the navigation boat body; the centers of the first wave compensation platform and the second wave compensation platform are both provided with through holes, wherein the periphery of the through hole of the first wave compensation platform is provided with a groove, a bearing is arranged in the groove, and the second wave compensation platform is arranged in the groove and can rotate along the circumference; the number of the horizontal cylinders is 4, and the horizontal cylinders comprise a first horizontal cylinder, a second horizontal cylinder, a third horizontal cylinder and a fourth horizontal cylinder, the four horizontal cylinders are distributed along the circumference, the included angles of the four horizontal cylinders are 90 degrees and are horizontally arranged, the telescopic cylinders of the horizontal cylinders point to the circle center, and the tail ends of the telescopic cylinders are provided with slide rail seats which are respectively connected with slide rails arranged on the lower plane of the upper deck; the number of the auxiliary bearing cylinders is 1, the lower ends of the auxiliary bearing cylinders are spherical hinges and are connected to the circle center position of the lower platform, the upper ends of the auxiliary bearing cylinders are also spherical hinges and are connected with the lower plane of the upper deck through holes of the first wave compensation platform and the second wave compensation platform.
Furthermore, the flexible waterproof cover which does not influence the motion of the electric cylinder is wrapped outside the electric cylinder of the actuating element of the six-degree-of-freedom electric wave compensation system.
Enough gap is left between the sailing boat body and the deck for the six-degree-of-freedom electric wave compensation system to work, and flexible waterproof materials are adopted to fill the gap so as to enable the gap to be connected with the sailing boat body and the deck.
Further, for guaranteeing the structural strength of the connection area between the upper plane of the six-degree-of-freedom electric wave compensation system and the navigation boat body and the lower plane of the deck, the navigation boat body and the deck need to be subjected to a reinforcing structure design in the local area where the executive part is connected and installed with the navigation boat body and the deck, and the structure can be reinforced by using a local thickening matched reinforcing rib mode or other structural reinforcing modes.
Furthermore, certain inclination angle has between the last plane of navigation hull and the lower platform face of six degrees of freedom electronic wave compensation system, and inclination angle direction can take the form of high back low before, high both sides low in the middle of, and the purpose is to collect certain one side with the sea water that gets into in the hull, conveniently discharges or takes draw-out device to take out.
Furthermore, the sailing boat body is provided with an anti-rollover wing near the waterline at the periphery of the boat body so as to weaken or offset the action of the six-degree-of-freedom electric wave compensation system on compensation, the action force of the electric cylinder on the sailing boat body prevents the sailing boat body from overturning, and the anti-rollover wing can be selected to be arranged continuously or arranged at the periphery of the boat body in a sectional mode according to the calculation of the stability of a specific ship. The contained angle of preventing turning on one's side wing and horizontal plane can take different angles according to hull concrete position, should not increase the aquatic running resistance of navigation hull in principle.
Furthermore, the leisure multipurpose boat can be additionally provided with a stabilizing gyro at the center of the boat according to specific conditions, and is matched with the work of the six-degree-of-freedom electric wave compensation system.
Furthermore, the energy power system can adopt high-power single power or low-power multi-power according to specific design selection. The high-power single power system uniformly supplies power for all equipment on sailing and boats, the six-degree-of-freedom electric wave compensation system and all equipment on a deck; the low-power multi-power system can supply power to all equipment on sailing and boat, the six-freedom-degree electric wave compensation system and all equipment on deck in groups.
In addition, the design of multipurpose ship follows the integrated design, and the deck also can be changed according to actual concrete need simultaneously to the carrier on the realization deck is diversified, thereby satisfies the actual different functional requirement of this multipurpose ship.
