Shipborne stabilized platform with motion compensation function and control method thereof

Abstract

The invention provides a shipborne stabilized platform with a motion compensation function and a control method thereof.The shipborne stabilized platform comprises a base, a driving device, an upper platform, a control box and a cable, the control box is installed on the base and connected with the driving device through the cable, and the shipborne stabilized platform is characterized in that the driving device comprises a square box body and a driving assembly; a pitching power shaft and a pitching auxiliary shaft in the driving assembly respectively extend out of the two side walls of the square box body and are connected with the base; a rolling power shaft and a rolling auxiliary shaft in the driving assembly extend out of the two side walls of the square box body correspondingly to be connected with the upper platform. An inertial sensor A installed on the upper platform is connected with the driving device and the control box through signal lines, the control box comprises a servo driver, a controller and an inertial sensor B, the controller reads signals of the inertial sensor A and the inertial sensor B, and the controller controls the pitching power shaft and the rolling power shaft to rotate through the servo driver. And the pitching and rolling of the ship are compensated, so that the upper platform is kept horizontal and stable. The structure is simple and reasonable.

Description

Technical Field

[0001] The invention belongs to the technical field of wave compensation, in particular to a shipborne stable platform with a motion compensation function and a control method thereof. Background Art

[0002] The marine environment is complex and changeable. During navigation, ships are affected by multiple factors such as wind, waves, and ocean currents. Especially under the action of waves, ships are prone to swaying motion. The swaying of ships mainly includes roll, pitch, bow pitch, sway, sway, and heave. Among them, roll, pitch, and heave have a particularly significant impact on the navigation stability of the ship and the working state of the shipboard equipment. Frequent and large-scale swaying not only threatens the navigation safety of the ship, but also affects the precise operation of the shipboard equipment, and may even cause a significant decline in the performance of the equipment or damage it.

[0003] Traditional shock-absorbing devices such as shock absorbers and passive stabilization systems are difficult to provide sufficient stability when dealing with large amplitude and high frequency swaying, and the development of modern control technology provides new solutions. The stable platform equipment with motion compensation function can dynamically compensate the shipborne equipment in complex and changeable sea conditions by monitoring the motion state of the ship in real time and actively adjusting the posture of the stable platform to ensure that the shipborne equipment maintains high stability and reliability in harsh sea conditions. However, most of the current stable platform equipment has relatively complex characteristics in design and structure, which makes its installation and commissioning process relatively difficult. These problems make the stable platform technology not yet fully mature in practical applications and cannot give full play to its due advantages. The structural complexity of the equipment often increases the cost of manufacturing and maintenance, and at the same time, it also makes operators face greater challenges during installation and use. Therefore, how to simplify the equipment structure, improve installation convenience and improve technical stability has become the key to the further development of stable platform technology.

[0004] Therefore, it is necessary to design a shipborne stabilizing platform with motion compensation function and its control method, so that the shipborne equipment can be installed on the stabilizing platform. The stabilizing platform can compensate for the roll and pitch motion of the ship, so that the shipborne equipment can maintain normal operation under various marine conditions, thereby improving the safety and working stability of the shipborne equipment. The stabilizing platform structure is simple and reasonable, avoiding complex rotational motion coupling, and the overall rigidity of the mechanism is strong. Its maintainability is enhanced, its installation difficulty is reduced, and its protection performance is improved. This is a technical problem that needs to be solved urgently in the current field. Summary of the invention

[0005] In order to solve the above-mentioned problems existing in the prior art, the present invention provides a shipborne stabilizing platform with motion compensation function and a control method thereof. The shipborne stabilizing platform compensates for the roll and pitch motion of the ship so that the shipborne equipment can maintain normal operation under various marine conditions, thereby improving the safety and working stability of the shipborne equipment. The structure is simple and reasonable, and it is easy to maintain, install and debug, thereby improving the protection performance.

