Sea wave compensation control method and device, electronic equipment and storage medium

Abstract

The invention provides a compensation control method and device for sea waves, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence. According to the compensation control method for the sea waves, the expansion amount, the rotation angle, the pitching angle and the displacement amount of each driving cylinder are restrained through position data and posture data; therefore, precise control over the telescopic amount, the rotation angle, the pitching angle and the displacement amount of each driving cylinder is achieved. The method comprises the following steps: acquiring position data and attitude data of a ship body where a hybrid embarkation mechanism is located, and performing motion distribution on the expansion amount of each driving cylinder of a six-degree-of-freedom parallel mechanism on the hybrid embarkation mechanism and the rotation angle, the pitching angle and the displacement amount of a three-degree-of-freedom series gangway ladder, so that the hybrid embarkation mechanism is controlled in a data driving mode; the compensation precision of the sea wave compensation system of the series-parallel connection embarkation mechanism is improved, and the sea wave compensation system has high adaptability and can be applied to various series-parallel connection mechanisms of different types.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a method, device, electronic equipment and storage medium for wave compensation control. Background Art

[0002] Sea wave compensation is a technology that compensates for the movement of offshore equipment caused by the ups and downs of the sea surface. The basic principle of sea wave compensation is to detect and predict the movement of waves, and then compensate for the movement caused by waves, thereby eliminating the impact of waves on offshore equipment and personnel. Sea wave compensation can enhance the safety and reliability of offshore equipment.

[0003] Most of the existing wave compensation systems on offshore platforms based on hybrid mechanisms adopt PID control algorithms. When faced with wave interference, the lag in data processing time of the control algorithm and the overshoot of the large inertia link seriously affect the compensation accuracy of the wave compensation system, thereby affecting the control performance and safety of the offshore platform. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a wave compensation control method, device, electronic equipment and storage medium.

[0005] In a first aspect, the present invention provides a wave compensation control method applicable to a hybrid boarding mechanism, wherein the hybrid boarding mechanism comprises a six-degree-of-freedom parallel mechanism and a three-degree-of-freedom serial gangway, comprising:

[0006] Determine the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism, and determine the rotation angle, pitch angle and displacement of the three-degree-of-freedom serial gangway ladder;

[0007] Acquiring position data and attitude data of the hull where the hybrid boarding mechanism is located;

[0008] Based on the position data and the posture data, constraining the corresponding changes of the extension amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder;

[0009] Within the constraint ranges corresponding to the extension and retraction amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder, the change amount of the extension and retraction amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder is controlled according to the position data, the posture data and a preset predictive controller model to complete the wave compensation of the hull.

[0010] Optionally, determining the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism includes:

[0011] Determine a posture conversion mapping of the upper platform center relative to the lower platform center of the six-degree-of-freedom parallel mechanism;

[0012] Get the attitude angle of the upper platform relative to the lower platform;

[0013] An inverse kinematics solution is performed based on the posture angle and the posture conversion mapping to obtain the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism.

[0014] Optionally, the determining of the rotation angle, pitch angle and displacement of the three-degree-of-freedom tandem gangway ladder comprises:

[0015] Obtaining the position coordinates of the end of the three-degree-of-freedom tandem gangway ladder;

[0016] An inverse kinematics solution is performed based on the posture coordinates to obtain the rotation angle, pitch angle and displacement of the three-degree-of-freedom tandem gangway ladder.

[0017] Optionally, the acquiring the position data and attitude data of the hull where the hybrid boarding mechanism is located includes:

[0018] A position sensor and an attitude sensor are respectively used to collect the position data and attitude data of the hull where the hybrid boarding mechanism is located.

[0019] Optionally, the using of a position sensor and a posture sensor to collect the position data and posture data of the hull where the hybrid boarding mechanism is located respectively includes:

[0020] The position sensor is a GPS sensor, which receives signals transmitted by multiple satellites and determines the longitude and latitude coordinates of the ship according to the propagation time information of the multiple signals;

[0021] The attitude sensor is an inertial measurement unit, which measures the acceleration of the hull in each axis, the angular velocity of the hull and the current magnetic field direction of the hull, and performs attitude calculation on the acceleration, the angular velocity and the magnetic field direction through a quaternion algorithm to obtain the attitude information of the hull.

[0022] Optionally, it also includes:

[0023] Construct an electro-hydraulic servo model of the hybrid boarding mechanism;

[0024] An extended state observer is used to expand the state of the electro-hydraulic servo model to obtain a state expansion model;

[0025] A predictive controller model is constructed based on the state extension model.

[0026] Optionally, it also includes:

[0027] Determining joint limit parameters and singular configuration parameters of the hybrid embarkation mechanism;

[0028] Based on the joint limit parameters and the singular configuration parameters, the corresponding changes of the extension and retraction amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder are constrained.

[0029] Optionally, determining the joint limit parameters of the hybrid boarding mechanism includes:

[0030] Determine the minimum constraint value corresponding to the extension amount, the rotation angle, the pitch angle and the displacement of each driving cylinder according to the limit values ​​corresponding to the extension amount, the rotation angle, the pitch angle and the displacement of each driving cylinder;

[0031] Among them, the minimum constraint values ​​corresponding to the extension and retraction amount, the rotation angle, the pitch angle and the displacement of each driving cylinder are joint limit parameters.

