A kind of shipborne stable platform experiment system and its working method

Abstract

The invention discloses a ship-borne stable platform experiment system comprising an operating bench, a ship-borne stable platform, and a ship three-freedom motion simulation platform. Real working states of a ship-borne platform on a ship in different marine environments can be simulated completely, so that the system can be applied to experimental verification of a ship-borne platform stable control algorithm. According to the invention, the experimental study on a ship-borne stable platform is carried out by simulating a real ship experiment, so that the development cost of the ship-borne stable platform is saved and the development period of the ship-borne stable platform is reduced. Three-freedom motions of rolling, pitching, and heaving of a ship in different marine environments can be compensated by using the ship-borne stable platform; and a relatively stable working environment can be provided for various working on the ship. The system is superior to the existing wave compensation device only compensating the heaving motion of the ship and a two-freedom stable platform only compensating the rolling and pitching motions of the ship. The system has a flexible and friendly man-machine interaction interface; and a user can carry out experiment operation smoothly.

Description

technical field [0001] The invention relates to equipment technology in the field of ships and ocean engineering, in particular to a ship-borne stable platform experimental system and its working method, which can be used to simulate the three-degree-of-freedom motion (roll, pitch and lift) of ships in different ocean environments. Shen), can also be used to realize the experimental verification of the shipboard stabilization platform control algorithm in the laboratory. Background technique [0002] The marine environment will interfere with the movement of the six degrees of freedom of the ship's roll, pitch, yaw, sway, surge and heave, which will affect the normal operations on the ship (such as: take-off and landing safety of ship-borne helicopters) , launch accuracy of shipborne laser weapons, and ship replenishment operations at sea, etc.) have a serious impact; the sway, surge, and yaw motions can be controlled by the dynamic positioning system, while the roll, pitch,...

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Problems solved by technology

[0003] Chinese patent CN 204188962 U discloses a detailed mechanical structure of a shipboard stable platform test device, but does not include a specific shipboard platform stability control system

Chinese patent CN 103979419 A discloses an active wave compensation control system and method applied to deep-water operation cranes, deep-water operation winches, and lifeboat retracting and launching devices. The hydraulic drive system is used to control the reel movement of the above-mentioned devices to control deep-water operations. The process of entering or exiting the device or lifeboat can improve the safety and stability of offshore lifting operations, but it only considers the heave motion of the ship, and does not compensate for roll and pitch motions

The latter two patents above do not have corresponding motion simulation devices, which cannot simulate the motion state of ships in different marine environments, so they cannot provide an experimental environment for laboratory verification of shipboard platform stability controllers

[0004] Zhang Peng of the 723 Institute of the Shipbuilding Industry Group Co., Ltd. published a paper entitled "Design of Shipborne Camera Stabilization Platform" on "Ship Electronic Countermeasures" Vol.29, No.3 (No. 3, 2006), and designed a A stable platform that can compensate for ship roll and pitch motion can quickly and accurately eliminate hull sway, so that the camera installed on the stable platform can always be kept level on the ship, but the stable platform can only carry cameras, and does not consider the ship's The effect of heave motion

Liu Jiafu of Dalian Maritime University's master's degree thesis "Shipborne Stable Platform Based on Fuzzy PID Control" (2008) designed a fuzzy PID controller for a shipborne stable platform to compensate the two-degree-of-freedom motion of the ship's roll and pitch, but it also Does not consider the effect of ship heave motion

Guo Lidong of Harbin Engineering University’s doctoral dissertation "Research on Control Technology of Shipborne Laser Weapon Stabilization Platform" (2010) aimed at the characteristics of high tracking accuracy of shipborne laser weapons, designed a rough and fine combination of dual platform structure, coarse platform compensation The swaying effect of the marine environment disturbance on the ship, the fine platform further improves the stability of the shipboard platform by isolating the remaining sway error of the rough platform, but it is only suitable for carrying shipboard laser weapons

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