[0006] The objective of the present invention is achieved through the following technical solutions: A shipborne stabilizing platform with a motion compensation function comprises a base, a driving device, an upper platform, a control box and cables, wherein the shipborne stabilizing platform is used to be installed on a ship, the base is used to be connected to the deck of the ship, the control box is installed on the base, and the control box is connected to the driving device through a cable, characterized in that the driving device comprises a square box and a driving component installed on the square box, the driving component comprises a pitch power shaft, a roll power shaft, a pitch auxiliary shaft and a roll auxiliary shaft, the base is a U-shaped plate, the pitch power shaft and the roll power shaft are arranged in a vertical and horizontal manner in the square box, the pitch power shaft and the pitch auxiliary shaft respectively extend out of the opposite side walls of the square box and are connected to the two upper ends of the base; the upper platform is an inverted U-shaped plate, The upper end plane of the upper platform is used to install shipborne equipment. The roll auxiliary shaft and the roll power shaft extend out of the opposite side walls of the square box respectively and are connected to the two lower ends of the upper platform. The inertial sensor A installed on the upper platform is connected to the drive device and the control box through a signal line, and is used to read the angle of the upper platform in real time and send it to the control box. The control box includes a switching power supply, a servo driver, a controller and an inertial sensor B. The controller in the control box reads the signals of the inertial sensor A and the inertial sensor B, and the controller controls the rotation of the pitch power shaft and / or roll power shaft through the servo driver to compensate for the pitch and / or roll of the ship, so that the upper platform generates a two-degree-of-freedom shaking opposite to the ship, so as to maintain the horizontal stability of the upper platform.

[0007] Improvements to the above technical solution: the pitch power shaft and the roll power shaft have the same structure, both of which include a servo motor, a reducer, a bearing seat, a bearing, a skeleton oil seal, an end cover and an output flange shaft. The servo motor and the reducer are connected in series via a key connection, and the reducer and the output flange shaft are connected in series via a key connection. The output flange shaft outputs power. The bearing seat is a hollow cylindrical structure. The outer side of the bearing installed in the bearing seat is connected to the reducer and the inner wall of the square box. The outer end face of the bearing seat extends out of the square box. A skeleton oil seal is installed on the inner side of the end cover. The end cover is installed on the outer end face of the bearing seat extending out of the square box. The output flange shaft is dynamically sealed to ensure the salt spray protection capability of the drive component.

[0008] Further improvement of the above technical solution: the part where the cable is connected to the square box is sealed with a gland, the end of the cable is welded to the male head of the aviation plug, the female socket of the aviation plug is installed on the control box using screws, the part where the cable is connected to the control box is connected with an aviation plug for transmitting signals and power, a sealing gasket is installed between the female socket of the aviation plug and the control box, and the female socket of the aviation plug is equipped with a sealing cover for covering and protecting when the male head of the aviation plug is not connected.

[0009] Further improvement of the above technical solution: the control box also includes a control box body, a control box cover and a control box sealing pad. The control box body is sealed by the control box cover. A control box sealing pad is sandwiched between the control box cover and the control box body to ensure the control box's ability to resist moisture and salt spray.

[0010] Further improvement of the above technical solution: four limit columns are installed on the outside of the side walls of the square box, and the limit columns are wrapped with rubber anti-collision sleeves as hard limits of the mechanism to prevent dangerous situations from occurring during the debugging and maintenance of the equipment; the square box of the drive device is welded into a square frame by four side panels made of 316L stainless steel, and is sealed by a drive cover. A drive box sealing pad is sandwiched between the drive cover and the above square box to ensure the drive device's moisture and salt spray resistance.

[0011] Further improvement of the above technical solution: the position where the upper platform is connected to the driving device is provided with a positioning groove, which is convenient for aligning the bolt mounting hole through the positioning groove during repeated installation; the signal line of the inertial sensor A is protected by a bellows, and the signal line of the inertial sensor A extends into the interior of the square box.

[0012] The present invention provides a control method for the above-mentioned ship-borne stable platform with motion compensation function, characterized in that the control method comprises the following steps: Step 1: When the ship is sailing on the sea, the base of the ship-borne stabilizing platform is connected to the ship as a whole, and is shaken together with the ship by the influence of the sea waves. The controller in the control box reads the angles, angular velocities and angular accelerations in the roll and pitch directions generated by the shaking of the ship at this time, and sends the read data to the controller for processing and calculation in the control box; Step 2: The controller then reverses the calculation result and sends a control signal to the servo driver. The servo driver converts the control signal received from the controller into a corresponding servo motor control instruction, and transmits it to the servo motors in the pitch power axis and the roll power axis through the cable between the control box and the drive assembly; Step 3: The servo motor in the pitch power shaft compensates for the angle caused by the pitch of the ship, and the servo motor in the roll power shaft compensates for the angle caused by the roll of the ship. The pitch power shaft and the roll power shaft are connected in series to each other, so that the upper platform produces a two-degree-of-freedom shaking opposite to the ship to maintain the upper platform to remain horizontal and stable.

