Shipborne captive balloon retracting and releasing device and control system and control method thereof

Abstract

The invention discloses a shipborne captive balloon retracting and releasing device and a control system and method thereof. The device is composed of a six-degree-of-freedom leveling platform, a rotary platform, a guide device, a compensation winch, a cable storage winch and a cable. The six-degree-of-freedom leveling platform is installed on the stern, the rotating platform is installed above the six-degree-of-freedom leveling platform, and the guiding device, the compensation winch and the cable storage winch are arranged in the length direction of the rotating platform. And a cable penetrates through the guide wheel, is sequentially wound in the rope grooves of the first winch and the second winch of the compensation winch, penetrates through the cable arrangement guide wheel of the cable storage winch, is sequentially wound on the double-folding rope groove leather of the cable storage winch, and is finally fixed on the outer side of the wheel edge of a cable storage winding drum of the cable storage winch through a rope pressing strip. The folding and unfolding device is integrally designed, and interfaces are unified; the control method has a ship motion prediction function; the servo motor is adopted as a power execution element, so that the response capability of the system can be greatly improved, and the further improvement of the wave compensation precision is facilitated.

Description

Technical Field

[0001] The present invention belongs to the field of tethered balloon deployment and collection, and relates to a shipborne tethered balloon deployment and collection device, and a control system and a control method thereof; specifically, it relates to a shipborne tethered balloon deployment and collection device with a heave compensation function, and a control system and a control method thereof. Background Art

[0002] At present, the tethered balloons and their collection and release devices used in China are basically land-based, either fixed on a base or mobile on a vehicle. There is no real ship-borne tethered balloon and its collection and release device. Even if there is, the tethered balloon is set up on a ship, but its collection and release device is still the same as the land-based one, and the fatigue effect of the ship's heave movement caused by waves on the tethered balloon and the cable is not considered. Since the surface of the tethered balloon is flexible, multiple bows are glued to the balloon surface, and the bows are connected to the mooring cable through multiple flexible rigging. Therefore, when the ship's heave movement is more intense, it is very easy to cause the bows to fall off at the glued part or tear the balloon surface, causing mission failure and property loss; in addition, even if the ship's heave movement is relatively gentle, the tethered balloon stays in the air for a long time, even for more than ten days, and the fatigue effect of long-term heave movement on the tethered balloon and the cable cannot be ignored. Therefore, based on the above, the land-based launching and retracting device obviously cannot meet the requirements, and new technologies and launching and retracting devices are needed to effectively protect the expensive tethered balloons and cables. Summary of the invention

[0003] In view of the above problems, the present invention aims to provide a ship-borne tethered balloon launching and retracting device and a control system and a control method thereof.

[0004] The technical solution of the present invention is: a ship-borne moored balloon collection and release device and its control system according to the present invention comprises a six-degree-of-freedom leveling platform, a rotating platform, a guide device, a compensating winch, a cable storage winch and a cable arranged at the stern of the ship,

[0005] A rotary platform is arranged above the six-degree-of-freedom leveling platform, and a guide device, a compensating winch and a cable storage winch are arranged in sequence in a "one" shape at the midline position along the length direction of the rotary platform;

[0006] The rotary platform includes a rotary table and a plane bearing.

[0007] The guide device, compensating winch and cable storage winch are placed on the rotating table.

[0008] The six-degree-of-freedom leveling platform is connected to a plane bearing.

[0009] Further, the six-degree-of-freedom leveling platform includes an upper platform surface connected to a plane bearing and a lower platform surface at the bottom end;

[0010] Six lower Hooke's hinges, namely, a first lower Hooke's hinge, a second lower Hooke's hinge, a third lower Hooke's hinge, a fourth lower Hooke's hinge, a fifth lower Hooke's hinge and a sixth lower Hooke's hinge, are symmetrically arranged in the circumferential direction of the upper wall of the lower platform surface;

[0011] The first lower Hooke's hinge, the second lower Hooke's hinge, the third lower Hooke's hinge, the fourth lower Hooke's hinge, the fifth lower Hooke's hinge and the sixth lower Hooke's hinge are connected to the cylinder bodies of the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder and the sixth electric cylinder respectively;

[0012] The push rods arranged on the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder and the sixth electric cylinder are respectively connected with the first upper Hook's hinge, the second upper Hook's hinge, the third upper Hook's hinge, the fourth upper Hook's hinge, the fifth upper Hook's hinge and the sixth upper Hook's hinge,

[0013] The six upper Hooke's hinges, namely the first upper Hooke's hinge, the second upper Hooke's hinge, the third upper Hooke's hinge, the fourth upper Hooke's hinge, the fifth upper Hooke's hinge and the sixth upper Hooke's hinge, are symmetrically connected at the lower wall of the upper platform surface in the circumferential direction.

[0014] Furthermore, it also includes a first displacement sensor, a second displacement sensor, a third displacement sensor, a fourth displacement sensor, a fifth displacement sensor and a sixth displacement sensor;

[0015] The first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor, the fifth displacement sensor and the sixth displacement sensor are respectively and correspondingly arranged on the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder and the sixth electric cylinder;

[0016] A horizontal sensor and a motion reference unit are respectively arranged at the center position of the lower wall of the upper platform surface and the center position of the upper wall of the lower platform surface.

[0017] Furthermore, the guide device includes a guide wheel bracket arranged on the turntable, a guide wheel operated by a cable is arranged on the guide wheel bracket, and a force sensor is arranged on the shaft of the guide wheel.

[0018] Further, the compensating winch includes a first winch and a second winch operated by a cable, a box body arranged on a rotary table, a synchronous belt and pulley assembly, a synchronous belt tensioning wheel, a first reduction servo motor, and a first encoder;

[0019] The first capstan and the second capstan are arranged horizontally on the box body hole in parallel with their axes;

[0020] The pulleys of the synchronous belt and pulley assembly are respectively connected to the shafts at the other ends of the first capstan and the second capstan;

[0021] The synchronous belt tensioning wheel is arranged on the box body, and tensions the synchronous belt in a downward pressure manner at a position above the synchronous belt center of the synchronous belt and pulley assembly;

[0022] The first reduction servo motor is connected to the first capstan, and the first encoder is coaxially installed at the tail end of the first reduction servo motor.

[0023] Furthermore, the cable storage winch includes a cable storage drum, a cable storage drum bracket, a cable guide wheel, a bidirectional screw rod, a guide light rod, an adjustment hand wheel, a chain sprocket assembly, a second reduction servo motor and a second encoder;

[0024] The cable storage drum is wrapped with a double-folded rope groove skin and is placed on the cable storage drum bracket in an axially horizontal manner;

[0025] The bidirectional screw rod and the guide light rod are axially parallel and are arranged at the bottom of the cable storage drum bracket.

