An underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform

Abstract

The present invention discloses an underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform, which relates to the field of marine propulsion devices. To address the problems of existing AUV vector propulsion devices, such as the lack of motion decoupling, complex transmission structures, and difficulty in sealing and lubricating, the following solution is proposed, comprising a parallel control platform and a ducted propulsion device. The parallel control platform comprises six electrically controlled hydraulic telescopic cylinders, a lower control platform with electric adjustment, and an upper bearing platform with a gyroscope, a guide groove, and multiple guide tubes. The ducted propulsion device comprises a three-phase brushless motor, a connector, a pair of ducted housings, three radial fixing screws, four axial fixing screws, a transmission rod, a turbofan, a gasket, a fastening nut, a fairing, and fastening screws. The present invention has a novel structure and effectively solves the problems of existing AUV vector propulsion devices, such as the lack of motion decoupling, complex transmission structures, and difficulty in sealing and lubricating.

Description

Technical Field

[0001] The present invention relates to the field of marine propulsion devices, and in particular to an underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform. Background Art

[0002] Autonomous underwater vehicles (AUVs) are currently showing increasing application prospects in both civilian and military fields. One of the most pressing challenges in AUV propulsion technology is steering control. Three existing approaches exist: fin-rudder steering, multi-thruster steering, and vector propulsion steering. Vector propulsion technology is a hot topic in AUV propulsion research. AUVs developed rapidly in the 1990s, exemplified by the US-developed NPS AUV, which was used for deep-water bottom scanning and surveying. The subsequent REMUSAUV, featuring a built-in navigation system and embedded camera, was deployed in the 2003 Iraq War. In August 1995, my country developed the "CR-01" AUV, a joint venture between the Shenyang Institute of Automation and other institutions, to acquire marine mineral resource data. However, all of these AUVs used relatively mature non-vector propulsion systems. A promising example of vector propulsion is the BLUEFUN-21 AUV, designed and manufactured by the US-based company BLUEFINROBOTICS. This AUV uses vector thrusters to generate additional control torque, resulting in strong maneuverability. However, the vector thrusters currently in use and under development have the following shortcomings: First, motion decoupling is not achieved. Existing vector thrusters all suffer from motion coupling, which complicates the control algorithm and reduces system response speed. Second, the transmission structure is complex. The mechanical transmission structure of existing vector thrusters is relatively complex, and the transmission chain is too long, which reduces transmission accuracy. Third, sealing and lubrication are difficult. Existing vector thrusters are limited by their mechanical structure and cannot be completely sealed. They require expensive pressure-resistant batteries and watertight motors. Most parts are exposed to water, easily corroded, and difficult to lubricate. At the same time, existing parallel platform underwater vector propulsion devices only consider precise control and simply match the thruster with the parallel platform, without considering the special fluid conditions used underwater. To address the shortcomings of existing AUV vector thrusters, an underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform is designed. Summary of the Invention

[0003] The present invention proposes an underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform, which solves the problems of existing AUV vector thrusters such as the lack of motion decoupling, complex transmission structure, and difficulty in sealing and lubrication.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The invention relates to an underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform, comprising a parallel control platform and a ducted propeller, wherein the parallel control platform comprises six electrically controlled hydraulic telescopic cylinders, a lower control platform with electric adjustment, and an upper bearing platform with a gyroscope, a guide groove and a plurality of guide tubes; the ducted propeller comprises a three-phase brushless motor, a connector, a pair of ducted housings, three radial fixing screws, four axial fixing screws, a transmission rod, a turbofan, a gasket, a fastening nut, a fairing, and a fastening screw. The brushless motor is coaxially matched with the connector through hole and connected with four axial fastening screws. At the same time, the transmission rod is connected to the motor rotating shaft through a pin. The turbofan is coaxially matched with the transmission rod, the gasket is coaxially matched with the transmission rod, and is placed directly between the fastening screw and the turbofan and fixed by the fastening screw. The fairing is coaxially matched with the transmission rod and fixed by the fastening screw and the axial screw hole at the end of the transmission rod. The ducted housing is installed on the top of the upper bearing platform.