[0013] Further improvement of the above technical solution: The specific steps of the control method are as follows: In the step 1, when the movement of the ship causes the upper platform to be in a non-horizontal posture, the inertial sensor A on the upper platform measures the real-time posture of the shipborne equipment on the upper platform. At the same time, the inertial sensor B in the control box measures the real-time posture of the hull, and transmits the signals of the real-time posture of the shipborne equipment and the real-time posture of the hull to the controller through serial communication. After receiving the position and posture of the upper platform, the controller transforms the spatial motion model and solves the angle output of each servo motor required for the posture of the upper platform by inverse calculation; in the step 2, the controller transmits the signal of the angle output to the servo driver through the bus, the servo driver receives the compensation instruction, and sends a signal to drive the servo motor to rotate to the servo motor; in the step 3, the servo motor performs motion compensation after receiving the signal, so that the upper platform adjusts its horizontal posture.

[0014] The advantages and positive effects of the present invention are: 1. During the navigation of a ship, the inertial sensor A and the inertial sensor B of the present invention can collect real-time motion data of the ship. The control box reads the motion data of the ship and controls the two output shafts of the driving assembly to rotate, so that the upper platform can compensate for the roll and pitch motion of the ship and maintain a horizontal posture, thereby effectively maintaining the working stability of the shipborne equipment above the stable platform.

[0015] 2. When the impact of wind and waves at sea is large, the present invention can effectively alleviate the violent shaking of the shipborne equipment caused by the hull by compensating for the movement of the ship, thereby avoiding damage to the shipborne equipment.

[0016] 3. The present invention adopts the form of two orthogonal axes, which avoids the complex rotational motion coupling compared to the parallel mechanism, and is relatively convenient in program writing, debugging and subsequent development. The series mechanism of only two axes also avoids the problem of poor overall rigidity of the mechanism caused by too many series levels.

[0017] 4. The present invention seals the main components inside two boxes, the upper and lower openings of the box of the drive device are sealed by a cover plate, and the upper opening of the control box is sealed by a cover plate. Compared with general stable platforms, it has stronger moisture and salt spray resistance.

[0018] 5. The present invention integrates important components into two relatively independent modules, namely, a drive device and a control box. The connection between the components is simple and reliable, and the components are easy to maintain and replace. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the overall structure of a shipborne two-degree-of-freedom stabilization platform with motion compensation function according to the present invention; Figure 2 It is a schematic diagram of a driving component of a shipborne two-degree-of-freedom stable platform with a motion compensation function according to the present invention; Figure 3 It is a schematic diagram of a pitch power axis in a shipborne two-degree-of-freedom stable platform with a motion compensation function according to the present invention; Figure 4 It is a schematic diagram of a pitch auxiliary axis in a shipborne two-degree-of-freedom stabilizing platform with a motion compensation function according to the present invention; Figure 5 It is a schematic diagram of an upper platform of a shipborne two-degree-of-freedom stable platform with a motion compensation function according to the present invention; Figure 6 It is a schematic diagram of a base in a shipborne two-degree-of-freedom stable platform with motion compensation function according to the present invention; Figure 7 It is a schematic diagram of a control box in a shipborne two-degree-of-freedom stable platform with motion compensation function according to the present invention; Figure 8 The present invention is a schematic diagram of a control method for a shipborne two-degree-of-freedom stable platform with a motion compensation function.