A wave compensation method based on the multi-purpose ship with six-degree-of-freedom sea wave compensation measures motion attitude values of rolling, pitching, heaving, swaying, surging and yawing of a ship body through an attitude sensor and transmits the motion attitude values to a motion controller in real time, the motion controller calculates compensation values of the rolling, pitching, heaving, swaying, surging and yawing according to an inverse solution algorithm of the wave compensation values, and controls the action of each servo electric cylinder according to the compensation values to realize the six-degree-of-freedom compensation of an upper deck, and the specific contents are as follows:
measuring motion attitude values a1, a2, a3, a4, a5 and a6 of the rolling, pitching, heaving, rolling, pitching and yawing of the ship body through attitude sensors, and transmitting the motion attitude values a1, a2, a3, a4, a5 and a6 to a motion controller in real time;
when a2, a3, a4, a5, a6 and a1 is not equal to 0, the controller controls the vertical cylinder to mainly act and the other cylinders to not act when the rolling motion exists; when a1, a3, a4, a5, a6 and a2 is not equal to 0, the vertical cylinder is controlled to act mainly, and the tilting cylinder acts secondarily; when a1 is a2, a4, a5, a6 and a3 is not equal to 0, the controller controls the vertical cylinder to mainly act and controls the tilting cylinder and the auxiliary bearing cylinder to act in an auxiliary mode when the vertical cylinder has a heave motion; when the a1, a2, a3, a5, a6, and a4 is not equal to 0, the controller controls the main motion arranged in the horizontal cylinder perpendicular to the axis of the ship body and assists the bearing cylinder to perform auxiliary motion when the ship has a swaying motion; when the surging motion exists, namely a1, a2, a3, a4, a6 and a5 is not equal to 0, the controller controls the main motion arranged along the axis of the ship body in the horizontal cylinder and assists the loading cylinder to perform auxiliary motion; when the a1, a2, a3, a4, a5 and a6 is not equal to 0, the controller controls the tilting cylinder to mainly act and the other cylinders to not act when the yawing motion exists.
Furthermore, when the horizontal cylinder on the left side transversely swings, the horizontal cylinder on the left side extends the transverse swinging value measured by the attitude sensor, and the horizontal cylinder on the right side shortens the transverse swinging value measured by the attitude sensor; when the horizontal cylinder on the left side horizontally swings to the right, the horizontal cylinder on the left side shortens the leftward swing value measured by the attitude sensor, and the horizontal cylinder on the right side horizontally swings to the left measured by the attitude sensor in an extending manner; when the front surging is carried out, the horizontal cylinder at the front end extends the forward surging value measured by the attitude sensor, and the horizontal cylinder at the rear end shortens the forward surging value measured by the attitude sensor; during backward surging, the horizontal cylinder at the front end shortens the backward surging value measured by the attitude sensor, and the horizontal cylinder at the rear end extends the backward surging value measured by the attitude sensor.
Further, for the yawing motion, the following are included:
assuming that the initial inclined cylinder length L0 forms an angle alpha with the lower platform surface, the working inclined cylinder length L1 forms an angle beta with the lower platform surface, the heading angle is theta, the distance from the heading rotation center to the slide rail seat at the upper end of the initial inclined cylinder is S, and the vertical distance from the slide rail seat at the upper end of the inclined cylinder to the lower platform surface is h;
when the device does not roll, pitch or heave, L1 is (Stan theta tan alpha + h)/tan alpha cos beta, L0 is h/sin alpha, and the tilt cylinder expansion amount L is L1-L0;
when there is rolling, pitching or heaving, the roll angle is assumed to be
Figure BDA0003020379250000041
Figure BDA0003020379250000042
L0 is h/sin alpha, and the expansion and contraction quantity L of the tilting cylinder is L1-L0;
when there is no pitching, no rolling or no heaving, assuming that the pitching angle is γ, L1 ═ Stan θ tan α + Stan γ + h)/tan α cos β, L0 ═ h + Stan γ)/sin α, and the tilt cylinder expansion amount L ═ L1-L0;
when there is heave, no roll, and no pitch, it is assumed that the heave height is h1, L1 ═ Stan θ tan α + h + h1)/tan α cos β, L0 ═ h + h1)/sin α, and the tilt cylinder expansion amount L is L1 to L0.