[0006] Preferably, the electrically controlled hydraulic telescopic cylinder comprises a first hinge support, a second hinge support, a third hinge support and a fourth hinge support, a first bearing pair, a second bearing pair, a third bearing pair to a fourth bearing pair, a first pin, a second pin, a third pin to a fourth pin, a first connecting rod and a second connecting rod, a cylinder, and a flexible piston rod.

[0007] Preferably, the flexible piston rod is composed of engineering plastic with a screw hole on the top and a whole piece of cylindrical flexible material at the bottom. It is made of a flexible material with certain flexibility and elasticity. It can swing left and right to reduce the wear of parts caused by water impact without affecting its function of bearing the thrust of the ducted motor.

[0008] Preferably, the four sets of hinge supports each have four through holes, which can be fixed to corresponding screw holes on the lower control platform, the upper bearing platform, the flexible piston rod or the cylinder by screws.

[0009] Preferably, the bearing pair can be embedded in the hinge support and matched coaxially, and the middle part can be matched coaxially with the hole of the connecting rod and fixed by a pin. The same connecting rod fixes two groups of hinge supports with different rotation directions.

[0010] Preferably, the lower control platform with electric regulator includes an electric regulator for controlling the rotation of the motor, a three-phase power supply socket for the ducted motor, and screw holes corresponding to the hinge support. The lower control platform is fixed to the robot body or the submarine body by bolts and is connected to the control signal line.

[0011] Preferably, the upper bearing platform includes a gyroscope for detecting posture, a guide groove with a depth of mm and N guide tubes with an inner diameter of mm that cooperate with the ducted propeller, screw holes corresponding to the hinge support, and a groove for fixing the ducted propeller connector.

[0012] Preferably, a guide groove with a depth of mm is located under the ducted propeller. When the propeller of the ducted propeller rotates forward, the water flow is pushed into the guide groove for compression, and then is ejected forward through N guide pipes with an inner diameter of mm.

[0013] Preferably, N is 20.

[0014] Preferably, a pair of the ducted housings are assembled and fixed with bolts through the through holes on both sides, the connector of the ducted propeller is coaxially matched with the groove of the upper supporting platform where the connector is fixed, and is fixed by three radial fixing screws, and the three-phase power supply line of the ducted propeller is inserted into the three-phase power supply socket of the ducted motor on the lower control platform.

[0015] A control method for an underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform includes the following steps: connecting three phase lines of a brushless motor on a ducted propulsor to an electric control power supply socket on a lower control platform; connecting six electrically controlled hydraulic telescopic cylinders and the electric control to a controller of an underwater robot or submarine;

[0016] The core control mechanism of the six electrically controlled hydraulic telescopic cylinders of the parallel control platform is a hydraulic servo valve, which can be combined with the hinge to form a strong coupling and high-load-bearing mechanism with multi-degree-of-freedom output. It has high control accuracy and is not easily affected by external vibration. One control method is to obtain attitude parameters through the gyroscope in the upper load-bearing platform equipped with a gyroscope, a guide groove and multiple guide tubes. The data is transmitted to the robot controller, and the kinematic relationship between the six electrically controlled hydraulic telescopic cylinders and each mechanism is calculated, and the dynamic model and equations of the upper load-bearing platform are derived.

[0017] When using a microcontroller and a gyroscope for control, the following steps are usually required:

[0018] Obtain gyroscope data: Use the microcontroller to communicate with the gyroscope to obtain the current posture data of the upper carrier platform, such as Euler angles or quaternions;

[0019] Computational motion control: Using a control algorithm to calculate the next motion control command for the upper platform, which typically involves comparing the target pose with the current pose and calculating the amount of linear actuator control required to move the platform toward the target pose;

[0020] Send control signal: Send the calculated motion control command to the linear actuator of the upper load-bearing platform to control the movement of the platform;

[0021] Loop feedback: Repeat the above steps to continuously update the attitude data and control commands of the upper carrier platform so that the platform always maintains stable movement at the target attitude.