[0021] Numbers in the figure: 1, base; 1-1, bottom plate; 1-2, base vertical plate; 1-3, base rib plate; 2, driving device; 2-1, pitch power shaft; 2-2, roll power shaft; 2-3, pitch auxiliary shaft; 2-4, roll auxiliary shaft; 2-5, square box; 2-6, limit column; 2-7, rubber anti-collision sleeve; 2-8, driving cover; 2-9, driving box sealing pad; 2-1-1, servo motor; 2-1-2, reducer; 2-1- 3. Bearing seat; 2-1-4. Bearing; 2-1-5. Skeleton oil seal; 2-1-6. End cover; 2-1-7. Output flange shaft; 2-3-1. Auxiliary flange shaft; 3. Upper platform; 3-1. Inertial sensor; 3-2. Top plate; 3-3. Upper platform vertical plate; 3-4. Upper platform rib plate; 4. Control box; 4-1. Control box body; 4-2. Control box cover; 4-3. Control box sealing pad; 4-4. Female aviation plug; 5. Cable; 5-1. Male aviation plug. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings: See also Figure 1-Figure 7 An embodiment of a shipborne stabilizing platform with a motion compensation function of the present invention includes a base 1, a driving device 2, an upper platform 3, a control box 4 and a cable 5. The shipborne stabilizing platform is used to be installed on a ship, the base 1 is used to be connected to the deck of the ship, the control box 4 is installed on the base 1, and the control box 4 is connected to the driving device 2 through a cable 5.

[0023] Specifically, the driving device 2 includes a square box 2-5 and a driving assembly installed on the square box 2-5, and the driving assembly includes a pitch power shaft 2-1, a roll power shaft 2-2, a pitch auxiliary shaft 2-3 and a roll auxiliary shaft 2-4. The base 1 is a U-shaped plate, and the pitch power shaft 2-1 and the roll power shaft 2-2 are arranged in the square box in a vertical and horizontal manner. The pitch power shaft 2-1 and the pitch auxiliary shaft 2-3 extend out of the opposite side walls of the square box 2-5 and are connected to the two upper ends of the base 1. The upper platform 3 is an inverted U-shaped plate, and the upper end plane of the upper platform 3 is used to install shipborne equipment. The roll power shaft 2-2 and the roll auxiliary shaft 2-4 extend out of the opposite side walls of the square box 2-5 and are connected to the two lower ends of the upper platform 3. The inertial sensor A 3-1 installed on the upper platform 3 is connected to the driving device 2 and the control box 4 through a signal line, and is used to read the angle of the upper platform 3 in real time and send it to the control box 4. The control box 4 includes a switching power supply, a servo drive, a controller and an inertial sensor B. The controller in the control box 4 reads the signals of the inertial sensor A 3-1 and the inertial sensor B, and controls the rotation of the pitch power shaft 2-1 and / or the roll power shaft 2-2 through the servo drive to compensate for the pitch and / or roll of the ship, so that the upper platform 3 produces a two-degree-of-freedom shake opposite to that of the ship, so as to maintain the upper platform 3 to remain horizontal and stable.

[0024] Furthermore, the above-mentioned rocking auxiliary shaft 2-3 and roll auxiliary shaft 2-4 have the same structure, the pitch power shaft 2-1 has the same structure as the roll power shaft 2-2, the pitch power shaft 2-1 includes a servo motor 2-1-1, a reducer 2-1-2, a bearing seat 2-1-3, a bearing 2-1-4, a skeleton oil seal 2-1-5, an end cover 2-1-6 and an output flange shaft 2-1-7, the servo motor 2-1-1 and the reducer 2-1-2 are connected in series in the form of a key connection, the reducer 2-1-2 and the output flange shaft 2-1-7 are connected in series in the form of a key connection, and the output flange shaft 2-1-7 outputs power. The bearing seat 2-1-3 is a hollow cylindrical structure. The outer side of the bearing 2-1-3 installed in the bearing seat 2-1-4 is connected to the reducer 2-1-2 and the inner wall of the square box. The outer ring of the bearing 2-1-3 moves with the bearing seat 2-1-4, and the inner ring of the bearing 2-1-3 moves with the auxiliary flange shaft 2-3-1, supporting the auxiliary flange shaft 2-3-1. The outer end face of the bearing seat 2-1-3 extends out of the square box 2-5. The inner side of the end cover 2-1-6 is equipped with a skeleton oil seal 2-1-5. The end cover 2-1-6 is installed on the outer end face of the bearing seat 2-1-3 extending out of the square box, and the output flange shaft 2-1-7 is dynamically sealed to ensure the anti-salt spray capability of the drive component.

[0025] Furthermore, the portion of the cable 5 connected to the square box 2-5 is sealed with a gland, and the end of the cable 5 is welded to the aviation plug male 5-1. The control box 4 is screwed with an aviation plug female socket 4-4, and the portion of the cable 5 connected to the control box 4 is connected to the aviation plug male 5-1 and the aviation plug male 5-1 is rotated to lock it for signal and power transmission. A sealing gasket is installed between the aviation plug female socket 4-4 and the control box, and the aviation plug female socket 4-4 is equipped with a sealing cover for covering and protecting when the aviation plug male 5-1 is not connected. In addition, a corrugated tube is wrapped around the outside of the cable 5 for protection.