The invention has the beneficial effects that: 1. the wave compensation system with six degrees of freedom is adopted to compensate waves of the whole deck, so that the influence of waves on the leisure boat is reduced, and the comfort of passengers is improved; 2. the anti-rollover wings reduce or even offset the influence of the six-degree-of-freedom electric wave compensation system on the boat, so that the sailing boat body is prevented from overturning due to the acting force generated by the wave compensation action, and the stability of the boat is improved; 3. the separate design of the diversified functional areas of the control cabin and the deck and the selection of a high-power single-power system and a low-power multi-power system are provided, so that the replaceability of the deck is realized, and the functional diversity of the multipurpose boat is reflected; 4. the inclined design of the upper plane of the sailing boat body and the arrangement of the drainage structure or the water pumping device avoid the accumulation of seawater after entering the boat, and meanwhile, the flexible waterproof cover wrapped outside the electric cylinder improves the reliability of the six-degree-of-freedom electric wave compensation system; 5. the electric layered parallel platform structure is adopted to control the six degrees of freedom in groups, so that the control model of the control system can be simplified, and the control is easy; simultaneously, compare in traditional fluid pressure type parallel platform, the parallelly connected platform of electrodynamic type compact structure, response are quick, stability is reliable, more are applicable to miniaturized multipurpose ship and use, provide more workspace for the wave compensation structure of miniaturized multipurpose ship, improve the extreme value that each degree of freedom can be compensated. In addition, the six-degree-of-freedom electric heave compensation system can be used as a manual posture adjusting device of a deck when the compensation function is not started.
Drawings
FIG. 1 is an overall front axle side schematic view of an embodiment of the present invention;
FIG. 2 is an overall rear isometric view of an embodiment of the present invention;
FIG. 3 is a schematic elevation view of a heave compensation system according to an embodiment of the invention;
FIG. 4 is a schematic axial view of a heave compensation system according to an embodiment of the invention;
FIG. 5(a) is a schematic right-side view of a wave compensating system according to an embodiment of the present invention, and FIG. 5(b) is a partially enlarged view of the wave compensating system shown in FIG. 5 (a);
FIG. 6(a) is a schematic side view of the rear axle of the heave compensation lower platform according to the embodiment of the invention, and FIG. 6(b) is a schematic top view of FIG. 6 (a);
FIG. 7 is a schematic rear-axle side view of the heave compensation platform according to the embodiment of the invention;
FIG. 8(a) is a schematic side view of a rear axle of a heave compensation platform according to an embodiment of the invention, and FIG. 8(b) is a schematic top view of FIG. 8 (a);
FIG. 9 is a schematic rear axle side view of a heave compensation upper deck according to an embodiment of the invention;
fig. 10 is a control schematic diagram of a heave compensation method according to an embodiment of the present invention.
Description of the reference numerals:
1: a navigation boat body; 1-1: a steering device; 1-2: a propulsion device; 1-3: anti-rollover wings; 1-4: an equipment compartment; 1-5: the upper plane of the navigation boat body; 2: a heave compensation system; 2-1: a front tilt cylinder; 2-2: a rear tilt cylinder; 2-3: a first vertical cylinder; 2-4: a second vertical cylinder; 2-5: a third vertical cylinder; 2-6: an auxiliary bearing cylinder; 2-7: a front horizontal cylinder; 2-8: a left horizontal cylinder; 2-9: a rear horizontal cylinder; 2-10: a right horizontal cylinder; 2-11: a first wave compensation platform; 2-12: a second wave compensation platform; 2-13: a diagonal cylinder slide rail; 3: an upper deck; 3-1: a horizontal cylinder slide rail.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
As shown in fig. 1-3, a miniaturized six-degree-of-freedom marine wave compensation multipurpose boat, below which is a sailing boat body 1 sailing in water, on which steering devices 1-1, propulsion devices 1-2, anti-rollover wings 1-3 and device cabins 1-4 are included, and an upper plane 1-5 of the sailing boat body is subjected to local structural reinforcement and planarization treatment at the installation position of servo electric cylinders to ensure that the lower platform of the wave compensation has sufficient strength and is parallel to the sea level; the inclined design of the upper plane 1-5 of the sailing boat body with high front and low back facilitates the collection and treatment of seawater possibly entering the boat; the side-turn-preventing wings 1-3 are arranged near the peripheral waterline of the sailing boat body 1, and the angle is horizontal. The corresponding angle can be changed according to the actual design calculation, on the premise that the resistance of the sailing boat body 1 in the water is not increased; in the embodiment, the power system adopts a double-power system to separate the energy supply of the sailing boat body 1 and the six-degree-of-freedom electric wave compensation system.