[0026] A slider is installed at the cable guide wheel, a single-tooth nut is placed in the slider, and a light hole is opened to connect the bidirectional screw rod and the guide light rod respectively;

[0027] The chain and sprocket assembly are respectively connected to the main shaft of the cable storage drum and the bidirectional screw rod, and the bidirectional screw rod is axially connected to the adjusting hand wheel;

[0028] The second reduction servo motor is connected to the other end of the main shaft of the cable storage drum, and the second encoder is coaxially arranged on the second reduction servo motor.

[0029] Furthermore, the cable passes through the guide wheel and then the compensating winch, and is sequentially wound in the rope grooves of the first winch and the second winch, and then passes through the cable guide wheel and is sequentially wound on the double-folded rope groove skin, and finally is fixed on the outer side of the cable storage drum rim by a rope pressing strip;

[0030] A balloon is also connected to the other end of the cable.

[0031] Furthermore, it also includes a control system, which includes a first button, a second button, a third button, a joystick, a PLC, a first indicator light, a second indicator light, a switch, a first electric cylinder driver, a second electric cylinder driver, a third electric cylinder driver, a fourth electric cylinder driver, a fifth electric cylinder driver, and a sixth electric cylinder driver, a first servo motor driver, a second servo motor driver, and an industrial computer;

[0032] The joystick includes a first micro switch, a second micro switch and a potentiometer;

[0033] The PLC includes a switching quantity input module, a communication module, an analog quantity input module and a switching quantity output module;

[0034] The first button, the second button, the third button, the first micro switch, and the second micro switch are respectively connected to the switch quantity input module;

[0035] The force sensor in the potentiometer and the guide device are respectively connected to the analog input module;

[0036] The switch output module is respectively connected to a first indicator light and a second indicator light;

[0037] The two ends of the switch are respectively connected to the communication module, the first electric cylinder driver, the second electric cylinder driver, the third electric cylinder driver, the fourth electric cylinder driver, the fifth electric cylinder driver and the sixth electric cylinder driver, the first servo motor driver, the second servo motor driver, the industrial computer, the level sensor in the six-degree-of-freedom leveling platform and the motion reference unit;

[0038] The output ends of the first electric cylinder driver, the second electric cylinder driver, the third electric cylinder driver, the fourth electric cylinder driver, the fifth electric cylinder driver and the sixth electric cylinder driver are respectively connected to the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder and the sixth electric cylinder, and the output ends of the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder and the sixth electric cylinder are respectively connected to the first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor, the fifth displacement sensor and the sixth displacement sensor,

[0039] The output ends of the first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor, the fifth displacement sensor and the sixth displacement sensor are respectively connected to the first electric cylinder driver, the second electric cylinder driver, the third electric cylinder driver, the fourth electric cylinder driver, the fifth electric cylinder driver and the sixth electric cylinder driver;

[0040] The output ends of the first servo motor driver and the second servo motor driver are respectively connected to the first reduction servo motor and the second reduction servo motor, and the output ends of the first reduction servo motor and the second reduction servo motor are respectively connected to the first encoder and the second encoder;

[0041] The output ends of the first encoder and the second encoder are respectively connected to the first servo motor driver and the second servo motor driver.

[0042] Furthermore, the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder, the sixth electric cylinder, the first reduction servo motor and the second reduction servo motor are all equipped with electric brake devices, and all of them are powered on to release the brakes;

[0043] The first electric cylinder driver, the second electric cylinder driver, the third electric cylinder driver, the fourth electric cylinder driver, the fifth electric cylinder driver, the sixth electric cylinder driver, the first servo motor driver and the second servo motor driver are all connected to a discharge resistor;

[0044] The first button, the second button and the third button all have safety covers;

[0045] The first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor, the fifth displacement sensor and the sixth displacement sensor are all pulse displacement sensors with A and B two-phase 24V outputs;

[0046] The first encoder and the second encoder are both 23-bit incremental photoelectric encoders;

[0047] The horizontal sensor can output inclination signals in the X and Y directions;

[0048] The motion reference unit adopts an MRU sensor.

[0049] Furthermore, a control method of a ship-borne tethered balloon retracting and releasing device and a control system thereof, wherein the operation steps are as follows:

[0050] Step 1: Initialization: Set the first servo motor driver to the speed control mode, the second servo motor driver to the torque control mode, and the torque magnitude is a fixed constant, and the direction is the cable reeling direction;

[0051] Step 2, PLC collects signals from the first button, the second button, the third button, the first micro switch, the second micro switch, the potentiometer, and the force sensor;

[0052] The industrial computer establishes a connection with the first electric cylinder driver, the second electric cylinder driver, the third electric cylinder driver, the fourth electric cylinder driver, the fifth electric cylinder driver, the sixth electric cylinder driver, the first servo motor driver, the second servo motor driver, the horizontal sensor and the motion reference unit in a communication manner via the switch, and obtains in real time the displacement of the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder and the sixth electric cylinder, the speed of the first reduction servo motor and the second reduction servo motor, the horizontal inclination angle of the upper platform surface of the six-degree-of-freedom leveling platform, and the displacement and speed in the Z direction at the installation position of the motion reference unit;

[0053] Step 3: Press the first button to enable the control logic of the control system;

[0054] Step 4: The industrial computer calculates the displacements of the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder and the sixth electric cylinder according to the horizontal inclination angle of the upper platform surface, the displacements of the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder and the sixth electric cylinder and the required horizontal inclination angle value built into the industrial computer program, and outputs the control signals of the first electric cylinder, the second electric cylinder, the third electric cylinder, the fourth electric cylinder, the fifth electric cylinder and the sixth electric cylinder to the first electric cylinder driver, the second electric cylinder driver, the third electric cylinder driver, the fourth electric cylinder driver, the fifth electric cylinder driver and the sixth electric cylinder driver respectively, and simultaneously calculates the Z-direction distance and speed between the upper platform surface and the lower platform surface in real time;

[0055] Step 5: Press the second button, the Z-axis wave compensation function is enabled, and go to the next step; if the second button is not pressed, go to step 8;

[0056] Step 6: Based on the displacement and velocity of the motion reference unit in the Z direction in the previous 20 seconds, and the Z-direction distance and velocity data between the upper platform surface and the lower platform surface, the industrial computer uses the time series NARX feedback neural network algorithm to predict the Z-direction velocity value of the upper platform surface relative to the ground at the next moment, which is represented by υ0, and the velocity direction is defined as upward as positive and downward as negative;