[0026] Furthermore, the control box 4 also includes a control box body 4-1, a control box cover 4-2 and a control box sealing pad 4-3. The control box body 4-1 is sealed by the control box cover 4-2. A control box sealing pad 4-2 is sandwiched between the control box cover 4-2 and the control box body 4-1 to ensure the moisture and salt spray resistance of the control box.

[0027] Furthermore, four limit posts 2-6 are installed on the outer side walls of the square box 2-5 of the above-mentioned driving device, and the limit posts 2-6 are wrapped with rubber anti-collision sleeves 2-7 as hard limit of the mechanism to prevent the occurrence of dangerous situations during the debugging and maintenance of the equipment. The square box 2-5 is welded into a square frame shape by four side plates made of 316L stainless steel, and is sealed by a driving cover 2-8. A driving box sealing pad 2-9 is sandwiched between the driving cover 2-8 and the square box 2-5 to ensure the moisture and salt spray resistance of the driving component 2.

[0028] Preferably, the position where the upper platform is connected to the driving device is provided with a positioning groove, which facilitates positioning and aligning the bolt mounting hole through the positioning groove during repeated installation; the signal line of the inertial sensor A is protected by a bellows, and the signal line of the inertial sensor A extends into the interior of the square box 2-5.

[0029] like Figure 5 As shown, the main body of the upper platform 3 is welded by a top plate 3-2 made of 316L stainless steel and two upper platform vertical plates 3-3, and an upper platform rib plate 3-4 is welded in the middle to enhance the overall rigidity of the structure. The upper platform 3 is equipped with an inertial sensor A 3-1, which can read the angle of the upper platform 3 in real time and send it to the control box 4. The position where the upper platform 3 is connected to the drive assembly 2 is provided with a positioning groove, and the bolt mounting hole can be aligned through the positioning groove during repeated installation, which is convenient for maintenance and debugging.

[0030] like Figure 6 As shown, the base 1 comprises a bottom plate 1-1 made of 316L stainless steel and two base upright plates 1-2 made of 316L stainless steel. The two base upright plates 1-2 are vertically arranged at both ends of the bottom plate 1-1 and welded together. The base upright plates 1-2 and the bottom plate 1-1 are connected by a base rib plate 1-3 to enhance the overall rigidity of the structure. Four mounting holes with a diameter of about 17 mm are opened on the bottom plate 1-1 to install the ship-borne stable platform equipment on the deck of the ship; four mounting holes with a diameter of about 7 mm are also opened on the bottom plate 1-1 to install the control box 4. The position connected to the drive device 2 on the base 1 is provided with a positioning groove, and the bolt mounting holes can be aligned through the positioning groove during repeated installation, which is convenient for maintenance and debugging.

[0031] See also Figure 1-Figure 8 The present invention provides a control method embodiment of the above-mentioned ship-borne stable platform with motion compensation function, the control method comprises the following steps: Step 1: When the ship is sailing on the sea, the base of the ship-borne stabilizing platform is connected to the ship as a whole, and is shaken together with the ship by the sea waves. The controller in the control box 4 reads the angles, angular velocities and angular accelerations in the roll and pitch directions generated by the shaking of the ship at this time, and sends the read data to the controller for processing and calculation in the control box 4; Step 2: The controller then reverses the calculation result and sends a control signal to the servo driver. The servo driver converts the control signal received from the controller into a corresponding servo motor control instruction, and transmits it to the servo motor 2-1-1 in the pitch power axis 2-1 and the roll power axis 2-2 through the cable between the control box and the drive assembly; Step 3: The servo motor 2-1-1 in the pitch power shaft 2-1 compensates for the angle caused by the pitch of the ship, and the servo motor 2-1-1 in the roll power shaft 2-2 compensates for the angle caused by the roll of the ship. The pitch power shaft 2-1 and the roll power shaft 2-2 are connected in series to each other, so that the upper platform 3 produces a two-degree-of-freedom shaking opposite to the ship to maintain the upper platform 3 to remain horizontal and stable.

