Compensation method of two-freedom wave compensation system based on sea-sky line detection

Abstract

The invention relates to a compensation method of two-freedom wave compensation system based on sea-sky line detection. The compensation method comprises the following steps: building a compensation system, collecting an image, calculating expansion and contraction quantity of compensation hydraulic cylinders, performing primary compensation and secondary compensation. The compensation method has the advantages that the horizontal attitude angle of a ship body is calculated according to a sea-sky line image collected by a CCD (Charged Coupled Device) industrial camera, the horizontal attitude angle is transmitted to an industrial control machine, the industrial control machine is used for performing inverse solution to obtain the expansion and contraction quantity of four hydraulic cylinders; a calculated compensation value is converted from a digital signal to an analog signal through a D/A converter; the analog signal is transmitted to an electrolyte server valve through a server amplifier; the server valve is used for controlling the expansion and contraction quantity of four compensation hydraulic cylinders according to the processed analog signal to realize real-time compensation for the rolling and pitching of an operation device on a movable platform; closed-loop control is performed through the difference between a measured value and a calculated valve, and the stability of the compensation system is further enhanced.

Description

technical field [0001] The invention relates to the field of sea wave compensation, in particular to a compensation method for a two-degree-of-freedom wave compensation system based on sea antenna detection. Background technique [0002] With the increasing demand of human beings for marine transportation and marine resources, offshore operations are particularly important. For operations on offshore vessels, the lifting device is undoubtedly an important part. However, due to the influence of sea wind and waves, ships operating at sea will sway irregularly, which poses a large safety hazard and seriously affects the efficiency of offshore operations. Therefore, wave compensation must be performed on the hoisting device on the ship to reduce the safety risks caused by wave swaying, so as to improve the working efficiency and safety factor of hoisting. [0003] Heave compensation is mainly divided into active heave compensation and passive heave compensation. Active wave c...

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Problems solved by technology

[0005] The above structure realizes the compensation for the heave, roll and pitch motion of the ship, but this structure platform is usually suitable for some large ship-mounted cranes. For some small ship-mounted cranes, if directly using this structure to carry out hoisting, the cost is high, and the area is large

First of all, it needs to use six compensation hydraulic cylinders to cooperate to realize it. There are many components required, the structure is complicated, and it is troublesome to perform compensation actions; in addition, the connection between the dynamic platform and the static platform is only through six compensation hydraulic cylinders. Cylinder fit to achieve the connection, the connection is unstable

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