[0057] Step 7: Manually push or pull the joystick to put it in the state of releasing or retrieving the cable. The PLC converts the angle of the joystick deviation from the vertical position into the value of the speed of releasing or retrieving the cable. The speed value υ j Indicates that the speed direction is positive upward and negative downward, and the PLC transmits the speed value to the industrial computer by communication; if the cable is released, the first micro switch is turned on, and the switch output module controls the first indicator light; if the cable is reeled in, the second micro switch is turned on, and the switch output module controls the second indicator light;

[0058] Step 8: Set the speed of the cable relative to the compensating winch as υ x It means that the speed is positive when releasing the cable and negative when reeling it in. Then υ x =υ j -υ0; if the second button is not pressed, υ0=0, and the industrial computer will x The value is converted into a control signal and transmitted to the first servo motor driver in a communication manner;

[0059] Step 9, PLC determines whether the third button is pressed, if so, proceeds to the next step; if not, returns to step 2;

[0060] Step 10: The first deceleration servo motor and the second deceleration servo motor stop in sequence, the six-degree-of-freedom leveling platform is reset to the initial state, the control system control logic is enabled and disabled, the Z-axis wave compensation function is invalid, and the process ends.

[0061] The beneficial effects of the present invention are: 1. The retracting and launching device provided by the present invention adopts an integral design, unified interface, centralized control, and modular installation, which can effectively reduce costs; 2. The control method provided by the present invention has a ship motion prediction function, belongs to active wave compensation, and can effectively suppress the fatigue effects of ship shaking and heaving on the tethered balloon and cable, and can greatly improve the service life of the tethered balloon and cable; 3. The power actuator adopted in the present invention is a servo motor, which can greatly improve the responsiveness of the system, which is beneficial to further improve the accuracy of wave compensation, and the control of the driver adopts a communication method, which reduces the interface, facilitates engineering installation and implementation, and is also beneficial to reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0063] Figure 2 It is a structural schematic diagram of the control system in the present invention;

[0064] In the figure, 100 is a six-degree-of-freedom leveling platform, 101 is a lower platform surface, 102 is a first lower Hooke's hinge, 103 is a second lower Hooke's hinge, 104 is a third lower Hooke's hinge, 105 is a fourth lower Hooke's hinge, 106 is a fifth lower Hooke's hinge, and 107 is a sixth lower Hooke's hinge.

[0065] 108 is the first electric cylinder, 109 is the second electric cylinder, 110 is the third electric cylinder, 111 is the fourth electric cylinder, 112 is the fifth electric cylinder, 113 is the sixth electric cylinder,

[0066] 114 is a first displacement sensor, 115 is a second displacement sensor, 116 is a third displacement sensor, 117 is a fourth displacement sensor, 118 is a fifth displacement sensor, 119 is a sixth displacement sensor,

[0067] 120 is the first upper Hooke's hinge, 121 is the second upper Hooke's hinge, 122 is the third upper Hooke's hinge, 123 is the fourth upper Hooke's hinge, 124 is the fifth upper Hooke's hinge, 125 is the sixth upper Hooke's hinge,

[0068] 126 is an upper platform surface, 127 is a level sensor, and 128 is a motion reference unit;

[0069] 130 is a rotary platform, 131 is a rotary table, 132 is a plane bearing,

[0070] 140 is a guide device, 141 is a guide wheel, 142 is a guide wheel bracket, 143 is a force sensor,

[0071] 150 is a compensating winch, 151 is a first capstan, 152 is a second capstan, 153 is a box, 154 is a synchronous belt and pulley assembly, 155 is a synchronous belt tensioning wheel, 156 is a first reduction servo motor, and 157 is a first encoder;

[0072] 160 is a cable storage winch, 161 is a cable storage drum, 162 is a double-folded rope groove skin, 163 is a cable storage drum bracket, 164 is a cable guide wheel, 165 is a bidirectional screw rod, 166 is a guide light rod, 167 is an adjustment hand wheel, 168 is a chain sprocket assembly, 169 is a second reduction servo motor, and 170 is a second encoder;

[0073] 180 is the cable.

[0074] 1 is the first button, 2 is the second button, 3 is the third button,

[0075] 20 is a joystick, 21 is a first micro switch, 22 is a second micro switch, and 23 is a potentiometer;

[0076] 30 is a PLC, 31 is a switch quantity input module, 32 is a communication module, 33 is an analog quantity input module, and 34 is a switch quantity output module;

[0077] 4 is the first indicator light, 5 is the second indicator light, 6 is the switch, 7 is the first electric cylinder driver, 8 is the second electric cylinder driver, 9 is the third electric cylinder driver, 10 is the fourth electric cylinder driver, 11 is the fifth electric cylinder driver, 12 is the sixth electric cylinder driver, 13 is the first servo motor driver, 14 is the second servo motor driver, and 15 is an industrial computer. DETAILED DESCRIPTION

[0078] The specific technical scheme of the present invention is further described in detail below with reference to specific examples.

[0079] As shown in the figure, a ship-borne tethered balloon launching and retracting device and its control system according to the present invention are composed of a six-degree-of-freedom leveling platform 100, a rotating platform 130, a guide device 140, a compensating winch 150, a cable storage winch 160, a cable 180 and other equipment;

[0080] Wherein, the six-degree-of-freedom leveling platform 100 is composed of a lower platform surface 101, a first lower Hooke's hinge 102, a second lower Hooke's hinge 103, a third lower Hooke's hinge 104, a fourth lower Hooke's hinge 105, a fifth lower Hooke's hinge 106, a sixth lower Hooke's hinge 107, a first electric cylinder 108, a second electric cylinder 109, a third electric cylinder 110, a fourth electric cylinder 111, a fifth electric cylinder 112, a sixth electric cylinder 113, a first displacement sensor 114, a second displacement sensor 115, a third displacement sensor 116, a fourth displacement sensor 117, a fifth displacement sensor 118, a sixth displacement sensor 119, a first upper Hooke's hinge 120, a second upper Hooke's hinge 121, a third upper Hooke's hinge 122, a fourth upper Hooke's hinge 123, a fifth upper Hooke's hinge 124, a sixth upper Hooke's hinge 125, an upper platform surface 126, a level sensor 127 and a motion reference unit 128;

[0081] The rotating platform 130 is composed of a rotating table 131 and a plane bearing 132;

[0082] The guide device 140 is composed of a guide wheel 141, a guide wheel bracket 142 and a force sensor 143;

[0083] The compensating winch 150 is composed of a first capstan 151 to a second capstan 152, a box 153, a synchronous belt and pulley assembly 154, a synchronous belt tensioning wheel 155, a first reduction servo motor 156 and a first encoder 157;

[0084] The cable storage winch 160 is composed of a cable storage drum 161, a double-folded rope groove skin 162, a cable storage drum bracket 163, a cable guide wheel 164, a bidirectional screw rod 165, a guide light rod 166, an adjustment hand wheel 167, a chain sprocket assembly 168, a second reduction servo motor 169 and a second encoder 170.