[0022] The beneficial effects of the present invention are:

[0023] 1. The thrust of the propeller is borne by six sets of hinges, so the bearing capacity is strong;

[0024] 2. Parallel mechanisms do not have the error superposition of series mechanisms, and do not affect each other when solving kinematics. At the same time, the response speed is faster;

[0025] 3. The pressure pulse will be dispersed, so that it has a better vibration isolation effect in complex fluid environments such as underwater;

[0026] 4. The flexible parallel mechanism has high redundancy and better adaptability in complex underwater environments.

[0027] In summary, the device effectively solves the problems of the existing AUV vector thruster motion not being decoupled, the complex transmission structure, and the difficulty of sealing and lubrication. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention.

[0029] Figure 2 This is a structural exploded view of the electronically controlled hydraulic telescopic cylinder of the present invention.

[0030] Figure 3 This is a structural breakdown diagram of the ducted propulsion system of the present invention.

[0031] Figure 4 It is a structural schematic diagram of the flexible piston rod of the present invention.

[0032] Figure 5 It is a schematic diagram of the cooperation between the ducted propeller of the present invention and the fixing groove of the upper bearing platform.

[0033] Figure 6 It is a schematic diagram of the upper bearing platform with a gyroscope, a guide groove and multiple guide tubes of the present invention.

[0034] Numbers in the figure: 1. Lower control platform; 2. First hinge support; 3. First bearing pair; 4. First pin; 5. First connecting rod; 6. Second bearing pair; 7. Second pin; 8. Second hinge support; 9. Cylinder; 10. Flexible piston rod; 11. Third pin; 12. Third bearing pair; 13. Third hinge support; 14. Second connecting rod; 15. Fourth pin; 16. Fourth bearing pair; 17. Fourth hinge support; 18. Upper bearing platform; 19. Brushless motor; 20. Duct housing; 21. Connector; 22. Radial fixing screw; 23. Axial fixing screw; 24. Drive rod; 25. Turbofan; 26. Gasket; 27. Fastening nut; 28. Fairing; 29. ​​Fastening screw. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] Reference Figures 1-6 , an underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform, including a parallel control platform and a ducted thruster, the parallel control platform includes six electrically controlled hydraulic telescopic cylinders, a lower control platform 1 with electric adjustment, an upper bearing platform 18 with a gyroscope, a guide groove and multiple guide tubes; the ducted thruster includes a three-phase brushless motor 19, a connector 21, a pair of ducted housings 20, three radial fixing screws 22, four axial fixing screws 23, a transmission rod 24, a turbofan 25, a gasket 26, a fastening nut 27, a fairing 28, a fastening screw 29, a screwdriver 30, a screwdriver 31, a screwdriver 32, a screwdriver 33, a screwdriver 34, a screwdriver 35, a screwdriver 36, a screwdriver 37, a screwdriver 38, a screwdriver 39, a screwdriver 40, a screwdriver 41, a screwdriver 42, a screwdriver 43, a screwdriver 44, a screwdriver 45 Fixing screw 29, the brushless motor 19 is coaxially matched with the through hole of connector 21, and four axial fastening screws 29 are connected. At the same time, the transmission rod 24 is connected to the rotating shaft of the motor through a pin, and the turbofan 25 is coaxially matched with the transmission rod 24. The gasket 26 is coaxially matched with the transmission rod 24 and is placed directly between the fastening screw 29 and the turbofan 25. It is fixed by the fastening screw 29. The fairing 28 is coaxially matched with the transmission rod 24 and is fixed by the fastening screw 29 and the axial screw hole at the end of the transmission rod 24. The duct housing 20 is installed on the top of the upper bearing platform 18.

