A shipborne stable platform with motion compensation function and control method thereof

Abstract

The present invention provides a ship-borne stabilizing platform with motion compensation and a control method thereof. The platform comprises a base, a drive device, an upper platform, a control box, and cables. The control box is mounted on the base and connected to the drive device via cables. The platform is characterized by: the drive device comprises a square housing and a drive assembly. The pitch power shaft and pitch auxiliary shaft in the drive assembly extend from the two side walls of the square housing and connect to the base; the roll power shaft and roll auxiliary shaft in the drive assembly extend from the two side walls of the square housing and connect to the upper platform. An inertial sensor A mounted on the upper platform is connected to the drive device and the control box via signal cables. The control box comprises a servo driver, a controller, and an inertial sensor B. The controller reads signals from inertial sensors A and B and controls the rotation of the pitch power shaft and roll power shaft via the servo driver to compensate for the ship's pitch and roll, thereby maintaining horizontal stability of the upper platform. The platform has a simple and rational structure.

Description

Technical Field

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

[0002] The ocean environment is complex and ever-changing. Ships are subject to multiple influences during navigation, including wind, waves, and currents. Waves, in particular, can easily cause ships to sway. Ship sway primarily includes roll, pitch, bow pitch, surge, sway, and heave. Roll, pitch, and heave have a particularly significant impact on a ship's navigational stability and the operating conditions of its onboard equipment. Frequent, large-scale sway not only threatens a ship's navigational safety but also affects the precise operation of onboard equipment, potentially significantly degrading or damaging its performance.

[0003] Traditional vibration-damping devices, such as shock absorbers and passive stabilization systems, struggle to provide adequate stability against large-amplitude and high-frequency swaying. Advances in modern control technology offer new solutions. Stabilization platforms with motion compensation capabilities can monitor the vessel's motion in real time and actively adjust the platform's attitude. This allows for dynamic compensation of onboard equipment in complex and changing sea conditions, ensuring high stability and reliability in harsh sea conditions. However, most current stabilization platforms are complex in design and structure, making installation and commissioning relatively difficult. These issues hinder the full maturity of stabilization platform technology in practical applications, preventing it from fully realizing its potential benefits. The structural complexity of these devices often increases manufacturing and maintenance costs, while also creating significant challenges for operators during installation and use. Therefore, simplifying the device structure, enhancing installation ease, and improving technical stability are key to the further development of stabilization platform technology.

[0004] Therefore, there is a need to design a shipborne stabilization platform with motion compensation and its control method. This platform can be used to mount shipborne equipment. By compensating for the ship's roll and pitch motions, the stabilization platform ensures the equipment maintains normal operation in all ocean conditions, improving its safety and operational stability. Furthermore, the stabilization platform should have a simple and rational structure, avoiding complex rotational motion coupling and providing strong overall rigidity. This approach should enhance maintainability, reduce installation complexity, and improve protective performance. This is a technical problem that urgently needs to be addressed in this field. Summary of the Invention

[0005] To solve the above-mentioned problems existing in the prior art, the present invention provides a shipborne stabilization platform with motion compensation function and a control method thereof. The shipborne stabilization platform compensates for the roll and pitch motions 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, easy to maintain, install and debug, and has improved protection performance.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A shipborne stabilizing platform with a motion compensation function comprises a base, a driving device, an upper platform, a control box and cables, 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 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 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 roll power shaft respectively extend from the opposite side walls of the square box 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 via 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 drive, a controller and an inertial sensor B. The controller in the control box reads the signals of the inertial sensors A and B, and the controller controls the rotation of the pitch power shaft and / or roll power shaft through the servo drive to compensate for the pitch and / or roll of the ship, so that the upper platform generates a two-degree-of-freedom rocking motion opposite to the ship to maintain the horizontal stability of the upper platform.

[0008] Improvements to the above technical solution: The pitch power shaft and the roll power shaft have the same structure, both including a servo motor, a reducer, a bearing seat, bearings, 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 to dynamically seal the output flange shaft to ensure the salt spray protection capability of the drive component.

[0009] 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.

[0010] 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 moisture and salt spray resistance.

