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A control method and control system for a multi-degree-of-freedom displacement change compensation platform

A technology of displacement change and control method, applied to controllers with specific characteristics, electric controllers, etc., can solve problems such as compensation hysteresis, inaccurate compensation of actuators, and inability to predict the movement trend of the lower platform in advance.

Active Publication Date: 2019-09-24
KEEN OFFSHORE ENG CO LTD +1
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Problems solved by technology

However, in the wave compensation process of the existing multi-degree-of-freedom platform, the compensation amount of each actuator is inaccurate, and the movement trend of the lower platform cannot be predicted in advance, resulting in hysteresis of compensation and poor compensation accuracy. The platform cannot always remain on the same level

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  • A control method and control system for a multi-degree-of-freedom displacement change compensation platform
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Embodiment Construction

[0044] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0045] The control method of the multi-degree-of-freedom displacement compensation platform of this embodiment, such as figure 1 As shown, including controller 1 and multi-degree-of-freedom platform 2, such as figure 2 As shown, the multi-degree-of-freedom platform 2 includes an upper platform 21, a lower platform 22, and six actuators 23 hinged between the upper platform 21 and the lower platform 22, and the controller 1 drives the actuators 23 through a servo valve 24. The piston rod telescopic of device 23 comprises the following steps:

[0046] Step A, such as image 3 As shown, the static coordinate system OXYZ is established on the upper platform 21, the center of the circumscribed circle of the upper platform 21 is selected as the origin of the static coordinate system, and the dynamic coo...

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Abstract

The invention discloses a control method and a control system for a multi-degree-of-freedom displacement change compensation platform, including a controller and a multi-degree-of-freedom platform. The multi-degree-of-freedom platform includes an upper platform, a lower platform, and a platform hinged between the upper platform and the lower platform. Six actuators, drive the actuators to expand and contract through the servo valve, measure the attitude of the lower platform through the attitude sensor, according to the expansion and contraction Δd of the six actuators i , get the compensation amount K corresponding to the six actuators i =-Δd i , and then control the six servo valves to drive the piston rods of the corresponding actuators until the corresponding compensation amount K i . It is used to perform PID closed-loop adjustment and correction on the predicted deviation between the future motion curve and the actual motion curve, and to perform quadratic adjustment on the predicted deviation between the future motion curve and the actual motion curve according to the actual displacement of the six actuators. Correction.

Description

technical field [0001] The invention relates to the field of marine transportation operation equipment, in particular to a control method and a control system for a multi-degree-of-freedom displacement change compensation platform. Background technique [0002] Due to the influence of wind and waves, ships operating at sea will sway irregularly, which seriously affects the safety of staff when working at sea. Therefore, it is often necessary to set up a multi-degree-of-freedom platform to compensate the roll, pitch and heave of the upper platform in real time by adjusting the telescopic and swaying of the six actuators, so as to keep the upper platform stable. However, in the wave compensation process of the existing multi-degree-of-freedom platform, the compensation amount of each actuator is inaccurate, and the movement trend of the lower platform cannot be predicted in advance, resulting in hysteresis and poor compensation accuracy. Platforms cannot always remain on the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 麦志辉黄鹏邓达紘李光远吴平平陆军张静波马振军陈峰
Owner KEEN OFFSHORE ENG CO LTD
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