[0032] In a second aspect, the present invention provides a wave compensation control device, comprising:

[0033] A parameter module, used to determine the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism, and to determine the rotation angle, pitch angle and displacement of the three-degree-of-freedom serial gangway ladder;

[0034] An acquisition module, used to acquire position data and attitude data of the hull where the hybrid boarding mechanism is located;

[0035] A limit module, used for constraining the corresponding changes of the extension amount, the rotation angle, the pitch angle and the displacement of each of the driving cylinders based on the position data and the posture data;

[0036] A control module is used to control the change of the extension and retraction amount, the rotation angle, the pitch angle and the displacement of each driving cylinder within the constraint range corresponding to each of the extension and retraction amount, the rotation angle, the pitch angle and the displacement of each driving cylinder according to the position data, the posture data and a preset predictive controller model to complete the wave compensation of the hull.

[0037] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0038] The memory is used to store computer programs;

[0039] The processor is used to implement the wave compensation control method as described in the first aspect when executing the computer program.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the wave compensation control method as described in the first aspect is implemented.

[0041] The beneficial effects of the wave compensation control method, device, electronic device and storage medium of the present invention are: the telescopic amount, rotation angle, pitch angle and displacement of each driving cylinder are constrained by position data and attitude data, thereby realizing accurate control of the telescopic amount, rotation angle, pitch angle and displacement of each driving cylinder. By acquiring the position data and attitude data of the hull where the hybrid boarding mechanism is located, the telescopic amount of each driving cylinder of the six-degree-of-freedom parallel mechanism on the hybrid boarding mechanism and the rotation angle, pitch angle and displacement of the three-degree-of-freedom series gangway are distributed, and the hybrid boarding mechanism is controlled in a data-driven manner, thereby improving the compensation accuracy of the wave compensation system of the hybrid boarding mechanism, having strong adaptability, and can be applied to various types of hybrid mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the structure of the hybrid boarding mechanism in an embodiment of the present invention.

[0043] Figure 2 Schematic diagram of the coordinate system of the hybrid boarding mechanism in an embodiment of the present invention.

[0044] Figure 3 The figure is a flow chart of a method for controlling compensation of ocean waves according to an embodiment of the present invention.

[0045] Figure 4 Schematic diagram of the coordinate system in the space mission in an embodiment of the present invention.

[0046] Figure 5 It is a schematic diagram of the process of constructing a predictive controller model in an embodiment of the present invention.

[0047] Figure 6 Schematic diagram of the control process of the predictive controller model in an embodiment of the present invention.

[0048] Figure 7 The figure is a schematic structural diagram of a wave compensation control device according to an embodiment of the present invention.

[0049] Figure 8 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0051] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0052] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0053] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0054] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0055] This embodiment provides a method, device, electronic device and storage medium for wave compensation control.

[0056] A wave compensation control method provided by an embodiment of the present invention is applicable to a hybrid boarding mechanism, such as Figure 1 As shown, the hybrid boarding mechanism includes a six-degree-of-freedom parallel mechanism and a three-degree-of-freedom serial gangway. The six-degree-of-freedom parallel mechanism is composed of six hydraulic cylinders, an upper platform and a base; the three-degree-of-freedom serial gangway is composed of a slewing mechanism, a pitch mechanism and a gangway. The three-degree-of-freedom serial mechanism and the six-degree-of-freedom parallel mechanism are connected by a hinged support, and the base fixes the hybrid boarding mechanism on the hull of the operation and maintenance ship.

[0057] The main actuators of the six-degree-of-freedom parallel mechanism are six servo cylinders, which support the upper platform with a symmetrical spatial geometric structure. The two ends of the cylinders are fixedly connected to the upper platform and the base through cross bearings and hinge supports; the rod ends of the six servo cylinders are hinged to the upper hinge, which is fixedly connected to the lower surface of the upper platform, the bottom of the servo cylinders is hinged to the lower hinge, which is fixedly connected to the upper surface of the base, and the base is fixedly connected to the hull through anchor bolts, providing safe and reliable support for motion compensation.

[0058] The three-degree-of-freedom serial mechanism comprises, from bottom to top, a slewing mechanism, a pitching mechanism and a gangway with telescopic function; the slewing mechanism compensates for the deviation in the heading angle of the gangway; the pitching mechanism compensates for the deviation in the pitch angle of the gangway; the gangway with telescopic function compensates for the deviation in spatial displacement; the connecting joint between the slewing mechanism and the upper platform is a rotating joint, the connecting joint between the slewing mechanism and the pitching mechanism is a swinging joint, and the connecting joint between the pitching mechanism and the gangway with telescopic function is a telescopic joint.

[0059] It is understandable that in order to determine the spatial position relationship between the six-degree-of-freedom parallel mechanism and the three-degree-of-freedom serial gangway on the hybrid boarding mechanism, and to pave the way for subsequent kinematic solutions, it is necessary to establish a hybrid boarding mechanism coordinate system. Figure 2 As shown, the upper platform and the base correspond to the dynamic platform and the static platform respectively. The dynamic coordinate system and the static coordinate system are established on the dynamic platform and the static platform respectively to determine the direction of each coordinate axis. b y b z b The origin B is located at the center of the static platform. Since the static coordinate system is fixed, the dynamic coordinate system x is taken as a reference. a y a z a The origin A is also located at the center of the moving platform.

[0060] The slewing mechanism of the three-degree-of-freedom serial gangway ladder is set coaxially with the moving platform of the six-degree-of-freedom parallel mechanism, that is, the origin A of the moving coordinate system coincides with the origin O of the slewing mechanism. That is, the moving coordinate system of the moving platform is also the coordinate system of the slewing mechanism. The distance from the intersection of the z-axis of the moving coordinate system and the swing axis of the pitch mechanism to the origin O of the slewing mechanism is set to d1. The distance from the origin O1 of the swing joint coordinate system of the pitch mechanism to the origin O2 of the telescopic joint coordinate system of the pitch mechanism is d2. The O3-x3y3z3 coordinate system is established at the end of the gangway ladder on the three-degree-of-freedom serial gangway ladder, and the telescopic length of the telescopic joint is d3+q3, that is, the distance from the telescopic joint origin O2 to the origin O3 of the actuator end coordinate system. Among them, d3 is the length of the telescopic joint itself, and q3 is the telescopic displacement of the telescopic joint.