As shown in fig. 3-9, the middle part is a six-degree-of-freedom electric wave compensation system 2, which comprises a lower platform, a first wave compensation platform 2-11, a second wave compensation platform 2-12 and an upper deck. The actuating member servo electric cylinder of the heave compensation system can be divided into four types: the device comprises a vertical cylinder, an inclined cylinder, a horizontal cylinder and an auxiliary bearing cylinder. The first vertical cylinder 2-3, the second vertical cylinder 2-4 and the third vertical cylinder 2-5 are arranged along the circumference in a pairwise included angle of 120 degrees, the arrangement position of the first vertical cylinder 2-3 is located on the central axis of the course hull, and the three vertical cylinders are fixedly connected with the lower platform and connected with the first wave compensation platform through a Hooke hinge; the included angle between the first inclined cylinder 2-1 and the second inclined cylinder 2-2 and the lower platform surface is 45 degrees, the arrangement positions of the two inclined cylinders on the lower platform surface and the circle center of the lower platform surface are symmetrically distributed and are connected with the lower platform through a pin shaft, the upper ends of the two inclined cylinders are spherical hinges, the spherical hinges are connected with the wave compensation platform II through slide rails, the arrangement positions of the slide rails are located on the central axis of the navigation boat body, a through hole is formed in the center of the wave compensation platform I, a groove is formed in the periphery of the through hole, a bearing is arranged in the groove, and the wave compensation platform II is installed into the groove and can rotate along the circumference; the first horizontal cylinder 2-7, the second horizontal cylinder 2-8, the third horizontal cylinder 2-9 and the fourth horizontal cylinder 2-10 are distributed along the circumference, the mutual included angle is 90 degrees and the horizontal arrangement is carried out, the telescopic cylinders of the horizontal cylinders all point to the circle center, the tail ends of the telescopic cylinders are provided with slide rail seats which are respectively connected with slide rails arranged on the lower plane of the upper deck, and the center of the wave compensation platform II is also provided with a through hole; the lower end of the auxiliary bearing cylinder is provided with a spherical hinge and is connected to the circle center position of the lower platform, and the upper end of the auxiliary bearing cylinder is also provided with a spherical hinge and is connected with the lower plane of the upper deck through holes of the first wave compensation platform and the second wave compensation platform.
The device comprises a servo electric cylinder, a lower platform, a wave compensation platform, a motion controller, a linear displacement sensor, an angle sensor, an xy-axis rotation angle sensor, a z-axis rotation angle sensor, an upper deck, an xy-axis movement displacement sensor and a control system closed-loop control signal, wherein the servo electric cylinder is provided with the linear displacement sensor and used for measuring the displacement of the telescopic motion of the servo electric cylinder, the angle sensor is arranged at the joint of lower end pin shafts of two inclined cylinders and used for measuring the angle change of the inclined cylinders, the attitude sensor is arranged at the gravity center position of the lower platform and connected with the motion controller through a signal line, the attitude sensor is used for detecting the rolling, pitching, heaving, rolling, swaying, surging and yawing values of a sailing boat body and inputting the detection values into the motion controller, the xy-axis rotation angle sensor is arranged on the wave compensation platform, the z-axis rotation angle sensor is arranged on the wave compensation platform, and the xy-axis movement displacement sensor is arranged on the upper deck and used as the detection input of the control system closed-loop control signal.
