Hybrid mechanism-based kinematic solution method for active wave compensation systems

Abstract

The invention provides a hybrid mechanism-based kinematic solution method for active wave compensation systems. The method comprises the following steps of: in an inverse kinematic process, solving aposition and a posture, in a space, of a mobile platform through a pose parameter of a target point at the tail end of an upper platform, solving the displacement of each rod length, namely, each mobile pair, and inputting an obtained joint motion amount into a compensation platform controller to realize motion control; and in a forward kinematic process, solving a direction cosine matrix and a position vector, in a static coordinate system, of a mobile coordinate system through 6 input rod lengths, a constraint equation of the rod lengths and a system of simultaneous equations, solving a homogeneous transformation matrix at the tail end of an accommodation ladder of the upper platform, and inputting an obtained pose, in the space, of the tail end of the accommodation ladder into the compensation platform controller to realize motion control. The method is capable of enabling the calculation process to be relatively rapid, simple, correct, efficient and convenient to apply, providing basis for the motion control of active wave compensation systems, and satisfying the work demands of the active wave compensation systems of engineering.

Description

technical field [0001] The invention relates to a kinematics solving method, in particular to a kinematics solving method of an ocean wave active compensation system based on a hybrid mechanism. Background technique [0002] With the rapid development of science and technology and the improvement of people's living standards, the development and use of clean energy and green energy has attracted extensive attention. The vast ocean occupies about 70% of the earth's area. Offshore wind energy resources are abundant. The development and utilization of offshore wind energy has already entered the field of vision of various countries. The number of installed wind energy power stations has increased significantly. Countries have regarded it as the most important component of new energy strategies. part. In my country, the blue territory of more than 3 million square kilometers contains huge wind resources and power generation conditions. A large number of offshore wind power stat...

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Problems solved by technology

[0005] Based on the research of scholars from various countries, we realized that due to the high coupling o

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