[0061] like Figure 3 As shown, an embodiment of the present invention provides a method for compensating and controlling sea waves, comprising:

[0062] S100: Determine the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism, and determine the rotation angle, pitch angle and displacement of the three-degree-of-freedom serial gangway ladder.

[0063] In this step, the six-degree-of-freedom parallel mechanism includes six hydraulic cylinders, that is, the six-degree-of-freedom parallel mechanism in this embodiment includes six driving cylinders. The three-degree-of-freedom serial gangway ladder includes a slewing mechanism, a pitching mechanism and a gangway ladder. Among them, the slewing angle of the slewing mechanism is the slewing angle, the pitching angle of the pitching mechanism is the pitching angle, and the extension amount of the gangway ladder is the displacement.

[0064] Conduct kinematic analysis on the hybrid boarding mechanism to determine the extension and retraction of the six drive cylinders, as well as the rotation angle, pitch angle and displacement.

[0065] Among them, determining the extension and retraction amounts of the six driving cylinders specifically includes the following contents.

[0066] Determine the posture conversion mapping of the upper platform center relative to the lower platform center of the six-degree-of-freedom parallel mechanism. The upper platform center is the coordinate center of the moving platform, and the lower platform center is the coordinate center of the static platform. The posture conversion mapping of the upper platform center relative to the lower platform center is the rotation matrix of the moving platform relative to the static platform. After measuring or obtaining the posture angle of the upper platform relative to the lower platform, based on the posture angle and posture conversion mapping, the inverse kinematics solution is used to obtain the extension and contraction amount of each drive cylinder of the six-degree-of-freedom parallel mechanism.

[0067] Specifically, the three attitude angles of the upper platform relative to the lower platform are determined to be attitude angle α, attitude angle β and attitude angle γ.

[0068] The position vector of the upper platform center in the lower platform reference system is expressed as Then the parallel platform homogeneous transformation matrix is:

[0069]

[0070] in, is the position vector of the center of the upper platform A in the reference system of the lower platform B, X a is the X-axis coordinate of the center of the upper platform A in the reference system of the lower platform B, and Y a is the Y-axis coordinate of the center of the upper platform A in the reference system of the lower platform B, and Z a is the Z-axis coordinate of the center of the upper platform A in the lower platform B standard system, T represents the matrix transpose, is the rotation matrix of the upper platform A relative to the lower platform B.

[0071] The rotation matrix of the upper platform A relative to the lower platform B is expanded as:

[0072]

[0073] Among them, Rotx is the limited rotation angle of the X axis, Roty is the limited rotation angle of the Y axis, and Rotz is the limited rotation angle of the Z axis.

[0074] Suppose the position vector of any point on the circumference of the upper platform relative to its origin is The position vector of this point relative to the origin of the lower platform is According to the homogeneous transformation matrix, the relationship can be obtained as follows:

[0075]

[0076] Assume that the extension and contraction amounts of the six driving cylinders of the six-degree-of-freedom parallel mechanism are l i (i=1,2,3,4,5,6), then the position vector of the expansion amount relative to the origin of the lower platform is:

[0077]

[0078] in, is the position vector of the extension and contraction amount of the i-th drive cylinder relative to the origin of the lower platform, is the position vector of the extension and contraction amount of the i-th drive cylinder on the upper platform, is the position vector of the extension and retraction amount of the i-th driving cylinder on the lower platform.

[0079] Let the rotation matrix of the upper platform A relative to the lower platform B be:

[0080]

[0081] Then, based on the rotation matrix of the upper platform A relative to the lower platform B, we can get:

[0082]

[0083] Among them, l ix is the coordinate of the extension and contraction of the i-th drive cylinder on the X-axis, l iy is the coordinate of the extension and contraction of the i-th drive cylinder on the Y axis, l iz A is the coordinate of the extension and contraction of the i-th drive cylinder on the Z axis. ix A is the coordinate of the extension and contraction of the i-th drive cylinder on the X-axis of the upper platform, iy is the coordinate of the extension and contraction of the i-th drive cylinder on the Y axis of the upper platform, B ix is the coordinate of the extension and contraction of the ith drive cylinder on the X-axis of the lower platform, B iy is the Y-axis coordinate of the extension and retraction amount of the i-th driving cylinder on the lower platform.

[0084] It can be obtained that the extension and contraction of the six drive cylinders is:

[0085]

[0086] It should be noted that the extension and retraction amount of the six driving cylinders is equal to the length of the six legs.

[0087] Among them, determining the rotation angle, pitch angle and displacement of the three-degree-of-freedom tandem gangway ladder specifically includes the following contents.

[0088] The pose coordinates of the end of the three-degree-of-freedom tandem gangway ladder are obtained or collected. When the pose coordinates of the end of the gangway ladder are known, the inverse kinematics of the three-degree-of-freedom tandem gangway ladder is solved by a geometric method to obtain the rotation angle, pitch angle and displacement of the three-degree-of-freedom tandem gangway ladder.

[0089] Specifically, the endpoint M of the gangway end of the three-degree-of-freedom tandem gangway is in the coordinate system o of the upper platform. a -x a y a z a The coordinates in are (x,y,z), then:

[0090]

[0091] Among them, d4 is the length of the gangway, θ1 is the rotation angle, θ2 is the pitch angle, d3 is the length of the telescopic joint itself, and q3 is the telescopic displacement of the telescopic joint.