[0032] See also Figure 8 The specific steps of the control method of the shipborne stable platform with motion compensation function of the present invention are as follows: In the step 1, when the movement of the ship causes the upper platform 3 to be in a non-horizontal posture, the inertial sensor A 3-1 of the upper platform 3 measures the real-time posture of the shipborne equipment on the upper platform 3. At the same time, the inertial sensor B in the control box 4 measures the real-time posture of the hull, and transmits the signals of the real-time posture of the shipborne equipment and the real-time posture of the hull to the controller through serial communication. After receiving the position and posture of the upper platform 3, the controller transforms the spatial motion model and solves the angle output of each servo motor 2-1-1 required for the upper platform posture by inverse calculation; in the step 2, the controller transmits the signal of the angle output to the servo driver through the bus, the servo driver receives the compensation instruction, and sends a signal to the servo motor 2-1-1 to drive the servo motor 2-1-1 to rotate; in the step 3, the servo motor 2-1-1 performs motion compensation after receiving the signal, so that the upper platform 3 adjusts its horizontal posture.

[0033] During the horizontal posture adjustment process of the upper platform 3, the inertial sensor 3-1 installed on the lower surface of the upper platform 3 detects the posture information of the upper platform 3 in real time, and the encoder on the servo motor 2-1-1 detects the torque, speed and position information of the servo motor 2-1-1 in real time and sends it to the servo driver, forming a closed-loop control system to accurately control the rotor position of each servo motor 2-1-1 in real time. At the same time, the information is transmitted to the controller, and the controller obtains the current posture of the upper platform 3 through inverse calculation as a reference for solution, so as to ensure the coordinated action and control accuracy of the two servo motors.

[0034] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A shipborne stabilizing platform with motion compensation function, comprising a base, a driving device, an upper platform, a control box and cables, wherein the shipborne stabilizing platform is used to be installed on a ship, wherein the base is used to be connected to the deck of the ship, wherein the control box is installed on the base, and wherein the control box is connected to the driving device through a cable, wherein: The driving device comprises a square box and a driving assembly installed on the square box, the driving assembly comprises a pitch power shaft, a roll power shaft, a pitch auxiliary shaft and a roll auxiliary shaft, the base is a U-shaped plate, the pitch power shaft and the roll power shaft are arranged in the square box in a vertical and horizontal manner, the pitch power shaft and the pitch auxiliary shaft respectively extend out of the two opposite side walls of the square box and are connected to the two upper ends of the base; the upper platform is an inverted U-shaped plate, the upper end plane of the upper platform is used to install shipborne equipment, the roll auxiliary shaft and the roll power shaft respectively extend out of the two opposite side walls of the square box and are connected to the upper platform The two lower ends of the upper platform are connected; the inertial sensor A installed on the upper platform is connected to the driving device and the control box through a signal line, and is used to read the angle of the upper platform in real time and send it to the control box. The control box includes a switching power supply, a servo driver, a controller and an inertial sensor B. The controller in the control box reads the signals of the inertial sensor A and the inertial sensor B, and the controller controls the rotation of the pitch power shaft and / or roll power shaft through the servo driver to compensate for the pitch and / or roll of the ship, so that the upper platform generates a two-degree-of-freedom shake opposite to that of the ship, so as to maintain the upper platform to remain horizontal and stable.

2. The shipborne stable platform with motion compensation function according to claim 1, characterized in that: The pitch power shaft and the roll power shaft have the same structure, both of which include a servo motor, a reducer, a bearing seat, a bearing, a skeleton oil seal, an end cover and an output flange shaft. The servo motor and the reducer are connected in series through a key connection, and the reducer and the output flange shaft are connected in series with each other through a key connection. The output flange shaft outputs power. The bearing seat is a hollow cylindrical structure. The outer side of the bearing installed in the bearing seat is connected to the reducer and the inner wall of the square box. The outer end face of the bearing seat extends out of the square box. A skeleton oil seal is installed on the inner side of the end cover. The end cover is installed on the outer end face of the bearing seat extending out of the square box to dynamically seal the output flange shaft to ensure the salt spray protection capability of the drive component.

3. The shipborne stable platform with motion compensation function according to claim 1 or 2, characterized in that: The portion where the cable is connected to the square box is sealed with a gland, the end of the cable is welded to the male aviation plug, the female aviation plug is mounted on the control box with screws, the portion where the cable is connected to the control box is connected with an aviation plug for signal and power transmission, a sealing gasket is installed between the female aviation plug and the control box, and the female aviation plug is provided with a sealing cover for tight protection when the male aviation plug is not connected.

