A marine high-precision control disturbance compensation stabilizer and compensation control method

Abstract

The present invention relates to a high-precision control disturbance compensation stabilizer and compensation control method for ships, comprising: a load platform for carrying loads; a piezoelectric bearing for sensing the pressure of a flexible component in various directions, and at least three piezoelectric sensors are arranged on the piezoelectric bearing; a mobile platform for connecting a vertical motor, a transverse motor and a longitudinal motor thereon to achieve movement and drive the universal joint movement, and a flexible component for sensing disturbances in advance; a processor for reading the data of the piezoelectric bearing and performing rapid parallel processing, and controlling the vertical motor, the transverse motor and the longitudinal motor for compensation. The present invention performs hysteresis time-sharing processing on disturbances due to the design of the flexible rod, and the disturbance can be eliminated within the hysteresis time gained by the flexible rod through the processor, while the existing technologies are all post-compensation, which can only reduce the disturbance interference as small as possible and as quickly as possible, rather than eliminating the interference.

Description

Technical Field

[0001] The present invention relates to the technical field related to shipborne stabilization platforms, and in particular to a shipborne high-precision control disturbance compensation stabilization platform and a compensation control method. Background Art

[0002] The shipboard stabilization device is a very important core device among shipboard precision instruments. It is used to compensate for the roll, pitch and vertical movement during navigation. At present, the passive compensation of attitude sensors is mainly used for stabilization control. This method is simple to operate, but there are also the following problems: 1) The sampling rate of ordinary attitude sensors is not high, and the protocol needs to be parsed, the compensation delay effect is obvious, the action is obviously delayed, and the accuracy is not high. 2) High-precision inertial navigation is huge in size and very expensive. The cost even exceeds the precision instrument itself that needs to be stabilized. It is not practical and can only be used in special equipment scenarios such as military industry.

[0003] In view of the above-mentioned defects, the designers have actively carried out research and innovation in order to create a marine high-precision control disturbance compensation stabilization and compensation control method to make it more valuable for industrial use. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a marine high-precision control disturbance compensation stabilizer and compensation control method.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] One of the purposes of the present invention:

[0007] A high-precision control disturbance compensation stabilizer for ships, comprising:

[0008] a load platform for carrying the load;

[0009] A piezoelectric bearing for sensing the pressure of the flexible component in various directions, wherein the piezoelectric bearing is provided with piezoelectric sensors in at least three directions;

[0010] A support rod used to fix the outer ring of the piezoelectric bearing and prevent it from shifting and causing the flexible component to tilt;

[0011] A mobile platform for connecting the vertical motor, lateral motor and longitudinal motor thereon to achieve movement and drive the universal joint movement.

[0012] Flexible components for early detection of disturbances;

[0013] A processor for reading the data of the piezoelectric bearing and performing fast parallel processing, and controlling the vertical motor, the lateral motor and the longitudinal motor for compensation;

[0014] Among them, the vertical motor, the lateral motor and the longitudinal motor are respectively located in three directions on the three-axis coordinates;

[0015] The load platform is supported by a flexible component, the flexible component is fixed by a piezoelectric bearing and a universal joint, the piezoelectric bearing is fixed by multiple support rods, the universal joint is fixed on a freely slidable mobile platform, the mobile platform is connected to a vertical motor, a transverse motor and a longitudinal motor and can realize movement in three axes, the processor is connected to the piezoelectric bearing, the vertical motor, the transverse motor and the longitudinal motor through electronic circuits and realizes data reading and control output.

[0016] As a further improvement of the present invention, the flexible component is a nonlinear toughness component, and the toughness of the upper half of the flexible component is greater than that of the lower half.

[0017] As a further improvement of the present invention, the flexible component is a flexible rod or a K-value nonlinear spring.

[0018] As a further improvement of the present invention, the processor is an FPGA chip or a DSP chip or a CPU.

[0019] The second purpose of the present invention is:

[0020] A compensation control method for a high-precision control disturbance compensation stabilizer for a ship comprises the following steps in sequence:

[0021] Step S1, when there is a posture disturbance such as jitter, vibration, or roll in the environment, the interference is transmitted with time-domain hysteresis through the flexible component to prevent the interference from causing synchronous movement of the load platform without delay;

[0022] Step S2, the piezoelectric bearing senses the disturbance direction of the flexible component and generates a voltage to feed back to the processor;

[0023] Step S3, after the processor obtains the feedback voltage, it calculates in parallel and outputs the correction value to the vertical motor, the horizontal motor and the longitudinal motor;

[0024] Step S4: After receiving the instruction from the processor, the vertical motor, the lateral motor and the longitudinal motor move quickly to drive the mobile platform to compensate and return to its original position.