[0085] Furthermore, the lower platform surface 101 of the six-degree-of-freedom leveling platform 100 is symmetrically provided with six lower Hooke's hinges, namely, a first lower Hooke's hinge 102, a second lower Hooke's hinge 103, a third lower Hooke's hinge 104, a fourth lower Hooke's hinge 105, a fifth lower Hooke's hinge 106, and a sixth lower Hooke's hinge 107, in a circumferential direction.

[0086] The first lower Hooke's hinge 102, the second lower Hooke's hinge 103, the third lower Hooke's hinge 104, the fourth lower Hooke's hinge 105, the fifth lower Hooke's hinge 106, and the sixth lower Hooke's hinge 107 are respectively connected to the first electric cylinder 108, the second electric cylinder 109, the third electric cylinder 110, the fourth electric cylinder 111, the fifth electric cylinder 112, and the sixth electric cylinder 113, and the push rods of the first electric cylinder 108, the second electric cylinder 109, the third electric cylinder 110, the fourth electric cylinder 111, the fifth electric cylinder 112, and the sixth electric cylinder 113 are respectively connected to the first upper Hooke's hinge 120, the second upper Hooke's hinge 121, the third upper Hooke's hinge 122, the fourth upper Hooke's hinge 123, the On the fifth upper Hooke's hinge 124 and the sixth upper Hooke's hinge 125, the first upper Hooke's hinge 120, the second upper Hooke's hinge 121, the third upper Hooke's hinge 122, the fourth upper Hooke's hinge 123, the fifth upper Hooke's hinge 124, and the sixth upper Hooke's hinge 125 are symmetrically connected to the upper platform surface 126 in the circumferential direction, and the first displacement sensor 114, the second displacement sensor 115, the third displacement sensor 116, the fourth displacement sensor 117, the fifth displacement sensor 118, and the sixth displacement sensor 119 are respectively installed on the first electric cylinder 108, the second electric cylinder 109, the third electric cylinder 110, the fourth electric cylinder 111, the fifth electric cylinder 112, and the sixth electric cylinder 113;

[0087] The level sensor 127 is installed at the center of the upper platform surface 126;

[0088] The motion reference unit 128 is installed at the center of the lower platform surface 101;

[0089] The rotating table surface 131 of the rotating platform 130 is connected to the upper platform surface 126 of the six-degree-of-freedom leveling platform 100 through the plane bearing 132;

[0090] The guide wheel 141 of the guide device 140 is installed on the guide wheel bracket 142, and the force sensor 143 is installed on the axis of the guide wheel 141, and the force direction is parallel to the length direction of the turntable 131;

[0091] The first capstan 151 and the second capstan 152 of the compensating winch 150 are installed on the hole of the box 153 in parallel and horizontally, the first reduction servo motor 156 is connected to the first capstan 151, and the first encoder 157 is coaxially installed at the tail end of the first reduction servo motor 156;

[0092] The pulleys of the synchronous belt and pulley assembly 154 are respectively connected to the shafts at the other ends of the first capstan 151 and the second capstan 152;

[0093] The synchronous belt tensioner 155 is installed on the box 153, and tensions the synchronous belt in a downward pressure manner at a position above the synchronous belt center of the synchronous belt and pulley assembly 154, and the tensioning force is adjustable;

[0094] A double-folded rope groove skin 162 is wrapped on the cable storage drum 161 of the cable storage winch 160 and installed on the cable storage drum bracket 163 in an axially horizontal manner;

[0095] The bidirectional screw rod 165 and the guide light rod 166 are axially parallel and installed at the bottom of the cable storage drum bracket 163; the cable guide wheel 164 is provided with a slider, the slider has a built-in single-tooth nut and a light hole, which is connected to the bidirectional screw rod 165 and the guide light rod 166 respectively;

[0096] The chain sprocket assembly 168 is respectively connected to the main shaft of the cable storage drum 161 and the bidirectional screw rod 165, and the bidirectional screw rod 165 is axially connected to the adjusting hand wheel 167;

[0097] The second reduction servo motor 169 is connected to the other end of the main shaft of the cable storage drum 161, and the second encoder 170 is coaxially mounted on the second reduction servo motor 169;

[0098] The six-degree-of-freedom leveling platform 100 is installed at the stern, and a rotating platform 130 is installed above it. The guide device 140, the compensating winch 150, and the cable storage winch 160 are installed in sequence in a "one" shape along the midline position of the length direction of the rotating platform 130;

[0099] The cable 180 passes through the guide wheel 141, and is sequentially wound in the rope grooves of the first capstan 151 and the second capstan 152 by the compensating winch 150, then passes through the cable guide wheel 164, is sequentially wound on the double-folded rope groove skin 162, and is finally fixed on the outer side of the wheel rim of the cable storage drum 161 by a rope pressing strip, and the other end of the cable 180 is connected to the balloon.

[0100] Further, the control system includes a first button 1, a second button 2, a third button 3, a joystick 20, a force sensor 143, a PLC 30, a first indicator light 4, a second indicator light 5, a switch 6, a first electric cylinder driver 7, a second electric cylinder driver 8, a third electric cylinder driver 9, a fourth electric cylinder driver 10, a fifth electric cylinder driver 11, a sixth electric cylinder driver 12, a first electric cylinder 108, a second electric cylinder 109, a third electric cylinder 110, a fourth electric cylinder 111, a fifth electric cylinder 112, a sixth electric cylinder 113, a first displacement sensor 114, a second displacement sensor 115, a third displacement sensor 116, a fourth displacement sensor 117, a fifth displacement sensor 118, a sixth displacement sensor 119, a first servo motor driver 13, a second servo motor driver 14, a first reduction servo motor 156, a second reduction servo motor 169, a first encoder 157, a second encoder 170, an industrial computer 15, a level sensor 127 and a motion reference unit 128;

[0101] The joystick 20 includes a first micro switch 21, a second micro switch 22, and a potentiometer 23; the PLC 30 includes a switch input (DI) module 31, a communication module 32, an analog input (AI) module 33, and a switch output (DO) module 34;

[0102] The first button 1, the second button 2, the third button 3, the first micro switch 21, and the second micro switch 22 are respectively connected to the DI module 31;

[0103] The potentiometer 23 and the force sensor 143 are respectively connected to the AI ​​module 33;

[0104] The DO module 34 is connected to the first indicator light 4 and the second indicator light 5 respectively;