[0037] The electric-controlled hydraulic telescopic cylinder includes a first hinge support 2, a second hinge support 8, a third hinge support 13 and a fourth hinge support 17, a first bearing pair 3, a second bearing pair 6, a third bearing pair 12 to a fourth bearing pair 16, a first pin 4, a second pin 7, a third pin 11 to a fourth pin 15, a first connecting rod 5 and a second connecting rod 14, a cylinder 9, and a flexible piston rod 10. The six groups of electric-controlled hydraulic telescopic cylinders are exactly the same, including the first to fourth fixed hinge supports, the first to fourth bearing pairs 16, the first to fourth pins 15, the first and second connecting rods, the cylinder 9, and the flexible piston rod 10. The first to fourth bearing pairs 16 are exactly the same. A bearing pair consists of two exactly the same bearings, which can be coaxially interference fit with the first to fourth fixed hinge supports without axial relative movement. The first to fourth pins 15 are exactly the same and are used to coaxially interference fit the first and second connecting rods with the hinge support to form a hinge connection. The first and second connecting rods are exactly the same and are used to connect two hinge supports in different directions.

[0038] The flexible piston rod 10 is composed of an engineering plastic with a screw hole on the top and a whole piece of cylindrical flexible material underneath. It is made of a flexible material and has a certain flexibility and elasticity. It can swing left and right to reduce the wear of parts caused by water flow impact, while not affecting its role in bearing the thrust of the ducted motor. The flexible piston rod 10 is composed of an engineering plastic with a screw hole on the top and a whole piece of cylindrical flexible material underneath. It is made of a flexible material and has a certain flexibility and elasticity. It can swing left and right to reduce the wear of parts caused by water flow impact, while not affecting its role in bearing the thrust of the ducted motor.

[0039] Each of the four groups of hinge supports has four through holes, which can be fixed to the corresponding screw holes on the lower control platform 1, the upper bearing platform 18, the flexible piston rod 10 or the cylinder 9 by screws. The screw holes corresponding to the fixed hinge supports contain N screw holes connected to the fixed hinge supports. Every two fixed hinge supports form a group, and there are three groups symmetrically in the center. Six fixed hinge supports can be installed, and N is a natural number greater than 4.

[0040] The bearing pair can be embedded in the hinge support and matched coaxially, and the middle part can be matched coaxially with the hole of the connecting rod and fixed by a pin. The same connecting rod fixes two sets of hinge supports with different rotation directions.

[0041] The lower control platform 1 with electric regulator includes an electric regulator for controlling the rotation of the motor, a three-phase power supply socket for the ducted motor, and screw holes corresponding to the hinge support. The lower control platform 1 is fixed to the robot body or the submarine body by bolts and connected to the control signal line. The electric regulator is an electronic device that converts direct current into three-phase alternating current to power the brushless motor 19 in the ducted propeller. It has the function of controlling the speed and the direction of rotation of the motor. At the same time, the structure must be partially waterproof and of suitable size to be embedded in the lower control platform 1, and contain a power supply socket on the inner ring of the lower control platform 1.

[0042] The upper supporting platform 18 includes a gyroscope for detecting attitude, a guide groove with a depth of 20 mm and N guide tubes with an inner diameter of 6 mm that cooperate with the ducted propeller, screw holes corresponding to the hinge support, and a groove fixed to the ducted propeller connector 21. The guide groove with a depth of 20 mm is located under the ducted propeller. When the propeller of the ducted propeller rotates forward, the water flow is pushed into the guide groove for compression, and then is ejected forward through N guide tubes with an inner diameter of 6 mm, where N is 20.

[0043] The first to fourth fixed hinge supports are exactly the same, containing N through holes connected to the lower control platform 1, the upper bearing platform 18, the cylinder 9 or the flexible piston rod 10, N is a natural number greater than 4, the cylinder 9 and the flexible piston rod 10 are coaxial interference fit, and the flexible piston rod 10 is coated with waterproof lubricating oil, which can effectively ensure smooth movement and corrosion resistance. At the same time, both sides of the cylinder 9 and the flexible piston rod 10 assembly contain N screw holes, which can be connected to the fixed hinge support, N is a natural number greater than 4, and the upper bearing platform 18 with a gyroscope, a guide groove and multiple guide pipes contains screw holes corresponding to the fixed hinge support, a 20 mm deep guide groove and N guide tubes with an inner diameter of 6 mm connected to the guide groove, and also contain a groove fixed to the connector 21. There are N on the fixed groove and the connector 21, and the guide groove with a depth of 20 mm is located under the ducted propeller. When the propeller of the ducted propeller rotates forward, the water flow is pushed into the guide groove for compression, and then is ejected forward through N guide tubes with an inner diameter of 6 mm. The screw holes corresponding to the fixed hinge supports contain N screw holes connected to the fixed hinge supports. Every two fixed hinge supports form a group, and there are three groups symmetrically in the center. Six fixed hinge supports can be installed, and N is a natural number greater than 4.