[0025] As a further improvement of the present invention, the piezoelectric bearing should be able to sense forces in at least three axial directions.

[0026] As a further improvement of the present invention, the vertical motor, the transverse motor and the longitudinal motor are respectively located in three directions on the three-axis coordinate system.

[0027] By means of the above scheme, the present invention has at least the following advantages:

[0028] 1. Since the design of the flexible rod performs hysteresis time-sharing processing on the disturbance, the disturbance can be eliminated by the processor within the hysteresis time gained by the flexible rod. However, the existing technologies are all post-compensation, which can only reduce the disturbance as small and as fast as possible, rather than eliminating the disturbance.

[0029] 2. When there is no external interference, the three piezoelectric sensors are in a static state and the system does not start pre-compensation; when external interference occurs, the processor quickly analyzes the data of the three piezoelectric sensors, quickly compensates before the platform is disturbed, and keeps the platform stable.

[0030] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 The present invention is a structural schematic diagram of a ship-based high-precision control disturbance compensation stabilizer.

[0033] The meanings of the various reference numerals in the figures are as follows.

[0034] 1 Load platform 2 Piezoelectric bearing

[0035] 3 Support rod 4 Mobile platform

[0036] 5 Processor 6 Vertical Motor

[0037] 7 Transverse motor 8 Flexible component

[0038] 9 Universal joint 10 Longitudinal motor DETAILED DESCRIPTION

[0039] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0040] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, rather than all the embodiments. The components of the embodiment of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiment of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiment of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0041] Example

[0042] like Figure 1 As shown,

[0043] One of the purposes of the present invention:

[0044] A high-precision control disturbance compensation stabilizer for ships, comprising:

[0045] A load platform 1 for carrying a load;

[0046] A piezoelectric bearing 2 for sensing the pressure of the flexible component 8 in various directions, wherein the piezoelectric bearing 2 is provided with piezoelectric sensors in at least three directions;

[0047] A support rod 3 for fixing the outer ring of the piezoelectric bearing 2 and preventing it from shifting and causing the flexible component 8 to tilt;

[0048] A mobile platform 4 is used to connect the vertical motor 6, the lateral motor 7 and the longitudinal motor 10 thereon to achieve movement and drive the universal joint 9 to move,

[0049] A flexible component 8 for early perception of disturbances;

[0050] A processor 5 for reading the data of the piezoelectric bearing 2 and performing fast parallel processing, and controlling the vertical motor 6, the lateral motor 7 and the longitudinal motor 10 for compensation;

[0051] Among them, the vertical motor 6, the lateral motor 7 and the longitudinal motor 10 are respectively located in three directions on the three-axis coordinates;

[0052] The load platform 1 is supported by a flexible component 8, and the flexible component 8 is fixed by a piezoelectric bearing 2 and a universal joint 9. The piezoelectric bearing 2 is fixed by multiple support rods 3. The universal joint 9 is fixed on a freely slidable mobile platform 4. The mobile platform 4 is connected to a vertical motor 6, a transverse motor 7 and a longitudinal motor 10 and can realize movement in three axes. The processor 5 is connected to the piezoelectric bearing 2, the vertical motor 6, the transverse motor 7 and the longitudinal motor 10 through electronic circuits and realizes data reading and control output.

[0053] The flexible component 8 is a nonlinear toughness component, and the toughness of the upper part of the flexible component 8 is greater than that of the lower part.

[0054] The flexible component 8 is a flexible rod or a nonlinear spring with a K value.

[0055] The processor 5 is an FPGA chip, a DSP chip or a CPU.

[0056] The second purpose of the present invention is:

[0057] A compensation control method for a high-precision control disturbance compensation stabilizer for a ship comprises the following steps in sequence:

[0058] Step S1, when there is a posture disturbance such as jitter, vibration, or roll in the environment, the flexible component 8 performs a time domain hysteresis transmission on the disturbance to prevent the load platform 1 from moving synchronously without delay;

[0059] Step S2, the piezoelectric bearing 2 senses the disturbance direction of the flexible component 8, and generates a voltage to feed back to the processor 5;

[0060] Step S3, the processor 5 obtains the feedback voltage and calculates in parallel to output the correction value to the vertical motor 6, the horizontal motor 7 and the longitudinal motor 10;

[0061] In step S4, the vertical motor 6, the lateral motor 7 and the longitudinal motor 10 move quickly after receiving the instruction from the processor 5, and drive the mobile platform 4 to compensate and return to the original position.