[0011] 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 gasket is sandwiched between the drive cover and the above square box to ensure the drive device's moisture and salt spray resistance.

[0012] Further improvement to the above technical solution: the position where the upper platform is connected to the drive device is provided with a positioning groove, which facilitates positioning and aligning the bolt mounting holes 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.

[0013] The present invention provides a control method for the above-mentioned shipborne stabilizing platform with motion compensation function, characterized in that the control method comprises the following steps:

[0014] Step 1: When a ship is sailing at sea, the base of the ship-borne stabilizing platform is connected to the ship as a whole and is affected by the sea waves and shakes together with the ship. 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, and transmits the read data to the controller for processing and calculation in the control box;

[0015] 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 the corresponding servo motor control command, which is then transmitted to the servo motors in the pitch and roll power axes via the cable between the control box and the drive assembly.

[0016] 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, so that the upper platform produces a two-degree-of-freedom rocking opposite to the ship to maintain the horizontal stability of the upper platform.

[0017] Further improvement of the above technical solution: The specific steps of the control method are as follows:

[0018] In 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 via 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 step 2, the controller transmits the signal of the angle output to the servo driver via the bus, the servo driver receives the compensation instruction, and sends a signal to the servo motor to drive the servo motor to rotate; in step 3, the servo motor performs motion compensation after receiving the signal, so that the upper platform is adjusted to a horizontal posture.

[0019] The advantages and positive effects of the present invention are:

[0020] 1. During navigation, the inertial sensors A and B in the present invention can collect real-time motion data of the ship. The control box reads the ship's motion data and controls the two output shafts of the drive assembly to rotate, so that the upper platform can compensate for the ship's roll and pitch motions and maintain a horizontal posture, thereby effectively maintaining the working stability of the shipborne equipment above the stabilizing platform.

[0021] 2. When the impact of wind and waves at sea is large, the present invention can effectively alleviate the violent shaking of shipborne equipment caused by the hull by compensating for the movement of the ship, thereby avoiding damage to the shipborne equipment.

[0022] 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 with only two axes also avoids the problem of poor overall rigidity of the mechanism caused by too many series levels.

[0023] 4. This invention seals the main components inside two boxes. The upper and lower openings of the drive box are sealed with covers, and the upper opening of the control box is also sealed with a cover. Compared with general stable platforms, it has stronger resistance to moisture and salt spray.

[0024] 5. The present invention integrates important components into two relatively independent modules: a drive device and a control box. The connections between the components are simple and reliable, and the components are easy to maintain and replace. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below with reference to the accompanying drawings and examples.

[0026] 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;

[0027] Figure 2 This is a schematic diagram of a drive assembly of a shipborne two-degree-of-freedom stabilization platform with motion compensation function according to the present invention;

[0028] Figure 3 This is a schematic diagram of a pitch power axis in a shipborne two-degree-of-freedom stabilized platform with motion compensation function according to the present invention;

[0029] Figure 4 This is a schematic diagram of a pitch auxiliary axis in a shipborne two-degree-of-freedom stabilization platform with motion compensation function according to the present invention;

[0030] Figure 5 This is a schematic diagram of the upper platform of a shipborne two-degree-of-freedom stabilization platform with motion compensation function according to the present invention;

[0031] Figure 6 This is a schematic diagram of a base in a shipborne two-degree-of-freedom stabilization platform with motion compensation function according to the present invention;

[0032] Figure 7 This is a schematic diagram of a control box in a shipborne two-degree-of-freedom stabilization platform with motion compensation function according to the present invention;

[0033] Figure 8 The figure is a schematic diagram of a control method of a shipborne two-degree-of-freedom stable platform with motion compensation function according to the present invention.

[0034] 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, drive cover; 2-9, drive box sealing gasket; 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 gasket; 4-4. Female aviation plug; 5. Cable; 5-1. Male aviation plug. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below with reference to the accompanying drawings:

[0036] 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.