The specific content of the wave compensation method is as follows:
(1) measuring motion attitude values a1, a2, a3, a4, a5 and a6 of the rolling, pitching, surging and yawing of the ship body through an attitude sensor, transmitting the motion attitude values to a motion controller in real time, calculating compensation values of the rolling, the pitching, the heaving, the rolling, the surging and the yawing by the motion controller according to an inverse solution algorithm of a wave compensation value, and controlling the actions of all servo electric cylinders according to the compensation values to realize six-degree-of-freedom compensation of an upper deck;
(2) when a2, a3, a4, a5, a6 and a1 is not equal to 0, the controller controls the three vertical cylinders to mainly act and the other cylinders not to act when the controller has roll motion; when a1 is a3, a4, a5, a6 and a2 is not equal to 0, when the pitching motion exists, three vertical cylinders are controlled to mainly act, and two inclined cylinders are controlled to secondarily act; when a1 is a2, a4, a5, a6 and a3 is not equal to 0, the controller controls three vertical cylinders to mainly act, and two inclined cylinders and one auxiliary bearing cylinder to act in an auxiliary mode when the controller has a heave motion; when a1, a2, a3, a5, a6, and a4 is not equal to 0, the controller controls two main motions arranged perpendicular to the axis of the ship body in the four horizontal cylinders and assists the bearing cylinder to act in an auxiliary mode when the ship has a swaying motion; when the surging motion exists, namely a1, a2, a3, a4, a6 and a5 is not equal to 0, the controller controls two main motions arranged along the axis of the ship body in the four horizontal cylinders, and the auxiliary bearing cylinder assists in motion; when the yaw motion exists, the controller controls the two inclined cylinders to mainly act and the other cylinders not to act when a1, a2, a3, a4, a5 and a6 is not equal to 0.
The telescopic value of the action of each servo electric cylinder is mainly characterized in that an attitude sensor arranged at the gravity center position of the lower platform measures the attitude of the sailing boat body, the measured data is transmitted to a motion controller, and the motion controller calculates the compensation values of rolling, pitching, heaving, rolling, surging and yawing according to the inverse solution algorithm of wave compensation.
Because the wave compensation structure in the embodiment adopts a layered structure, the wave compensation inverse solution algorithm has partial difference, and the difference is reflected in transverse and longitudinal oscillation and yawing.
The invention is directed against the compensation of the rolling and the pitching and is accomplished by the wave compensation platform two, and the rolling, the pitching, the heaving and the yawing are accomplished by the wave compensation platform one and two inclined cylinders, so the rolling and the pitching motion compensation is independent of the motion compensation of the rolling, the heaving and the yawing, namely, when rolling to the left, the second horizontal cylinder 2-8 (left horizontal cylinder) extends the left rolling value measured by the attitude sensor, and the fourth horizontal cylinder 2-10 (right horizontal cylinder) shortens the left rolling value measured by the attitude sensor; when the second horizontal cylinder 2-8 (the left horizontal cylinder) horizontally swings to the right, the left horizontal value measured by the attitude sensor is shortened, and the left horizontal value measured by the attitude sensor is lengthened by the fourth horizontal cylinder 2-10 (the right horizontal cylinder); during forward surging, the first horizontal cylinder 2-7 (front horizontal cylinder) extends the forward surging value measured by the attitude sensor, and the third horizontal cylinder 2-9 (rear horizontal cylinder) shortens the forward surging value measured by the attitude sensor; in the backward surging, the first horizontal cylinder 2-7 (front horizontal cylinder) shortens the backward surging value measured by the attitude sensor, and the third horizontal cylinder 2-9 (rear horizontal cylinder) lengthens the backward surging value measured by the attitude sensor.