[0062] When there is external disturbance, due to inertia, the load platform 1 remains motionless for a short time due to the flexibility of the flexible rod, and the part of the flexible rod between the piezoelectric bearing 2 and the universal joint 9 bends and squeezes the piezoelectric bearing 2. After the piezoelectric bearing 2 senses the deformation, it converts the deformation signal into a voltage model and feeds it back to the processor 5 (FPGA chip). The processor 5 quickly performs parallel calculations and obtains the compensation value and outputs it to the vertical motor 6, the transverse motor 7 and the longitudinal motor 10 to quickly compensate and return to their original position before the load platform 1 moves, thereby compensating for the disturbance deformation and preventing it from being transmitted to the load platform 1.

[0063] Since the design of the flexible rod performs hysteresis time-sharing processing on the disturbance, and the processor 5 (FPGA chip) is a parallel processor with a very fast processing speed, the disturbance can be eliminated within the hysteresis time gained by the flexible rod. However, the existing technologies are all post-compensation, which can only reduce the disturbance interference as small as possible and as quickly as possible, but not eliminate the interference.

[0064] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly referring to the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0065] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A high-precision control disturbance compensation stabilizer for ships, characterized in that: include: A load platform (1) for carrying a load; A piezoelectric bearing (2) for sensing the pressure of the flexible component (8) in various directions, wherein the piezoelectric bearing (2) is provided with piezoelectric sensors in at least three directions; A support rod (3) for fixing the outer ring of the piezoelectric bearing (2) and preventing the outer ring from shifting and causing the flexible component (8) to tilt; A mobile platform (4) for connecting a vertical motor (6), a lateral motor (7) and a longitudinal motor (10) thereon to achieve movement and drive the universal joint (9) to move, A flexible component (8) for early sensing of disturbances; A processor (5) for reading data of the piezoelectric bearing (2) and performing rapid parallel processing, and controlling the vertical motor (6), the lateral motor (7) and the longitudinal motor (10) for compensation; Wherein, the vertical motor (6), the transverse motor (7) and the longitudinal motor (10) are respectively located in three directions on the three-axis coordinates; The load platform (1) is supported by a flexible component (8), the flexible component (8) is fixed by a piezoelectric bearing (2) and a universal joint (9), the piezoelectric bearing (2) is fixed by a plurality of support rods (3), the universal joint (9) is fixed on a freely slidable mobile platform (4), the mobile platform (4) is connected to a vertical motor (6), a transverse motor (7) and a longitudinal motor (10) and can realize movement in three-axis directions, the processor (5) is connected to the piezoelectric bearing (2), the vertical motor (6), the transverse motor (7) and the longitudinal motor (10) through an electronic circuit and realizes data reading and control output; The flexible component (8) is a nonlinear toughness component, and the toughness of the upper part of the flexible component (8) is greater than that of the lower part; The flexible component (8) is a flexible rod or a K-value nonlinear spring.

2. A high-precision control disturbance compensation stabilizer for ships as claimed in claim 1, characterized in that: The processor (5) is an FPGA chip or a DSP chip or a CPU.

3. The compensation control method for a high-precision control disturbance compensation stabilizer for a ship as claimed in claim 1, characterized in that: The following steps are included in sequence: Step S1, when there is a posture disturbance such as jitter, vibration or roll in the environment, the disturbance is subjected to time domain hysteresis transmission through the flexible component (8) to prevent the disturbance from causing synchronous movement of the load platform (1) without delay; Step S2, the piezoelectric bearing (2) senses the disturbance direction of the flexible component (8) and generates a voltage to feed back to the processor (5); Step S3, the processor (5) obtains the feedback voltage and performs parallel calculation to output the correction value to the vertical motor (6), the horizontal motor (7) and the longitudinal motor (10); In step S4, the vertical motor (6), the lateral motor (7) and the longitudinal motor (10) move quickly after receiving the instruction from the processor (5), and drive the mobile platform (4) to compensate and return to the original position.

4. A compensation control method for a high-precision control disturbance compensation stabilizer for a ship as claimed in claim 3, characterized in that: The piezoelectric bearing (2) should be able to sense forces in at least three axial directions.

5. The compensation control method for a high-precision control disturbance compensation stabilizer for a ship as claimed in claim 3, characterized in that: The vertical motor (6), the transverse motor (7) and the longitudinal motor (10) are respectively located in three directions on the three-axis coordinates.

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