[0044] After a pair of ducted housings 20 are assembled, they are fixed with bolts through the through holes on both sides. The connector 21 of the ducted propeller is coaxially matched with the groove of the upper load-bearing platform 18 to which the connector 21 is fixed, and is fixed by three radial fixing screws 22. The three-phase power supply line of the ducted propeller is inserted into the three-phase power supply socket of the ducted motor of the lower control platform 1. The brushless motor 19 is a brushless waterproof motor using three-phase alternating current, which contains four screw holes and can be fixed to the connector 21 through the first to fourth axial fixing screws 23. A pair of ducted housings 20 coaxially match the entire turbofan 25 and are fixed with screws through the side panels with through holes on both sides.

[0045] A control method for an underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform includes the following processes: the three phase lines of the brushless motor 19 on the ducted propulsor are connected to the electric control power supply socket of the lower control platform 1, and the six electrically controlled hydraulic telescopic cylinders and the electric control are connected to the controller of the underwater robot or submarine; the core control mechanism of the six electrically controlled hydraulic telescopic cylinders of the parallel control platform is a hydraulic servo valve, which can be combined with the hinge to form a strong coupling and strong load-bearing capacity mechanism with multi-degree-of-freedom output, and its control accuracy is high and not easily affected by external vibration. A control method is to obtain attitude parameters through a gyroscope in an upper bearing platform 18 with a gyroscope, a guide groove and multiple guide tubes, transmit the data to the robot controller, calculate the kinematic relationship between the six electrically controlled hydraulic telescopic cylinders and each mechanism, and derive the dynamic model and equation of the upper bearing platform 18.

[0046] When using a microcontroller and a gyroscope for control, the following steps are usually required:

[0047] Obtaining gyroscope data: using the single chip microcomputer to communicate with the gyroscope to obtain the current posture data of the upper carrying platform 18, such as Euler angles or quaternions;

[0048] Computational motion control: Using a control algorithm to calculate the next motion control command for the upper carrier platform 18, which typically involves comparing the target pose with the current pose and calculating the linear actuator control amount required to move the platform toward the target pose;

[0049] Sending control signals: sending the calculated motion control commands to the linear actuator of the upper carrying platform 18 to control the movement of the platform;

[0050] Loop feedback: Repeat the above steps to continuously update the posture data and control commands of the upper carrying platform 18 so that the platform always maintains stable movement at the target posture.

[0051] It should be noted that the actual control process of the upper carrier platform 18 may be more complicated and may also involve issues such as sensor calibration, adjustment of control parameters and error correction. Therefore, the specific implementation plan needs to be designed and adjusted according to actual needs.