Calculating the expansion compensation value of the servo electric cylinder during yawing and whether rolling, pitching and heaving motions existAnd off. When no rolling, no pitching and no heave occur, assuming that the initial inclined cylinder length L0 forms an angle alpha with the lower platform surface, the working inclined cylinder length L1 forms an angle beta with the lower platform surface, the yawing angle is theta, the distance from the yawing rotation center to the initial inclined cylinder upper end slide rail seat is S, the vertical distance from the inclined cylinder upper end slide rail seat to the lower platform surface is h, then L1 is (Stan theta tan alpha + h)/tan alpha cos beta, L0 is h/sin alpha, and the inclined cylinder expansion amount L is L1-L0; when there is rolling, pitching or heaving, the roll angle is assumed to be
Figure BDA0003020379250000071
Then this time
Figure BDA0003020379250000072
L0 is h/sin alpha, and the expansion and contraction quantity L of the tilting cylinder is L1-L0; when there is no pitching, no rolling, or no heaving, assuming that the pitch angle is γ, then L1 ═ Stan θ tan α + Stan γ + h)/tan α cos β, L0 ═ h + Stan γ/sin α, and the tilt cylinder expansion amount L ═ L1-L0; when there is heave, no roll, and no pitch, L1 ═ Stan θ tan α + h1)/tan α cos β, L0 ═ h + h1)/sin α, and the tilt cylinder expansion amount L ═ L1 to L0, assuming that the heave height is h 1.

Claims (9)

1. A multi-purpose boat for compensating sea waves with six degrees of freedom is characterized in that: the device comprises a sailing boat body, a deck and a six-degree-of-freedom electric wave compensation system;
the sailing boat body is a part for sailing on the water surface; the deck is an integral body which needs to be subjected to wave compensation; the six-degree-of-freedom electric wave compensation system is a connecting part of a sailing boat body and a deck and comprises an actuating member, a lower platform, a first wave compensation platform, a second wave compensation platform and an upper deck, wherein the first wave compensation platform and the second wave compensation platform are symmetrical about a longitudinal central axis of the boat;
the executing part comprises a vertical cylinder, a horizontal cylinder, an inclined cylinder and an auxiliary bearing cylinder, wherein the vertical cylinder compensates rolling, pitching and heaving, the horizontal cylinder compensates rolling and pitching, the inclined cylinder compensates yawing, and the auxiliary bearing cylinder plays an auxiliary bearing role; the lower end of the vertical cylinder is fixed on the lower platform, and the upper end of the vertical cylinder is fixed on the first wave compensation platform; the lower end of the horizontal cylinder is horizontally fixed on a second wave compensation platform, and the upper end of the horizontal cylinder is connected with the lower plane of the upper deck through a slide rail; the lower end of the inclined cylinder is fixed on the lower platform, and the upper end of the inclined cylinder is connected with the lower plane of the wave compensation platform II through a sliding rail; the upper end and the lower end of the auxiliary bearing cylinder are respectively and vertically fixed on the lower platform and the lower plane of the upper deck;
each executing part is provided with a linear displacement sensor for measuring the displacement of the telescopic motion of the executing part, the lower end connection part of the two inclined cylinders is provided with an angle sensor for measuring the angle change of the inclined cylinders, the gravity center position of the lower platform is provided with an attitude sensor, the attitude sensor is connected with a motion controller through a signal line, the attitude sensor is used for detecting the rolling, pitching, heaving, rolling, pitching and yawing values of the sailing boat body and inputting the detection value into the motion controller, the first wave compensation platform is provided with an xy-axis rotation angle sensor, the second wave compensation platform is provided with a z-axis rotation angle sensor, and the upper deck is provided with an xy-axis movement displacement sensor which are all used as the detection input of the closed-loop control signal of the control system;