[0037] Specifically, the drive device 2 comprises a square housing 2-5 and a drive assembly mounted on the housing. The drive 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, with the pitch power shaft 2-1 and the roll power shaft 2-2 arranged vertically and horizontally within the housing. The pitch power shaft 2-1 and the pitch auxiliary shaft 2-3 extend from opposite sides of the housing 2-5 and connect to the upper ends of the base 1. The upper platform 3 is an inverted U-shaped plate. The upper surface of the upper platform 3 is used to mount onboard equipment. The roll power shaft 2-2 and the roll auxiliary shaft 2-4 extend from opposite sides of the housing 2-5 and connect to the lower ends of the upper platform 3. An inertial sensor A 3-1 mounted on the upper platform 3 is connected to the drive device 2 and the control box 4 via a signal cable, providing real-time readings of the upper platform 3's angle and transmitting them 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 rocking opposite to that of the ship to maintain the horizontal stability of the upper platform 3.

[0038] Furthermore, the above-mentioned rocking auxiliary shaft 2-3 and roll auxiliary shaft 2-4 have the same structure, and 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, and the reducer 2-1-2 and the output flange shaft 2-1-7 are connected in series in the form of a key connection. The output flange shaft 2-1-7 outputs power. Bearing seat 2-1-3 is a hollow cylindrical structure. The bearing 2-1-3, installed within bearing seat 2-1-4, is connected to the reducer 2-1-2 and the inner wall of the square housing. The outer ring of bearing 2-1-3 moves with bearing seat 2-1-4, while the inner ring of bearing 2-1-3 moves with auxiliary flange shaft 2-3-1, providing support for auxiliary flange shaft 2-3-1. The outer end face of bearing seat 2-1-3 extends beyond square housing 2-5. A skeleton oil seal 2-1-5 is installed within end cover 2-1-6. End cover 2-1-6 is mounted on the outer end face of bearing seat 2-1-3 extending beyond the square housing, providing a dynamic seal against output flange shaft 2-1-7 to ensure the drive assembly's salt spray resistance.

[0039] Furthermore, the portion where the cable 5 is connected to the square box 2-5 is sealed with a gland, and the end of the cable 5 is welded to the male aviation plug 5-1. The female aviation plug 4-4 ​​is mounted on the control box 4 using screws. The portion where the cable 5 is connected to the control box 4 is connected to the female aviation plug 4-4 ​​using the male aviation plug 5-1, and the male aviation plug 5-1 is rotated to lock it for signal and power transmission. A sealing gasket is installed between the female aviation plug 4-4 ​​and the control box. The female aviation plug 4-4 ​​is equipped with a sealing cover for covering and protecting it when the male aviation plug 5-1 is not connected. In addition, a corrugated tube is wrapped around the outside of the cable 5 for protection.

[0040] Furthermore, the above-mentioned control box 4 also includes a control box body 4-1, a control box cover 4-2 and a control box sealing gasket 4-3. The control box body 4-1 is sealed by the control box cover 4-2. A control box sealing gasket 4-2 is sandwiched between the control box cover 4-2 and the control box body 4-1 to ensure the moisture-proof and salt spray-proof capabilities of the control box.

[0041] Furthermore, the square housing 2-5 of the drive device is equipped with four retaining posts 2-6 on its outer sidewalls. These retaining posts 2-6 are covered with rubber anti-collision sleeves 2-7, which serve as hard limits for the mechanism and prevent dangerous situations during commissioning and maintenance. The square housing 2-5 is welded together from four 316L stainless steel side panels into a rectangular frame. It is sealed by a drive housing 2-8. A drive housing sealing gasket 2-9 is sandwiched between the drive housing 2-8 and the square housing 2-5, ensuring the drive assembly 2's resistance to moisture and salt spray.

[0042] Preferably, the position where the upper platform is connected to the drive device is provided with a positioning groove, which facilitates positioning and aligning the bolt mounting holes 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.

[0043] like Figure 5 As shown, the main body of the upper platform 3 is welded together from a 316L stainless steel top plate 3-2 and two upper platform uprights 3-3. A rib 3-4 is welded in between to enhance the overall structural rigidity. The upper platform 3 is equipped with an inertial sensor A 3-1, which reads the angle of the upper platform 3 in real time and transmits it to the control box 4. The location where the upper platform 3 connects to the drive assembly 2 is provided with a locating slot, which allows alignment of the bolt mounting holes during repeated installation, facilitating maintenance and commissioning.