[0092] Thus, the rotation angle, pitch angle and displacement change of the gangway ladder can be obtained as follows:

[0093]

[0094] S200: Acquire the position data and posture data of the hull where the hybrid boarding mechanism is located.

[0095] In this step, the hybrid boarding mechanism is fixed on the hull of the maintenance ship, and the hull of the maintenance ship is simultaneously subjected to attitude disturbances of three degrees of freedom: rolling, pitching, and bowing, as well as position disturbances of three degrees of freedom: swaying, swaying, and heave. Position sensors and attitude sensors are used to collect position data and attitude data of the hull where the hybrid boarding mechanism is located. Position disturbances and attitude disturbances are compensated for by position data and attitude data, respectively.

[0096] Specifically, the position data and attitude data of the hull are collected by the position sensor and the attitude sensor, and combined with the motion information of the current six-degree-of-freedom parallel mechanism and the three-degree-of-freedom series gangway (the extension and retraction amount of the six driving cylinders, as well as the rotation angle, pitch angle and displacement amount), the extension and retraction amount, rotation angle, pitch angle and displacement amount of the driving cylinder are distributed to achieve compensation control of the waves.

[0097] Wherein, the position sensor and the attitude sensor are respectively used to collect the position data and attitude data of the hull where the hybrid boarding mechanism is located, including:

[0098] The position sensor is a GPS sensor, which receives signals transmitted by multiple satellites and determines the longitude and latitude coordinates of the ship according to the propagation time information of the multiple signals.

[0099] Specifically, the selected appropriate position sensor GPS (Global Positioning System) sensor is installed at an appropriate position on the hull, generally to ensure that the signal reception is good and relatively stable and not easily affected by shielding, etc. For example, the GPS sensor is installed in an open area on the top of the hull, the sensor continuously receives signals and converts the received information into corresponding longitude and latitude and other position coordinate data according to its built-in algorithm, and then transmits it to the ship's control system or a dedicated data acquisition terminal through wired or wireless communication methods (such as through the ship's local area network) for subsequent analysis and use, such as judging whether the hull has reached the working position range preset by the boarding agency, etc.

[0100] The attitude sensor is an inertial measurement unit, which measures the acceleration of the hull in each axis, the angular velocity of the hull and the current magnetic field direction of the hull, and performs attitude calculation on the acceleration, the angular velocity and the magnetic field direction through a quaternion algorithm to obtain the attitude information of the hull.

[0101] The inertial measurement unit should also be installed in a suitable part of the hull, such as in a relatively stable cabin close to the center of gravity of the hull, to ensure that it can accurately sense the overall attitude changes of the hull. The inertial measurement unit continuously collects acceleration and angular velocity in each axis. According to the set attitude solution algorithm, attitude angle data such as pitch, roll, and heading are calculated. These data can be used to determine the current stability of the hull. For the hybrid boarding mechanism, it can adjust its own working state according to the hull attitude data. For example, when the hull has a certain tilt angle, the boarding mechanism will adjust the docking angle and stability assurance mechanism accordingly to ensure the safety and reliability of the boarding process.

[0102] In short, by having position sensors and attitude sensors perform their respective functions and accurately collect data, they can provide important data support for the operation control, safety assurance, and coordination with other related equipment of the ship where the hybrid boarding mechanism is located.

[0103] S300: constraining the corresponding changes of the extension and retraction amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder based on the position data and the posture data.

[0104] In this step, the telescopic amount, rotation angle, pitch angle and displacement of each driving cylinder all have threshold values ​​that cannot reach their respective limits. Therefore, the telescopic amount, rotation angle, pitch angle and displacement of each driving cylinder are constrained through position data and posture data, so that the telescopic amount, rotation angle, pitch angle and displacement of each driving cylinder are adjusted within the constraint range, thereby achieving precise control of the telescopic amount, rotation angle, pitch angle and displacement of each driving cylinder, avoiding the problem of compensation overshoot caused by any parameter of the telescopic amount, rotation angle, pitch angle and displacement of each driving cylinder failing to reach its corresponding limit threshold.

[0105] Specifically, the constraints based on position data and attitude data belong to space mission constraints. For space mission constraints, the hybrid boarding mechanism is fixed on the hull of the maintenance ship, and the end of the gangway is placed on the target docking point. At the same time, it is subject to attitude interference of three degrees of freedom of wave rolling, pitching, and bow pitching, as well as position interference of three degrees of freedom of sway, pitching, and heave. Figure 4 As shown, the inertial coordinate system {O i} Define the ship fixed coordinate system {O1} and the platform fixed coordinate system {O2}. The origins of the ship fixed coordinate system {O1} and the platform fixed coordinate system {O2} are at the center of mass of the upper platform and the lower platform respectively. i} and the ship's fixed coordinate system {O1} coincide before the action of waves.

[0106] Assume that the wave disturbance to the parallel platform is (α0, β0, γ0, x0, y0, z0), and the position of the platform fixed coordinate system {O2} relative to the ship fixed coordinate system {O1} is (α1, β1, γ1, x1, y1, z1). Then the ship fixed coordinate system {O1} relative to the inertial coordinate system {O i The homogeneous transformation matrix of} is as follows:

[0107]

[0108] Among them, s is the abbreviation of sin, and c is the abbreviation of cos. The homogeneous transformation matrix of the platform fixed coordinate system {O2} relative to the ship fixed coordinate system {O1} is as follows:

[0109]

[0110] Then we have:

[0111]

[0112] Assume that the target joining point of the gangway is relative to the inertial coordinate system {O i The coordinates of} are Then we have:

[0113]

[0114] That is, the relationship between the telescopic length q2 of the pitch drive cylinder and the pitch angle θ2 is as follows:

[0115]

[0116] The hybrid boarding mechanism can meet the attitude interference of the waves, that is:

[0117]

[0118] Then the expected values ​​of attitude angle γ1, attitude angle β1 and attitude angle α1 are: attitude angle γ 1d , attitude angle β 1d and attitude angle α 1d as follows:

[0119]

[0120] For the gangway, the expectations corresponding to the rotation angle θ1, the pitch angle θ2 and the displacement q3 are:

[0121]

[0122] Expected extension length of the pitch drive cylinder q 2d The expected pitch angle θ 2d The relationship is shown as follows:

[0123]

[0124] At this point, the attitude angle γ of the hybrid boarding mechanism after completing the task allocation is obtained 1d , attitude angle β 1d and attitude angle α 1d and the rotation angle θ of the gangway ladder 1d , pitch angle θ 2d and displacement q 3d .