the number of the vertical cylinders is 3, and the vertical cylinders comprise a first vertical cylinder, a second vertical cylinder and a third vertical cylinder, every two of the three vertical cylinders are arranged along the circumference with an included angle of 120 degrees, the arrangement position of the first vertical cylinder is positioned on the central axis of the course boat body, and the three vertical cylinders are fixedly connected with the lower platform and connected with the first wave compensation platform through hooke hinges;
the number of the inclined cylinders is 2, the inclined cylinders comprise a first inclined cylinder and a second inclined cylinder, included angles between the three inclined cylinders and the lower platform surface are 45 degrees, the arrangement positions of the two inclined cylinders on the lower platform surface are symmetrically distributed with the circle center of the lower platform surface and are connected with the lower platform through pin shafts, the upper ends of the two inclined cylinders are spherical hinges, the spherical hinges are connected with the second wave compensation platform through slide rails, and the arrangement positions of the slide rails are located on the central axis of the sailing boat body;
the centers of the first wave compensation platform and the second wave compensation platform are both provided with through holes, wherein the periphery of the through hole of the first wave compensation platform is provided with a groove, a bearing is arranged in the groove, and the second wave compensation platform is arranged in the groove and can rotate along the circumference;
the number of the horizontal cylinders is 4, and the horizontal cylinders comprise a first horizontal cylinder, a second horizontal cylinder, a third horizontal cylinder and a fourth horizontal cylinder, the four horizontal cylinders are distributed along the circumference, the included angles of the four horizontal cylinders are 90 degrees and are horizontally arranged, the telescopic cylinders of the horizontal cylinders point to the circle center, and the tail ends of the telescopic cylinders are provided with slide rail seats which are respectively connected with slide rails arranged on the lower plane of the upper deck;
the number of the auxiliary bearing cylinders is 1, the lower ends of the auxiliary bearing cylinders are spherical hinges and are connected to the circle center position of the lower platform, the upper ends of the auxiliary bearing cylinders are also spherical hinges and are connected with the lower plane of the upper deck through holes of the first wave compensation platform and the second wave compensation platform.
2. The six degree-of-freedom marine wave-compensating multipurpose boat of claim 1, characterized in that: and a flexible waterproof cover is wrapped outside an executive part of the six-degree-of-freedom electric wave compensation system.
3. The six degree-of-freedom marine wave-compensating multipurpose boat of claim 1, characterized in that: a gap for the six-degree-of-freedom electric wave compensation system to work is reserved between the sailing boat body and the deck, and the flexible waterproof material is adopted to fill the gap so as to enable the gap to be connected with the sailing boat body and the deck.
4. The six degree-of-freedom marine wave-compensating multipurpose boat of claim 1, characterized in that: the execution part is an electric cylinder, and the electric cylinder is structurally reinforced in a local area where the electric cylinder is connected with the sailing boat body and the deck in an installing mode.
5. The six degree-of-freedom marine wave-compensating multipurpose boat of claim 1, characterized in that: an inclined angle is formed between the upper plane of the sailing boat body and the lower platform surface of the six-degree-of-freedom electric wave compensation system, and the inclined angle is in a form of being high in the front and low in the back or high in the middle and low in two sides.
6. The six degree-of-freedom marine wave-compensating multipurpose boat of claim 1, characterized in that: the sailing boat body is provided with an anti-rollover wing near the outer waterline of the boat body, the anti-rollover wing is calculated according to the stability of the ship, and the anti-rollover wing is arranged on the periphery of the boat body in a continuous mode or in a sectional mode.