[0105] The switch 6 is respectively connected to the communication module 32, the first electric cylinder driver 7, the second electric cylinder driver 8, the third electric cylinder driver 9, the fourth electric cylinder driver 10, the fifth electric cylinder driver 11, the sixth electric cylinder driver 12, the first servo motor driver 13, the second servo motor driver 14, the industrial computer 15, the level sensor 127 and the motion reference unit 128;

[0106] The output ends of the first electric cylinder driver 7, the second electric cylinder driver 8, the third electric cylinder driver 9, the fourth electric cylinder driver 10, the fifth electric cylinder driver 11, and the sixth electric cylinder driver 12 are respectively connected to the first electric cylinder 108, the second electric cylinder 109, the third electric cylinder 110, the fourth electric cylinder 111, the fifth electric cylinder 112, and the sixth electric cylinder 113;

[0107] The output ends of the first displacement sensor 114, the second displacement sensor 115, the third displacement sensor 116, the fourth displacement sensor 117, the fifth displacement sensor 118, and the sixth displacement sensor 119 are respectively connected to the first electric cylinder driver 7, the second electric cylinder driver 8, the third electric cylinder driver 9, the fourth electric cylinder driver 10, the fifth electric cylinder driver 11, and the sixth electric cylinder driver 12;

[0108] The output ends of the first servo motor driver 13 and the second servo motor driver 14 are respectively connected to the first reduction servo motor 156 and the second reduction servo motor 169;

[0109] The output ends of the first encoder 157 and the second encoder 170 are respectively connected to the first servo motor driver 13 and the second servo motor driver 14 .

[0110] Furthermore, the first electric cylinder 108, the second electric cylinder 109, the third electric cylinder 110, the fourth electric cylinder 111, the fifth electric cylinder 112, the sixth electric cylinder 113, the first reduction servo motor 156 and the second reduction servo motor 169 all have electric brake devices, and all of them are powered on to release the brakes;

[0111] The first electric cylinder driver 7 , the second electric cylinder driver 8 , the third electric cylinder driver 9 , the fourth electric cylinder driver 10 , the fifth electric cylinder driver 11 , the sixth electric cylinder driver 12 , the first servo motor driver 13 and the second servo motor driver 14 are all connected with a discharge resistor.

[0112] Furthermore, the first button 1, the second button 2, and the third button 3 all have safety covers;

[0113] The first displacement sensor 114, the second displacement sensor 115, the third displacement sensor 116, the fourth displacement sensor 117, the fifth displacement sensor 118, and the sixth displacement sensor 119 are all pulse displacement sensors with A and B two-phase 24V outputs;

[0114] The first encoder 157 and the second encoder 170 are both 23-bit incremental photoelectric encoders;

[0115] The horizontal sensor 127 can output inclination signals in the X and Y directions;

[0116] The motion reference unit 128 uses an MRU sensor.

[0117] Combine the following Figure 1 and Figure 2 , explain the working principle of the whole system.

[0118] When the ship is swaying, the upper platform surface 126 of the six-degree-of-freedom leveling platform 100 provides a relatively horizontal reference through an automatic leveling method, and also produces a certain displacement change in the Z direction; the industrial computer 15 collects and controls the displacement of the first electric cylinder 108, the second electric cylinder 109, the third electric cylinder 110, the fourth electric cylinder 111, the fifth electric cylinder 112, and the sixth electric cylinder 113, and combines the geometric parameters of the initial state of the six-degree-of-freedom leveling platform 100 to calculate the Z-direction displacement and speed change of the upper platform surface 126 relative to the lower platform surface 101 in real time; the upper platform surface 126 is installed on the lower platform surface The motion reference unit 128 of 101 can obtain the Z-direction displacement and speed change caused by the heave and sway of the ship in real time; these two Z-direction displacements and speed changes are superimposed to form historical data of a certain period of time, and the industrial computer 15 uses the time series NARX feedback neural network algorithm to predict the Z-direction speed value of the upper platform surface 126 relative to the ground at the next moment based on the real-time changing historical data, and calculates the difference with the set speed of the cable 180 for retracting or releasing, and obtains the speed control signal of the first reduction servo motor 156 at the current moment, so as to compensate for the impact caused by the sway and heave motion of the ship.

[0119] The cable 180 is wound sequentially in the rope grooves of the first capstan 151 and the second capstan 152 through the guide wheel 141. Since the second capstan 152 is a driven wheel, but the first capstan 151 and the second capstan 152 are connected by the synchronous belt and pulley assembly 154, the friction wrap angle between the cable 180 and the rope groove is much larger than that of a single-drive capstan without the synchronous belt and pulley assembly 154, which can effectively reduce the number of rope grooves. The cable 180 coming out of the compensation winch 150 has become very small due to the friction tension reduction principle between the first capstan 151 and the second capstan 152, and then enters the cable storage winch 160 and is sequentially wound in the double-folded rope groove skin 162, so the power of the second reduction servo motor 169 is relatively small. Since the second servo motor driver 14 is set to the torque control mode and is always in the cable-retracting direction, no matter whether the cable 180 is being retracted or released, the cable 180 between the compensation winch 150 and the cable storage winch 160 is always in a tensioned state, and the tensioning force is controlled by the torque set by the second servo motor driver 14; the cable storage drum 161 rotates under the drive of the second reduction servo motor 169, and drives the bidirectional lead screw 165 to rotate through the chain sprocket assembly 168, and the cable guide wheel 164 engages with the bidirectional lead screw 165 through its built-in single-tooth nut to achieve axial movement along the bidirectional lead screw 165. Since the bidirectional lead screw 165 has a bidirectional thread, the cable guide wheel 164 can automatically reverse at both ends, and the cable guide wheel 164 is in the right When the cable guide wheel 164 is in the left reversing position, the cable 180 entering the double-fold rope groove skin 162 is aligned with the center of the rightmost rope groove of the double-fold rope groove skin 162. Similarly, when the cable arranging guide wheel 164 is in the left reversing position, the cable 180 entering the double-fold rope groove skin 162 is aligned with the center of the leftmost rope groove of the double-fold rope groove skin 162. At the same time, the upper cable 180 uses the space naturally formed between the lower adjacent cables 180 as a "rope groove", so that the cables 180 can be arranged in an orderly and multi-layered manner on the double-fold rope groove skin 162; when the position of the cable arranging guide wheel 164 is adjusted for the first time, the adjusting hand wheel 167 can be manually rotated, and there is a clutch between the adjusting hand wheel 167 and the bidirectional screw rod 165, which can disengage the linkage between the rotating adjusting hand wheel 167 and the bidirectional screw rod 165.