[0052] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform, comprising a parallel control platform and a ducted propeller, characterized in that: The parallel control platform comprises six electrically controlled hydraulic telescopic cylinders, a lower control platform (1) with electric adjustment, and an upper bearing platform (18) with a gyroscope, a guide groove and a plurality of guide tubes; the ducted propeller comprises a three-phase brushless motor (19), a connector (21), a pair of ducted housings (20), three radial fixing screws (22), four axial fixing screws (23), a transmission rod (24), a turbofan (25), a gasket (26), a fastening nut (27), a fairing (28), and a fastening screw (29); the brushless motor (19) and the connector (21) through hole are coaxially matched, and the four axial fastening screws (29) are connected. At the same time, the transmission rod (24) and the motor rotating shaft are connected by a pin. The turbofan (25) is coaxially matched with the transmission rod (24), and the gasket (26) and the transmission rod (24) are coaxially matched. ) are coaxially matched, placed directly on the fastening screw (29) and the turbofan (25), and fixed by the fastening screw (29), the fairing (28) is coaxially matched with the transmission rod (24), and fixed by the fastening screw (29) and the axial screw hole at the end of the transmission rod (24), and the duct shell (20) is installed on the top of the upper bearing platform (18); the electric-controlled hydraulic telescopic cylinder includes a first hinge support (2), a second hinge support (8), a third hinge support (13) and a fourth hinge support (17), a first bearing pair (3), a second bearing pair (6), a third bearing pair (12) to a fourth bearing pair (16), a first pin (4), a second pin (7), a third pin (11) to a fourth pin (15), a first connecting rod (5) and a second connecting rod (14), a cylinder (9), and a flexible piston rod (10); The guide groove is located directly below the ducted propeller. When the propeller of the ducted propeller rotates forward, the water flow is compressed and guided to the guide pipe to form a directional jet propulsion. The flexible piston rod (10) is composed of engineering plastic with a screw hole on the top and a whole piece of cylindrical flexible material at the bottom, and can swing left and right to reduce the wear of parts caused by water flow impact, while not affecting its function of bearing the thrust of the ducted motor.

2. An underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform according to claim 1, characterized in that: The four sets of hinge supports each have four through holes, which can be fixed to corresponding screw holes on the lower control platform (1), the upper bearing platform (18), the flexible piston rod (10) or the cylinder (9) by screws.

3. An underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform according to claim 1, characterized in that: The bearing pair can be embedded in the hinge support and matched coaxially, and the middle part can be matched coaxially with the hole of the connecting rod and fixed by a pin. The same connecting rod fixes two sets of hinge supports with different rotation directions.

4. An underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform according to claim 1, characterized in that: The lower control platform (1) with electric regulator includes an electric regulator for controlling the rotation of the motor, a three-phase power supply socket for the ducted motor, and screw holes corresponding to the hinge support. The lower control platform (1) is fixed to the robot body or the submarine body by bolts and is connected to the control signal line.

5. An underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform according to claim 1, characterized in that: The upper bearing platform (18) includes a gyroscope for detecting attitude, a guide groove with a depth of 20 mm and N guide tubes with an inner diameter of 6 mm for cooperating with the ducted propeller, screw holes corresponding to the hinge support, and a groove for fixing the ducted propeller connector (21).

6. An underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform according to claim 1, characterized in that: A pair of the ducted housings (20) are assembled and fixed with bolts through the through holes on both sides. The connector (21) of the ducted propeller is coaxially matched with the groove of the upper supporting platform (18) fixed with the connector (21) and fixed by three radial fixing screws (22). The three-phase power supply line of the ducted propeller is inserted into the three-phase power supply socket of the ducted motor of the lower control platform (1).

7. A control method for an underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform, characterized in that: An underwater vector propulsion device based on a six-degree-of-freedom flexible parallel platform according to any one of claims 1 to 6 includes the following process: Step S1, three phase lines of the brushless motor (19) on the ducted thruster are connected to the electric adjustment power supply socket of the lower control platform (1), and six electrically controlled hydraulic telescopic cylinders are connected to the control signal port of the lower control platform (1); Step S2, obtaining gyroscope data, using the gyroscope for communication, and obtaining the current posture data of the upper carrying platform (18), including Euler angles and quaternions; Step S3, transmitting the posture data to the lower control platform (1), calculating the kinematic relationship between the six electronically controlled hydraulic telescopic cylinders and each mechanism, and deriving the dynamic equation of the upper bearing platform (18); Step S4, calculating motion control, based on the kinematic relationship and dynamic equation, using a control algorithm to calculate the next motion control command of the upper carrying platform (18), and calculating the control amount required to make the upper carrying platform tend to the target posture; Step S5: Send a control signal to send the calculated motion control command to the upper bearing platform (18) to drive the electric-controlled hydraulic telescopic cylinder to move; Step S6: loop feedback, repeat the above steps to update the posture data and control commands of the upper carrying platform (18).

Images