Kinematic solution method of active wave compensation system based on hybrid mechanism

Abstract

The invention provides a kinematics solution method of an active ocean wave compensation system based on a hybrid mechanism. The inverse kinematics process solves the position and attitude of the moving platform in space through the pose parameters of the target point at the end of the upper platform, calculates the length of each rod, that is, the displacement of each moving pair, and inputs the obtained joint motion to the compensation platform controller to realize the motion Control; the process of forward kinematics solves the direction cosine matrix of the dynamic coordinate system in the static coordinate system and the position vector of the dynamic coordinate system in the static coordinate system through six input rod lengths, constraint equations of rod length, and the simultaneous equations. The homogeneous transformation matrix at the end of the gangway on the platform is obtained, and the obtained pose of the gangway end in space is input to the compensation platform controller to realize motion control. The invention can make the calculation process relatively fast, simple, accurate, high-efficiency and convenient in application, provides a basis for the motion control of the ocean wave active compensation system, and can meet the working requirements of the active compensation system in 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 of the parallel mechanism, the independent movement of the platform is poor, and it has its own movement limit

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