[0125] In this step, the extension and retraction amount, rotation angle, pitch angle and displacement of each driving cylinder are constrained by position data and posture data, so that the extension and retraction amount, rotation angle, pitch angle and displacement of each driving cylinder are adjusted within the constraint range, thereby achieving precise control of the extension and retraction amount, rotation angle, pitch angle and displacement of each driving cylinder.

[0126] S400: Within the constraint ranges corresponding to the telescopic amount, the rotation angle, the pitch angle and the displacement of each driving cylinder, the change in the telescopic amount, the rotation angle, the pitch angle and the displacement of each driving cylinder is controlled according to the position data, the posture data and a preset predictive controller model to complete the wave compensation of the hull.

[0127] In this step, a pre-built predictive controller model based on an extended state observer is used to improve the control accuracy of the predictive controller model and enhance the stability of the hybrid boarding mechanism. Within the corresponding constraint range of the telescopic amount, rotation angle, pitch angle and displacement of each drive cylinder, the change amount of the telescopic amount, rotation angle, pitch angle and displacement of each drive cylinder is controlled according to the position data, attitude data and the preset predictive controller model to control the hybrid boarding mechanism to compensate for the waves of the hull.

[0128] It can be understood that the predictive controller model adopts composite control based on the extended state observer to improve the control accuracy on the basis of improved anti-interference ability and achieve precise position control.

[0129] In this embodiment, the telescopic amount, rotation angle, pitch angle and displacement of each driving cylinder are constrained by position data and attitude data, thereby realizing precise control of the telescopic amount, rotation angle, pitch angle and displacement of each driving cylinder. By acquiring the position data and attitude data of the hull where the hybrid boarding mechanism is located, the telescopic amount of each driving cylinder of the six-degree-of-freedom parallel mechanism on the hybrid boarding mechanism and the rotation angle, pitch angle and displacement of the three-degree-of-freedom series gangway ladder are distributed, and the hybrid boarding mechanism is controlled by data-driven mode, which improves the compensation accuracy of the wave compensation system of the hybrid boarding mechanism, has strong adaptability, and can be applied to various types of hybrid mechanisms.

[0130] In the above-mentioned wave compensation control method embodiment, the constraint on the variation also includes joint limit constraint and singular configuration constraint. By determining the joint limit parameters and singular configuration parameters of the hybrid boarding mechanism, the variation corresponding to the telescopic amount, rotation angle, pitch angle and displacement of each driving cylinder is constrained based on the joint limit parameters and singular configuration parameters.

[0131] Specifically, the joint limit constraints include:

[0132] Determine the joint limit parameters of the hybrid boarding mechanism, and determine the minimum constraint values ​​corresponding to the extension and retraction amount, rotation angle, pitch angle and displacement of each driving cylinder according to the limit values ​​corresponding to the extension and retraction amount, rotation angle, pitch angle and displacement of each driving cylinder; among which, the minimum constraint values ​​corresponding to the extension and retraction amount, rotation angle, pitch angle and displacement of each driving cylinder are the joint limit parameters.

[0133] In this embodiment, the hybrid boarding mechanism includes a six-degree-of-freedom parallel mechanism and a three-degree-of-freedom serial gangway, which has nine control parameters, namely: the extension amount, rotation angle, pitch angle and displacement of the six drive cylinders. Based on the joint limit, the following objective optimization function H(q) is defined:

[0134]

[0135] Among them, C i is a constant greater than zero, which is the weight of each control parameter; q i is the change amount of the ith control parameter, q imax is the maximum value of the i-th control parameter, q imin is the minimum value of the ith control parameter. imin i imax The minimum optimization function H(q) is the joint limit parameter of the control parameter.

[0136] Specifically, the singular configuration constraints include:

[0137] The inverse velocity Jacobian matrix of the hybrid boarding mechanism is determined as:

[0138]

[0139] In the formula, 1 ω i is the unit vector ω of the i-th drive cylinder i The column vector in the lower platform fixed coordinate system {O1}, 1 ω i =[ω iX ω iY ω iZ ] T .

[0140]

[0141] L i Projection on the X, Y, and Z axes in the coordinate system {O1}, l i is the length of the i-th driving cylinder; for 1 b i The transpose of the antisymmetric matrix, 1 b i is the i-th hinge b i The column matrix of the length vector of in the coordinate system {O1}, 1 b i =[X bi Y bi Z bi ] T , X bi , Y bi and Z bi The i-th hinge b i The projection of the length vector of on the X, Y, and Z axes in the coordinate system {O1}.

[0142] ​​According to the definition of antisymmetric matrix, we set have to:

[0143]

[0144] The above formula and 1 ω i =[ω iX ω iY ω iZ ] T Substituting into the inverse velocity Jacobian matrix of the hybrid boarding mechanism, the inverse velocity Jacobian matrix of the hybrid boarding mechanism can be converted to:

[0145]

[0146] The singular configuration equation of the hybrid boarding mechanism is determined as | A J|=0.