4. The shipborne stable platform with motion compensation function according to claim 1 or 2, characterized in that: The control box also includes a control box body, a control box cover and a control box sealing pad. The control box body is sealed by the control box cover. A control box sealing pad is sandwiched between the control box cover and the control box body to ensure the control box's ability to prevent moisture and salt spray.

5. The shipborne stable platform with motion compensation function according to claim 3, characterized in that: The control box also includes a control box body, a control box cover and a control box sealing pad. The control box body is sealed by the control box cover. A control box sealing pad is sandwiched between the control box cover and the control box body to ensure the control box's ability to prevent moisture and salt spray.

6. The shipborne stable platform with motion compensation function according to claim 1 or 2, characterized in that: Four limit columns are installed on the outside of the side walls of the square box, and rubber anti-collision sleeves are wrapped around the limit columns to serve as hard limits of the mechanism to prevent dangerous situations from occurring during the debugging and maintenance of the equipment; the square box of the drive device is welded into a square frame shape by four side panels made of 316L stainless steel, and is sealed by a drive cover. A drive box sealing pad is sandwiched between the drive cover and the above-mentioned square box to ensure the drive device's moisture and salt spray resistance.

7. The shipborne stable platform with motion compensation function according to claim 5, characterized in that: Four limit columns are installed on the outside of the side walls of the square box, and rubber anti-collision sleeves are wrapped around the limit columns to serve as hard limits of the mechanism to prevent dangerous situations from occurring during the debugging and maintenance of the equipment; the square box of the drive device is welded into a square frame shape by four side panels made of 316L stainless steel, and is sealed by a drive cover. A drive box sealing pad is sandwiched between the drive cover and the above-mentioned square box to ensure the drive device's moisture and salt spray resistance.

8. The shipborne stable platform with motion compensation function according to claim 1 or 2, characterized in that: The position where the upper platform is connected to the driving device is provided with a positioning groove, which is convenient for aligning the bolt mounting hole through the positioning groove during repeated installation; the signal line of the inertial sensor A is protected by a bellows, and the signal line of the inertial sensor A extends into the interior of the square box.

9. A control method for a shipborne stable platform with motion compensation function according to any one of claims 1 to 8, characterized in that: The control method comprises the following steps: Step 1: When the ship is sailing on the sea, the base of the ship-borne stabilizing platform is connected to the ship as a whole, and is shaken together with the ship by the influence of the sea waves. The controller in the control box reads the angles, angular velocities and angular accelerations in the roll and pitch directions generated by the shaking of the ship at this time, and sends the read data to the controller for processing and calculation in the control box; Step 2: The controller then reverses the calculation result and sends a control signal to the servo driver. The servo driver converts the control signal received from the controller into a corresponding servo motor control instruction, and transmits it to the servo motors in the pitch power axis and the roll power axis through the cable between the control box and the drive assembly; Step 3: The servo motor in the pitch power shaft compensates for the angle caused by the pitch of the ship, and the servo motor in the roll power shaft compensates for the angle caused by the roll of the ship. The pitch power shaft and the roll power shaft are connected in series to each other, so that the upper platform produces a two-degree-of-freedom shaking opposite to the ship to maintain the upper platform to remain horizontal and stable.

10. The control method of the shipborne stable platform with motion compensation function according to claim 9, characterized in that: The specific steps of the control method are as follows: In the step 1, when the movement of the ship causes the upper platform to be in a non-horizontal posture, the inertial sensor A of the upper platform measures the real-time posture of the shipborne equipment on the upper platform. At the same time, the inertial sensor B in the control box measures the real-time posture of the hull, and transmits the signals of the real-time posture of the shipborne equipment and the real-time posture of the hull to the controller through serial communication. After receiving the position and posture of the upper platform, the controller transforms the spatial motion model and solves the angle output of each servo motor required for the posture of the upper platform by inverse calculation; in the step 2, the controller transmits the signal of the angle output to the servo driver through the bus, the servo driver receives the compensation instruction, and sends a signal to drive the servo motor to rotate to the servo motor; in the step 3, the servo motor performs motion compensation after receiving the signal, so that the upper platform adjusts its horizontal posture.

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