[0044] like Figure 6As shown, the base 1 comprises a bottom plate 1-1 made of 316L stainless steel and two base uprights 1-2 made of 316L stainless steel. The two base uprights 1-2 are perpendicularly arranged at both ends of the bottom plate 1-1 and welded together. The base uprights 1-2 and the bottom plate 1-1 are connected by base ribs 1-3 to enhance the overall rigidity of the structure. The bottom plate 1-1 has four mounting holes with a diameter of approximately 17 mm for mounting the shipborne stabilizing platform equipment on the ship's deck; the bottom plate 1-1 also has four mounting holes with a diameter of approximately 7 mm for mounting the control box 4. The base 1 has a positioning slot at the location where it connects to the drive unit 2. During repeated installation, the positioning slot can be used to locate and align the bolt mounting holes, facilitating maintenance and debugging.

[0045] See also Figures 1-8 The present invention provides an embodiment of a control method for the above-mentioned shipborne stabilizing platform with motion compensation function, the control method comprising the following steps:

[0046] Step 1: When a ship is sailing at sea, the base of the ship-borne stabilizing platform is connected to the ship as a whole and is affected by the sea waves and shakes together with the ship. 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, and transmits the read data to the controller in the control box 4 for processing and calculation;

[0047] 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 the 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;

[0048] 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, so that the upper platform 3 produces a two-degree-of-freedom rocking opposite to the ship to maintain the upper platform 3 to remain horizontal and stable.

[0049] See also Figure 8 The specific steps of the control method of the shipborne stabilizing platform with motion compensation function of the present invention are as follows:

[0050] 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 rotation signal to the servo motor 2-1-1; in the step 3, the servo motor 2-1-1 performs motion compensation after receiving the signal, so that the upper platform 3 is adjusted to a horizontal posture.

[0051] 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 to ensure the coordinated action and control accuracy of the two servo motors.

[0052] 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 scope of protection of the present invention.

Claims

1. A shipborne stabilization platform with motion compensation function, comprising a base, a drive device, an upper platform, a control box, and cables. The shipborne stabilization 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 drive device via a cable, characterized in that: The driving device includes a square box and a driving assembly installed on the square box, the driving assembly includes 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 cross-arrangement, 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 respectively extend out of the 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 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 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 rocking opposite to the ship, so as to maintain the horizontal stability of the upper platform.

2. The shipborne stabilizing 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, and both 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 to dynamically seal the output flange shaft to ensure the salt spray protection capability of the drive component.

3. The shipborne stabilizing 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 equipped with a sealing cover for tight protection when the male aviation plug is not connected.

4. The shipborne stabilizing 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 moisture and salt spray resistance.

5. The shipborne stabilizing 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 moisture and salt spray resistance.

6. The shipborne stabilizing 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 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-mentioned square box to ensure the moisture and salt spray resistance of the drive device.

7. The shipborne stabilizing 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 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-mentioned square box to ensure the moisture and salt spray resistance of the drive device.

8. The shipborne stabilizing platform with motion compensation function according to claim 1 or 2, characterized in that: The position where the upper platform is connected to the drive device is provided with a positioning groove, which facilitates positioning and aligning the bolt mounting holes 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 method for controlling a shipborne stable platform with motion compensation function according to any one of claims 1 to 8, characterized in that: The control method includes the following steps: Step 1: When a ship is sailing at sea, the base of the ship-borne stabilizing platform is connected to the ship as a whole and is affected by the sea waves and shakes together with the ship. 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, and transmits 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 the corresponding servo motor control command, which is then transmitted to the servo motors in the pitch and roll power axes via 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, so that the upper platform produces a two-degree-of-freedom rocking opposite to the ship to maintain the horizontal stability of the upper platform.

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 via 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 via the bus, the servo driver receives the compensation instruction, and sends a signal to the servo motor to drive the servo motor to rotate; in the step 3, the servo motor performs motion compensation after receiving the signal, so that the upper platform is adjusted to a horizontal posture.

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