[0147] It can be understood that when the singular configuration equation of the hybrid embarkation mechanism is zero, the constraint on the change amount of the hybrid embarkation mechanism satisfies the singular configuration constraint.

[0148] Based on the above-mentioned wave compensation control method embodiment, the wave compensation control method further includes constructing a predictive controller model, such as Figure 5 As shown, building a predictive controller model includes:

[0149] S501: Construct an electro-hydraulic servo model of the hybrid boarding mechanism.

[0150] In this step, the electro-hydraulic servo model of the hybrid boarding mechanism is constructed and the mathematical model of the hydraulic cylinder is derived. That is, the state variables need to be defined Convert the defined state variables into state equations.

[0151] Where y is the displacement of the hydraulic cylinder, is the speed of the hydraulic cylinder; P1 and P2 are the pressures in the rodless chamber and the liver chamber respectively.

[0152] S502: using an extended state observer to perform state expansion on the electro-hydraulic servo model to obtain a state expansion model.

[0153] In this step, the extended state observer z is set to Based on the estimated value of the state by the extended state observer, the state of the electro-hydraulic servo model is expanded to obtain a state expansion model.

[0154] S503: Constructing a predictive controller model based on the state extension model.

[0155] In this step, the gain parameter of the extended state observer is determined, and the gain parameter is combined with the state expansion model to obtain a predictive controller model.

[0156] In this embodiment, an electro-hydraulic servo model of the hybrid boarding mechanism is constructed, and a mathematical model of the hydraulic cylinder is derived. On the basis of the traditional electro-hydraulic servo model predictive control, an extended state observer is used to estimate the disturbance of the electro-hydraulic servo model, thereby improving the tracking effect of the control and realizing accurate and real-time active compensation of sea waves.

[0157] The embodiment of the present invention also provides a specific implementation method for constructing a predictive controller model, including:

[0158] Build an electro-hydraulic servo model and define state variables The mathematical model of the hydraulic cylinder is derived.

[0159]

[0160] Where y is the displacement of the hydraulic cylinder, is the speed of the hydraulic cylinder; P1 and P2 are the pressures of the rodless chamber and the liver chamber respectively; F is the load force received by the hydraulic cylinder from the outside; m is the load mass of the hydraulic cylinder; A1 and A2 are the effective areas of the piston rods of the left and right chambers of the hydraulic cylinder respectively; B is the viscous damping coefficient; A f , S f are the Coulomb friction amplitude, the continuous approximate Coulomb friction shape function, and the unmodeled dynamics of the external disturbance of the system; β e is the elastic modulus of the oil; C t is the leakage coefficient of the hydraulic cylinder; Q1 and Q2 are the flow rates in and out of the rodless chamber and liver chamber of the hydraulic cylinder respectively; V 01 、V 02 They are the dead volumes of the left and right chambers of the hydraulic cylinder respectively.

[0161] in,

[0162]

[0163] In the above formula, u is the valve core displacement; k q , k i , P s , P r They are valve core displacement flow gain, valve core current gain, system oil source pressure, and return oil pressure respectively.

[0164] Construct an extended state observer and define: The extended state observer z is Then the mathematical model of the hydraulic cylinder after state expansion is:

[0165]

[0166] Set the estimated value of the state by the extended state observer to be Construct an extended state observer for the mathematical model after state expansion:

[0167]

[0168] Among them, q2, q3, q4, q5 are the gain parameters of the observer, according to the estimated value The obtained LTV-MPC (Linear Time-Varying Model Predictive Control) controller is a predictive controller model:

[0169]

[0170] The nonlinear state space expression of the predictive controller model is:

[0171]

[0172] Since the electro-hydraulic servo model is nonlinear and cannot be directly used in linear time-varying model predictive control, the nonlinear predictive controller model needs to be linearized. The specific process is as follows:

[0173] Expand the nonlinear function f(x,u,t) into a Taylor series near the real-time state trajectory, retain only the first-order terms, and ignore the higher-order terms, and we get:

[0174]

[0175] It can also be written as:

[0176]

[0177] Among them, J f (x), J f (u) are the Jacobian matrices of f with respect to x and u respectively. Subtracting the above two equations yields:

[0178]

[0179] Replace the state and control increments with the state and control amount to obtain:

[0180]

[0181] Then make substitutions to get:

[0182]

[0183] In the formula, A(t) is the system matrix, B(t) is the control matrix, d is the system Coulomb friction and external disturbance terms, and the discrete state space expression is obtained by using the first-order difference discretization:

[0184]

[0185] In the formula, A(k)=I+TA(t), B(k)=TB(t), It is predicted by the nonlinear model based on the current state and input in one step.

[0186] Discretize the linearized model:

[0187]

[0188] Among them, N x is the state variable dimension, N u is the control variable dimension, N y is the output variable dimension.

[0189] set up:

[0190]

[0191] A new state space expression can be obtained:

[0192]

[0193]

[0194] In the formula, the definitions of each matrix are as follows:

[0195]

[0196] Simplifying further:

[0197] The prediction time domain of the system is Np, and the control time domain is Nc. Then the state quantity and system output quantity in the prediction time domain can be calculated, and the output of the system at future moments can be expressed in the form of a matrix:

[0198]

[0199] Where:

[0200]

[0201] In order to track the desired trajectory, an objective function is designed to reflect the tracking performance of the controlled system.

[0202]

[0203] Satisfy the dynamic constraints:

[0204]

[0205] Time domain constraints:

[0206]

[0207] Among them, y ref (k+i|t),i=1,...,N p is the expected output, ρ is the weight matrix.