[0120] Furthermore, a control method of a ship-borne tethered balloon retracting and releasing device and a control system thereof, wherein the operation steps are as follows:

[0121] S1: Initialization, setting the first servo motor driver 13 to a speed control mode, the second servo motor driver 14 to a torque control mode, and the torque magnitude is a fixed constant, and the direction is the cable reeling direction;

[0122] S2: PLC 30 collects signals from the first button 1, the second button 2, the third button 3, the first micro switch 21, the second micro switch 22, the potentiometer 23, and the force sensor 143;

[0123] The industrial computer 15 establishes connections with the first electric cylinder driver 7, the second electric cylinder driver 8, the third electric cylinder driver 9, the fourth electric cylinder driver 10, the fifth electric cylinder driver 11, the sixth electric cylinder driver 12, the first servo motor driver 13, the second servo motor driver 14, the level sensor 127, and the motion reference unit 128 in a communication manner via the switch 6, and obtains in real time the displacement of the first electric cylinder 108, the second electric cylinder 109, the third electric cylinder 110, the fourth electric cylinder 111, the fifth electric cylinder 112, and the sixth electric cylinder 113, the speed of the first reduction servo motor 156 and the second reduction servo motor 169, the horizontal inclination angle of the upper platform surface 126 of the six-degree-of-freedom leveling platform 100, and the displacement and speed in the Z direction at the installation position of the motion reference unit 128;

[0124] S3: Press the first button 1 to enable the control logic of the control system;

[0125] S4: The industrial computer 15 calculates the displacements of the first electric cylinder 108, the second electric cylinder 109, the third electric cylinder 110, the fourth electric cylinder 111, the fifth electric cylinder 112, and the sixth electric cylinder 113 according to the horizontal inclination angle of the upper platform surface 126, the displacements of the first electric cylinder 108, the second electric cylinder 109, the third electric cylinder 110, the fourth electric cylinder 111, the fifth electric cylinder 112, and the sixth electric cylinder 113, and outputs the control signals of the first electric cylinder 108, the second electric cylinder 109, the third electric cylinder 110, the fourth electric cylinder 111, the fifth electric cylinder 112, and the sixth electric cylinder 113 to correspond to the first electric cylinder driver 7, the second electric cylinder driver 8, the third electric cylinder driver 9, the fourth electric cylinder driver 10, the fifth electric cylinder driver 11, and the sixth electric cylinder driver 12, and calculates the Z-direction distance and speed between the upper platform surface 126 and the lower platform surface 101 in real time;

[0126] S5: Press the second button 2, the Z-axis wave compensation function is enabled, and the process goes to the next step; if the second button 2 is not pressed, the process goes to S8;

[0127] S6: The industrial computer 15 uses the time series NARX feedback neural network algorithm to predict the Z-direction velocity value of the upper platform surface 126 relative to the ground at the next moment based on the displacement and velocity of the motion reference unit 128 in the Z direction in the previous 20 seconds, and the Z-direction distance and velocity data between the upper platform surface 126 and the lower platform surface 101, represented by υ0, and stipulates that the velocity direction is positive upward and negative downward;

[0128] S7: Manually push or pull the joystick 20 to put it in the state of releasing or retrieving the cable. The PLC 30 converts the angle of the joystick 20 deviating from the vertical position into the value of the speed of releasing or retrieving the cable. The speed value v j Indicates that the speed direction is positive upward and negative downward, and the PLC 30 transmits the speed value to the industrial computer 15 by communication; if the cable is released, the first micro switch 21 is turned on, and the DO module 34 controls the first indicator light 4 to light up; if the cable is reeled in, the second micro switch 22 is turned on, and the DO module 34 controls the second indicator light 5 to light up;

[0129] S8: Let the speed of the cable 180 relative to the compensating winch 150 be υ x It means that the speed is positive when releasing the cable and negative when reeling it in. Then υ x =υ j -υ0; if the second button 2 is not pressed, υ0 = 0, the industrial computer 15 will x The value is converted into a control signal and transmitted to the first servo motor driver 13 in a communication manner;

[0130] S9: PLC 30 determines whether the third button 3 is pressed, if so, proceeds to the next step; if not, returns to S2;

[0131] S10: The first deceleration servo motor 156 and the second deceleration servo motor 169 stop in sequence, the six-degree-of-freedom leveling platform 100 is reset to the initial state, the control system control logic is enabled and disabled, the Z-direction wave compensation function is invalid, and the process ends.

Claims

1. A ship-borne tethered balloon retracting and releasing device and its control system, characterized in that: The invention comprises a six-degree-of-freedom leveling platform (100) arranged at the stern, a rotating platform (130), a guiding device (140), a compensating winch (150), a cable storage winch (160) and a cable (180). A rotating platform (130) is arranged above the six-degree-of-freedom leveling platform (100), and a guide device (140), a compensating winch (150) and a cable storage winch (160) are arranged in sequence in a straight line along the length direction of the rotating platform (130); The rotating platform (130) comprises a rotating table (131) and a plane bearing (132). The guide device (140), the compensating winch (150) and the cable storage winch (160) are arranged on the rotary table (131). The six-degree-of-freedom leveling platform (100) is connected to a plane bearing (132).

2. A ship-borne tethered balloon retracting and releasing device and control system thereof according to claim 1, characterized in that: The six-degree-of-freedom leveling platform (100) comprises an upper platform surface (126) connected to a plane bearing (132) and a lower platform surface (101) at the bottom end; Six lower Hooke's hinges, namely a first lower Hooke's hinge (102), a second lower Hooke's hinge (103), a third lower Hooke's hinge (104), a fourth lower Hooke's hinge (105), a fifth lower Hooke's hinge (106) and a sixth lower Hooke's hinge (107), are symmetrically arranged in the circumferential direction of the upper wall of the lower platform surface (101); The first lower Hooke's hinge (102), the second lower Hooke's hinge (103), the third lower Hooke's hinge (104), the fourth lower Hooke's hinge (105), the fifth lower Hooke's hinge (106) and the sixth lower Hooke's hinge (107) are respectively connected to the cylinder bodies of the first electric cylinder (108), the second electric cylinder (109), the third electric cylinder (110), the fourth electric cylinder (111), the fifth electric cylinder (112) and the sixth electric cylinder (113); The push rods arranged on the first electric cylinder (108), the second electric cylinder (109), the third electric cylinder (110), the fourth electric cylinder (111), the fifth electric cylinder (112) and the sixth electric cylinder (113) are respectively connected to a first upper Hooke's hinge (120), a second upper Hooke's hinge (121), a third upper Hooke's hinge (122), a fourth upper Hooke's hinge (123), a fifth upper Hooke's hinge (124) and a sixth upper Hooke's hinge (125), The six upper Hooke's hinges, namely the first upper Hooke's hinge (120), the second upper Hooke's hinge (121), the third upper Hooke's hinge (122), the fourth upper Hooke's hinge (123), the fifth upper Hooke's hinge (124) and the sixth upper Hooke's hinge (125), are symmetrically connected to the lower wall of the upper platform surface (126) in the circumferential direction.

