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Wave compensation control system based on feedforward PID control algorithm

A wave compensation and control system technology, applied to electric controllers, controllers with specific characteristics, etc., can solve problems such as slow response, achieve rapidity and accuracy improvement, good energy saving effect, and solve the effect of slow response

Inactive Publication Date: 2020-09-25
SHANGHAI MARITIME UNIVERSITY
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Problems solved by technology

Effectively utilize the limited space on the ship, solve the problem of slow response of the previous system control algorithm, and achieve the purpose of wave compensation for the ship in six degrees of freedom

Method used

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  • Wave compensation control system based on feedforward PID control algorithm
  • Wave compensation control system based on feedforward PID control algorithm
  • Wave compensation control system based on feedforward PID control algorithm

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Embodiment Construction

[0025] The invention patent will be further described below in conjunction with the accompanying drawings, and the advantages and characteristics of the present invention will be clearer. It should be noted that the drawings are all in a very simplified form and use imprecise ratios, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.

[0026] The present invention introduces a micro-inertial navigation sensor and a feedforward PID algorithm to accurately and effectively compensate the equipment. The microinertial navigation technology is used for the expansion and contraction compensation movement of the platform drive rod, and the feedforward PID algorithm is used to solve the disadvantages of the traditional PID algorithm and improve speed and accuracy. It adopts feed-forward PID control algorithm and introduces active wave compensation system of inertial navigation technology. The limited space on the ...

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Abstract

The invention provides a wave compensation control system based on a feedforward PID control algorithm. The system is mounted on a running ship and comprises an active wave compensation platform, a three-degree-of-freedom motion platform, a micro inertial navigation sensor and a servo controller. The active wave compensation platform is of a parallel structure formed by hinging six driving rods with displacement sensors to the upper table top and the lower table top through Hooke hinges. The three-degree-of-freedom motion platform adopts an electro-hydraulic servo controller. The micro inertial navigation sensor takes a micro inertial navigation component for acquiring the linear velocity of a moving object and a gyroscope for acquiring the angular velocity of the moving object as cores, and is combined with the active wave compensation platform to form a platform type inertial navigation system. The servo control system adopts a feedforward PID control algorithm. According to the device and the control algorithm, an existing wave compensation device can be effectively replaced, a more accurate coordinate position is obtained, and a more perfect compensation effect is achieved.

Description

technical field [0001] The invention relates to the field of active platform wave compensation, in particular to a wave compensation control system based on a feedforward PID control algorithm. Background technique [0002] Ships operating in the ocean will face complex roll, pitch and heave motions under the action of waves, which will seriously affect the safety and precision of ship operations, and obviously cannot meet the needs of stable operation of ships. Although the control algorithm based on modern control theory has made great breakthroughs in practicability and technology, it is difficult to operate and has low robustness; while the control algorithm based on classical control theory is mature in technology, and it cannot effectively deal with the existing problems when used alone. changing working conditions. [0003] The Chinese patent "Method and Equipment for Wave Stroke Compensation" with publication number CN 108216489A discloses an active wave compensatio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 唐刚冷庐逸胡雄
Owner SHANGHAI MARITIME UNIVERSITY
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