[0208] Due to the existence of constraints, a numerical solution method is needed to convert the above objective function into a standard quadratic form and rewrite it as follows:

[0209]

[0210] In the formula, F t =[2E(t) T Q e Θ t +2U(t-1) T S e M 0]

[0211] is a positive definite Hessian matrix,

[0212] If the system state x(k) at time k and the control quantity u(k-1) at the previous time are known, they can be solved by optimization within the control period to obtain c The optimal control increment sequence in , and then the first quantity of the sequence is used as the actual control increment, that is:

[0213]

[0214] Control process such as Figure 6 As shown, this control quantity is executed until the next moment, at which time, the output of the next time domain is re-predicted based on the state information, and a new control increment sequence is obtained through the optimization process. This cycle repeats until the system completes the control process.

[0215] In this embodiment, an electro-hydraulic servo model of the hybrid boarding mechanism is constructed, and a mathematical model of the hydraulic cylinder is derived. On the basis of the traditional electro-hydraulic servo model predictive control, an extended state observer is used to estimate the disturbance of the electro-hydraulic servo model, thereby improving the tracking effect of the control and realizing accurate and real-time active compensation of sea waves.

[0216] like Figure 7As shown, an embodiment of the present invention provides a wave compensation control device 700, comprising:

[0217] A parameter module 710 is used to determine the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism, and to determine the rotation angle, pitch angle and displacement of the three-degree-of-freedom serial gangway ladder;

[0218] An acquisition module 720 is used to acquire the position data and attitude data of the hull where the hybrid boarding mechanism is located;

[0219] The limiting module 730 is used to constrain the corresponding changes of the extension amount, the rotation angle, the pitch angle and the displacement of each of the driving cylinders based on the position data and the posture data;

[0220] The control module 740 is used to control the change of the extension and retraction amount, the rotation angle, the pitch angle and the displacement of each driving cylinder within the constraint range corresponding to each of the extension and retraction amount, the rotation angle, the pitch angle and the displacement of each driving cylinder according to the position data, the posture data and a preset predictive controller model to complete the wave compensation of the hull.

[0221] Optionally, the parameter module 710 is specifically used to: determine the posture conversion mapping of the upper platform center relative to the lower platform center of the six-degree-of-freedom parallel mechanism; obtain the attitude angle of the upper platform relative to the lower platform; perform inverse kinematics solution based on the attitude angle and the posture conversion mapping to obtain the extension and retraction amount of each drive cylinder of the six-degree-of-freedom parallel mechanism.

[0222] Optionally, the parameter module 710 is specifically used to: obtain the posture coordinates of the gangway end of the three-degree-of-freedom tandem gangway ladder; perform inverse kinematics solution based on the posture coordinates to obtain the rotation angle, pitch angle and displacement of the three-degree-of-freedom tandem gangway ladder.

[0223] Optionally, the acquisition module 720 is specifically used to: respectively use a position sensor and a posture sensor to collect the position data and posture data of the hull where the hybrid boarding mechanism is located.

[0224] The acquisition module 720 includes: a GPS sensor and an inertial measurement unit. The position sensor is a GPS sensor, which receives signals transmitted by multiple satellites and determines the longitude and latitude coordinates of the ship according to the propagation time information of the multiple signals; the attitude sensor is an inertial measurement unit, which measures the acceleration of the ship in each axis, the angular velocity of the ship and the current magnetic field direction of the ship, and performs attitude calculation on the acceleration, the angular velocity and the magnetic field direction through a quaternion algorithm to obtain the attitude information of the ship.

[0225] Optionally, it also includes: a controller construction module, used to construct an electro-hydraulic servo model of the hybrid boarding mechanism; using an extended state observer to expand the state of the electro-hydraulic servo model to obtain a state expansion model; and constructing a predictive controller model based on the state expansion model.

[0226] Optionally, it also includes: a constraint module, used to determine the joint limit parameters and singular configuration parameters of the hybrid boarding mechanism; based on the joint limit parameters and singular configuration parameters, constraining the corresponding changes in the extension and retraction amount, the rotation angle, the pitch angle and the displacement of each driving cylinder.

[0227] Optionally, the constraint module is specifically used to: determine the minimum constraint value corresponding to the extension amount, the rotation angle, the pitch angle and the displacement of each driving cylinder according to the limit values ​​corresponding to the extension amount, the rotation angle, the pitch angle and the displacement of each driving cylinder;

[0228] Among them, the minimum constraint values ​​corresponding to the extension and retraction amount, the rotation angle, the pitch angle and the displacement of each driving cylinder are joint limit parameters.

[0229] like Figure 8 As shown, an electronic device 800 provided by an embodiment of the present invention includes a memory 820 and a processor 810; the memory 820 is used to store a computer program; the processor 810 is used to implement the above-mentioned wave compensation control method when executing the computer program.

[0230] In other words, an electronic device 800 includes a memory 820 and a processor 810 coupled to the memory 820; the memory 820 is configured to store a computer program; and the processor 810 is configured to perform the following operations when executing the computer program:

[0231] Determine the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism, and determine the rotation angle, pitch angle and displacement of the three-degree-of-freedom serial gangway ladder;

[0232] Acquiring position data and attitude data of the hull where the hybrid boarding mechanism is located;

[0233] Based on the position data and the posture data, constraining the corresponding changes of the extension amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder;

[0234] Within the constraint ranges corresponding to the extension and retraction amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder, the change amount of the extension and retraction amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder is controlled according to the position data, the posture data and a preset predictive controller model to complete the wave compensation of the hull.

[0235] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned wave compensation control method is implemented.