3. A ship-borne tethered balloon retracting and releasing device and control system thereof according to claim 2, characterized in that: It also includes a first displacement sensor (114), a second displacement sensor (115), a third displacement sensor (116), a fourth displacement sensor (117), a fifth displacement sensor (118) and a sixth displacement sensor (119); The first displacement sensor (114), the second displacement sensor (115), the third displacement sensor (116), the fourth displacement sensor (117), the fifth displacement sensor (118) and the sixth displacement sensor (119) are respectively and correspondingly arranged on the first electric cylinder (108), the second electric cylinder (109), the third electric cylinder (110), the fourth electric cylinder (111), the fifth electric cylinder (112) and the sixth electric cylinder (113); A horizontal sensor (127) and a motion reference unit (128) are respectively arranged at the center position of the lower wall of the upper platform surface (126) and the center position of the upper wall of the lower platform surface (101).

4. A ship-borne tethered balloon retracting and releasing device and control system thereof according to claim 1, characterized in that: The guide device (140) comprises a guide wheel bracket (142) arranged on a rotating table (131), a guide wheel (141) operated by a cable (180) being arranged on the guide wheel bracket (142), and a force sensor (143) being arranged on the shaft of the guide wheel (141).

5. A ship-borne tethered balloon retracting and releasing device and control system thereof according to claim 4, characterized in that: The compensating winch (150) comprises a first winch (151) and a second winch (152) operated by a cable (180), a box (153) arranged on a rotating table (131), a synchronous belt and pulley assembly (154), a synchronous belt tensioning wheel (155), a first reduction servo motor (156), and a first encoder (157); The first capstan (151) and the second capstan (152) are arranged on the hole of the box body (153) in a parallel and horizontal manner in the axial direction; The pulleys of the synchronous belt and pulley assembly (154) are respectively connected to the shafts at the other ends of the first capstan (151) and the second capstan (152); The synchronous belt tensioning wheel (155) is arranged on the box body (153) and tensions the synchronous belt in a downward pressure manner at a position above the center of the synchronous belt of the synchronous belt and pulley assembly (154); The first reduction servo motor (156) is connected to the first capstan (151), and the first encoder (157) is coaxially mounted on the tail end of the first reduction servo motor (156).

6. A ship-borne tethered balloon retracting and releasing device and control system thereof according to claim 5, characterized in that: The cable storage winch (160) comprises a cable storage drum (161), a cable storage drum bracket (163), a cable guide wheel (164), a bidirectional screw rod (165), a guide light rod (166), an adjustment hand wheel (167), a chain sprocket assembly (168), a second reduction servo motor (169) and a second encoder (170); The cable storage drum (161) is wrapped with a double-folded rope groove skin (162) and is placed on the cable storage drum support (163) in an axially horizontal manner; The bidirectional screw rod (165) and the guide light rod (166) are axially parallel and are arranged at the bottom of the cable storage drum bracket (163). A sliding block is installed at the cable guide wheel (164), a single-tooth nut is installed in the sliding block, and a light hole is opened, which is respectively connected to a bidirectional screw rod (165) and a guide light rod (166); The chain sprocket assembly (168) is respectively connected to the main shaft of the cable storage drum (161) and the bidirectional screw rod (165), and the bidirectional screw rod (165) is axially connected to the adjusting hand wheel (167); The second deceleration servo motor (169) is connected to the other end of the main shaft of the cable storage drum (161), and the second encoder (170) is coaxially arranged on the second deceleration servo motor (169).

7. A ship-borne tethered balloon retracting and releasing device and control system thereof according to claim 6, characterized in that: The cable (180) passes through the guide wheel (141) and then the compensating winch (150), and is sequentially wound in the rope grooves of the first winch (151) and the second winch (152), and then passes through the cable guide wheel (164) and sequentially wound on the double-folded rope groove skin (162), and finally is fixed on the outer side of the wheel rim of the cable storage drum (161) by a rope pressing strip; A balloon is also connected to the other end of the cable (180).

8. A ship-borne tethered balloon retracting and releasing device and control system thereof according to claim 1, characterized in that: The invention also includes a control system, wherein the control system includes a first button (1), a second button (2), a third button (3), a joystick (20), a PLC (30), a first indicator light (4), a second indicator light (5), a switch (6), a first electric cylinder driver (7), a second electric cylinder driver (8), a third electric cylinder driver (9), a fourth electric cylinder driver (10), a fifth electric cylinder driver (11), a sixth electric cylinder driver (12), a first servo motor driver (13), a second servo motor driver (14), and an industrial computer (15); The joystick (20) comprises a first micro switch (21), a second micro switch (22) and a potentiometer (23); The PLC (30) comprises a switch quantity input module (31), a communication module (32), an analog quantity input module (33) and a switch quantity output module (34); The first button (1), the second button (2), the third button (3), the first micro switch (21), and the second micro switch (22) are respectively connected to a switch quantity input module (31); The potentiometer (23) and the force sensor (143) in the guide device (140) are respectively connected to the analog input module (33); The switch output module (34) is respectively connected to a first indicator light (4) and a second indicator light (5); The two ends of the switch (6) are respectively connected to a communication module (32), a first electric cylinder driver (7), a second electric cylinder driver (8), a third electric cylinder driver (9), a fourth electric cylinder driver (10), a fifth electric cylinder driver (11), a sixth electric cylinder driver (12), a first servo motor driver (13), a second servo motor driver (14), an industrial computer (15), a level sensor (127) and a motion reference unit (128) in a six-degree-of-freedom leveling platform (100); The output ends of the first electric cylinder driver (7), the second electric cylinder driver (8), the third electric cylinder driver (9), the fourth electric cylinder driver (10), the fifth electric cylinder driver (11) and the sixth electric cylinder driver (12) are respectively connected to the first electric cylinder (108), the second electric cylinder (109), the third electric cylinder (110), the fourth electric cylinder (111), the fifth electric cylinder (112) and the sixth electric cylinder (113); the output ends of the first electric cylinder (108), the second electric cylinder (109), the third electric cylinder (110), the fourth electric cylinder (111), the fifth electric cylinder (112) and the sixth electric cylinder (113) are respectively connected to the first displacement sensor (114), the second displacement sensor (115), the third displacement sensor (116), the fourth displacement sensor (117), the fifth displacement sensor (118) and the sixth displacement sensor (119); The output ends of the first displacement sensor (114), the second displacement sensor (115), the third displacement sensor (116), the fourth displacement sensor (117), the fifth displacement sensor (118) and the sixth displacement sensor (119) are respectively connected to the first electric cylinder driver (7), the second electric cylinder driver (8), the third electric cylinder driver (9), the fourth electric cylinder driver (10), the fifth electric cylinder driver (11) and the sixth electric cylinder driver (12); The output ends of the first servo motor driver (13) and the second servo motor driver (14) are respectively connected to the first reduction servo motor (156) and the second reduction servo motor (169), and the output ends of the first reduction servo motor (156) and the second reduction servo motor (169) are respectively connected to the first encoder (157) and the second encoder (170); The output ends of the first encoder (157) and the second encoder (170) are respectively connected to the first servo motor driver (13) and the second servo motor driver (14).