7. A wave compensation method for a multipurpose boat with six-freedom-degree wave compensation at sea according to any one of claims 1 to 6 is characterized in that motion attitude values of rolling, pitching, heaving, rolling, pitching and yawing of a boat body are measured through an attitude sensor and transmitted to a motion controller in real time, the motion controller calculates compensation values of rolling, pitching, heaving, rolling, pitching and yawing according to an inverse solution algorithm of the wave compensation values, and controls the actions of all servo electric cylinders according to the compensation values to realize six-freedom-degree compensation of an upper deck, and the method specifically comprises the following steps:
measuring motion attitude values a1, a2, a3, a4, a5 and a6 of the rolling, pitching, heaving, rolling, pitching and yawing of the ship body through attitude sensors;
when a2= a3= a4= a5= a6=0 and a1 ≠ 0, there is a rolling motion, the motion controller controls the vertical cylinder to act, and the other cylinders do not act; when a1= a3= a4= a5= a6=0 and a2 ≠ 0, the motion controller controls the main motion of the vertical cylinder and the auxiliary motion of the two inclined cylinders when there is pitching motion; when a1= a2= a4= a5= a6=0 and a3 ≠ 0, there is heave motion, the controller controls the vertical cylinder primary motion, the tilt cylinder and the auxiliary load cylinder auxiliary motion; when a1= a2= a3= a5= a6=0 and a4 ≠ 0, the controller controls the horizontal cylinders arranged perpendicular to the axis of the ship body to mainly act and the auxiliary bearing cylinders to act in an auxiliary mode when the horizontal cylinders move in a swaying mode; when a1= a2= a3= a4= a6=0 and a5 ≠ 0, there is a surging action, the controller controls the primary action of the horizontal cylinders arranged along the hull axis, the auxiliary load-bearing cylinder auxiliary action; when a1= a2= a3= a4= a5=0 and a6 ≠ 0, the controller controls the tilt cylinder to mainly operate and the other cylinders to not operate.
8. The heave compensation method according to claim 7, wherein in the case of the leftward swaying, the horizontal cylinder located on the left side extends the leftward swaying value measured by the attitude sensor, and the horizontal cylinder located on the right side shortens the leftward swaying value measured by the attitude sensor; when the horizontal cylinder on the left side horizontally swings to the right, the horizontal cylinder on the left side shortens the leftward swing value measured by the attitude sensor, and the horizontal cylinder on the right side horizontally swings to the left measured by the attitude sensor in an extending manner; when the front surging is carried out, the horizontal cylinder at the front end extends the forward surging value measured by the attitude sensor, and the horizontal cylinder at the rear end shortens the forward surging value measured by the attitude sensor; during backward surging, the horizontal cylinder at the front end shortens the backward surging value measured by the attitude sensor, and the horizontal cylinder at the rear end extends the backward surging value measured by the attitude sensor.
9. The heave compensation method according to claim 7, comprising for yawing motion:
assuming that the initial inclined cylinder length L0 forms an angle alpha with the lower platform surface, the working inclined cylinder length L1 forms an angle beta with the lower platform surface, the heading angle is theta, the distance from the heading rotation center to the slide rail seat at the upper end of the initial inclined cylinder is S, and the vertical distance from the slide rail seat at the upper end of the inclined cylinder to the lower platform surface is h;
when no rolling, no pitching and no heaving are carried out, L1= (Stan theta tan alpha + h)/tan alpha cos beta, L0= h/sin alpha, and the tilt cylinder expansion and contraction quantity L = L1-L0;
when there is rolling, pitching or heaving, assuming that the rolling angle is phi, L1= (Stan θ cos phi tan alpha + h)/tan α cos beta, L0= h/sin alpha, and the tilt cylinder expansion amount L = L1-L0;
when pitching, rolling or heaving exists, and the pitching angle is gamma, L1= (Stan theta tan alpha + Stan gamma + h)/tan alpha cos beta, L0= (h + Stan gamma)/sin alpha, and the tilt cylinder expansion and contraction quantity L = L1-L0;
when there is heave, no roll, and no pitch, assuming that the heave height is h1, L1= (Stan θ tan α + h + h1)/tan α cos β, L0= (h + h1)/sin α, and the tilt cylinder expansion amount L = L1-L0.
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