[0236] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0237] Determine the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism, and determine the rotation angle, pitch angle and displacement of the three-degree-of-freedom serial gangway ladder;

[0238] Acquiring position data and attitude data of the hull where the hybrid boarding mechanism is located;

[0239] Based on the position data and the posture data, constraining the corresponding changes of the extension amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder;

[0240] Within the constraint ranges corresponding to the extension and retraction amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder, the change amount of the extension and retraction amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder is controlled according to the position data, the posture data and a preset predictive controller model to complete the wave compensation of the hull.

[0241] An electronic device 800 that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 800 is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 800 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present invention described herein and / or required.

[0242] The electronic device 800 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0243] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0244] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A wave compensation control method, applicable to a hybrid boarding mechanism, the hybrid boarding mechanism comprising a six-degree-of-freedom parallel mechanism and a three-degree-of-freedom serial gangway, characterized in that: include: Determine the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism, and determine the rotation angle, pitch angle and displacement of the three-degree-of-freedom serial gangway ladder; Acquiring position data and attitude data of the hull where the hybrid boarding mechanism is located; Based on the position data and the posture data, constraining the corresponding changes of the extension amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder; Within the constraint ranges corresponding to the extension amount, the rotation angle, the pitch angle and the displacement of each of the driving cylinders, the change amount of the extension amount, the rotation angle, the pitch angle and the displacement of each of the driving cylinders is controlled according to the position data, the attitude data and a preset predictive controller model to complete the wave compensation of the hull; Among them, building a predictive controller model includes: An electro-hydraulic servo model of a hybrid boarding mechanism is constructed; an extended state observer is used to perform state expansion on the electro-hydraulic servo model to obtain a state expansion model; and a predictive controller model is constructed based on the state expansion model.

2. The wave compensation control method according to claim 1, characterized in that: The step of determining the extension and contraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism comprises: Determine a posture conversion mapping of the upper platform center relative to the lower platform center of the six-degree-of-freedom parallel mechanism; Get the attitude angle of the upper platform relative to the lower platform; An inverse kinematics solution is performed based on the posture angle and the posture conversion mapping to obtain the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism.

3. The method for compensating and controlling sea waves according to claim 1, characterized in that: Determining the rotation angle, pitch angle and displacement of the three-degree-of-freedom tandem gangway ladder comprises: Obtaining the position coordinates of the end of the three-degree-of-freedom tandem gangway ladder; An inverse kinematics solution is performed based on the posture coordinates to obtain the rotation angle, pitch angle and displacement of the three-degree-of-freedom tandem gangway ladder.

4. The method for compensating and controlling sea waves according to claim 1, characterized in that: The step of obtaining the position data and attitude data of the hull where the hybrid boarding mechanism is located includes: A position sensor and an attitude sensor are respectively used to collect the position data and attitude data of the hull where the hybrid boarding mechanism is located.

5. The method for compensating and controlling sea waves according to claim 4, characterized in that: The method of respectively using a position sensor and a posture sensor to collect the position data and posture data of the hull where the hybrid boarding mechanism is located includes: The position sensor is a GPS sensor, which receives signals transmitted by multiple satellites and determines the longitude and latitude coordinates of the ship according to the propagation time information of the multiple signals; The attitude sensor is an inertial measurement unit, which measures the acceleration of the hull in each axis, the angular velocity of the hull and the current magnetic field direction of the hull, and performs attitude calculation on the acceleration, the angular velocity and the magnetic field direction through a quaternion algorithm to obtain the attitude information of the hull.

6. The method for compensating and controlling sea waves according to claim 1, characterized in that: Also includes: Determining joint limit parameters and singular configuration parameters of the hybrid embarkation mechanism; Based on the joint limit parameters and the singular configuration parameters, the corresponding changes of the extension and retraction amount, the rotation angle, the pitch angle and the displacement amount of each driving cylinder are constrained.

7. The method for compensating and controlling sea waves according to claim 6, characterized in that: Determining the joint limit parameters of the hybrid boarding mechanism includes: Determine the minimum constraint value corresponding to the extension amount, the rotation angle, the pitch angle and the displacement of each driving cylinder according to the limit values ​​corresponding to the extension amount, the rotation angle, the pitch angle and the displacement of each driving cylinder; Among them, the minimum constraint values ​​corresponding to the extension and retraction amount, the rotation angle, the pitch angle and the displacement of each driving cylinder are joint limit parameters.

8. A wave compensation control device, suitable for a hybrid boarding mechanism, the hybrid boarding mechanism comprising a six-degree-of-freedom parallel mechanism and a three-degree-of-freedom serial gangway, characterized in that: include: A parameter module, used to determine the extension and retraction amount of each driving cylinder of the six-degree-of-freedom parallel mechanism, and to determine the rotation angle, pitch angle and displacement of the three-degree-of-freedom serial gangway ladder; An acquisition module, used to acquire position data and attitude data of the hull where the hybrid boarding mechanism is located; A limit module, used for constraining the corresponding changes of the extension amount, the rotation angle, the pitch angle and the displacement of each of the driving cylinders based on the position data and the posture data; A control module, configured to control the change of the extension amount, the rotation angle, the pitch angle and the displacement of each of the drive cylinders within the constraint ranges corresponding to the extension amount, the rotation angle, the pitch angle and the displacement of each of the drive cylinders according to the position data, the attitude data and a preset prediction controller model, so as to complete the wave compensation of the hull; Among them, building a predictive controller model includes: An electro-hydraulic servo model of a hybrid boarding mechanism is constructed; an extended state observer is used to perform state expansion on the electro-hydraulic servo model to obtain a state expansion model; and a predictive controller model is constructed based on the state expansion model.

9. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to implement the wave compensation control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the wave compensation control method according to any one of claims 1 to 7 is implemented.

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