9. A ship-borne tethered balloon retracting and releasing device and control system thereof according to claim 8, characterized in that: The first electric cylinder (108), the second electric cylinder (109), the third electric cylinder (110), the fourth electric cylinder (111), the fifth electric cylinder (112), the sixth electric cylinder (113), the first reduction servo motor (156) and the second reduction servo motor (169) are all equipped with electric brake devices, and all of them are powered on to release the brakes; The first electric cylinder driver (7), the second electric cylinder driver (8), the third electric cylinder driver (9), the fourth electric cylinder driver (10), the fifth electric cylinder driver (11), the sixth electric cylinder driver (12), the first servo motor driver (13), and the second servo motor driver (14) are all connected to a discharge resistor; The first button (1), the second button (2) and the third button (3) all have safety covers; The first displacement sensor (114), the second displacement sensor (115), the third displacement sensor (116), the fourth displacement sensor (117), the fifth displacement sensor (118) and the sixth displacement sensor (119) are all pulse displacement sensors with A and B two-phase 24V outputs; The first encoder (157) and the second encoder (170) are both 23-bit incremental photoelectric encoders; The horizontal sensor (127) can output inclination signals in the X and Y directions; The motion reference unit (128) uses an MRU sensor.

10. A control method for a ship-borne tethered balloon retracting and releasing device and a control system thereof as claimed in any one of claims 1 to 9, characterized in that: The operation steps are as follows: Step 1: Initialization: setting the first servo motor driver (13) to a speed control mode and the second servo motor driver (14) to a torque control mode, with the magnitude of the torque being a fixed constant and the direction being the cable reeling direction; Step 2, the PLC (30) collects signals from the first button (1), the second button (2), the third button (3), the first micro switch (21), the second micro switch (23), the potentiometer (23), and the force sensor (143); The industrial computer (15) establishes a connection with the first electric cylinder driver (7), the second electric cylinder driver (8), the third electric cylinder driver (9), the fourth electric cylinder driver (10), the fifth electric cylinder driver (11), the sixth electric cylinder driver (12), the first servo motor driver (13) and the second servo motor driver (14), the level sensor (127) and the motion reference unit (128) via the switch (6) in a communication manner, and obtains in real time the displacement of the first electric cylinder (108), the second electric cylinder (109), the third electric cylinder (110), the fourth electric cylinder (111), the fifth electric cylinder (112) and the sixth electric cylinder (113), the speed of the first reduction servo motor (156) and the second reduction servo motor (169), the horizontal inclination angle of the upper platform surface (126) of the six-degree-of-freedom leveling platform (100), and the displacement and speed in the Z direction at the installation position of the motion reference unit (128); Step 3: Press the first button (1) to enable the control logic of the control system; Step 4: The industrial computer (15) calculates the displacements of the first electric cylinder (108), the second electric cylinder (109), the third electric cylinder (110), the fourth electric cylinder (111), the fifth electric cylinder (112) and the sixth electric cylinder (113) according to the horizontal inclination angle of the upper platform surface (126), the displacements of the first electric cylinder (108), the second electric cylinder (109), the third electric cylinder (110), the fourth electric cylinder (111), the fifth electric cylinder (112) and the sixth electric cylinder (113) and the required horizontal inclination angle value built into the program of the industrial computer (15). The control system is used to detect the displacement of the upper platform surface (126) and the lower platform surface (101); and outputs control signals of the first electric cylinder (108), the second electric cylinder (109), the third electric cylinder (110), the fourth electric cylinder (111), the fifth electric cylinder (112) and the sixth electric cylinder (113) to correspond to the first electric cylinder driver (7), the second electric cylinder driver (8), the third electric cylinder driver (9), the fourth electric cylinder driver (10), the fifth electric cylinder driver (11) and the sixth electric cylinder driver (12); and calculates the Z-direction distance and speed between the upper platform surface (126) and the lower platform surface (101) in real time; Step 5: Press the second button (2), the Z-axis wave compensation function is enabled, and the process proceeds to the next step; if the second button (2) is not pressed, the process proceeds to step 8; Step 6, the industrial computer (15) uses the time series NARX feedback neural network algorithm to predict the Z-direction velocity value of the upper platform surface (126) relative to the ground at the next moment based on the displacement and velocity of the motion reference unit (128) in the Z direction in the previous 20 seconds, and the Z-direction distance and velocity data between the upper platform surface (126) and the lower platform surface (101), represented by υ0, and stipulates that the velocity direction is positive upward and negative downward; Step 7: Manually push or pull the joystick (20) to put it in a state of releasing or retrieving the cable. The PLC (30) converts the angle of the joystick (20) deviating from the vertical position into the value of the speed of releasing or retrieving the cable. The speed value v j Indicates that the speed direction is positive upward and negative downward, and the PLC (30) transmits the speed value to the industrial computer (15) in a communication manner; if the cable is released, the first micro switch (21) is turned on, and the switch output module (34) controls the first indicator light (4) to light up; if the cable is reeled in, the second micro switch (22) is turned on, and the switch output module (34) controls the second indicator light (5) to light up; Step 8: Assume that the speed of the cable (180) relative to the compensating winch (150) is υ x It means that the speed is positive when releasing the cable and negative when reeling it in. Then υ x =υ j -υ0; if the second button (2) is not pressed, υ0 = 0, and the industrial computer (15) sets υ x The value is converted into a control signal and transmitted to the first servo motor driver (13) in a communication manner; Step 9, the PLC (30) determines whether the third button (3) is pressed, and if so, proceeds to the next step; if not, returns to step 2; Step 10: The first deceleration servo motor (156) and the second deceleration servo motor (169) are stopped in sequence, the six-degree-of-freedom leveling platform (100) is reset to the initial state, the control system control logic is enabled and disabled, the Z-direction wave compensation function is invalid, and the process ends.

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