Ship deck wind power generation energy storage system

Abstract

The invention relates to a ship deck wind power generation energy storage system which is characterized by comprising a wind power generation module, a wave compensation module and an energy storage battery. The independent central inner shaft and the independent central outer shaft are respectively connected with the fan cover and the blades, so that the utilization efficiency of wind energy is improved; the pulleys are arranged at the bottom end of the fan cover in the circumferential direction, so that the stability of the whole vertical shaft type wind driven generator is improved; rolling, pitching, swaying, surging, heaving and head-tail shaking of the ship body are compensated, meanwhile, six-degree-of-freedom movement of the wind power generation module can be comprehensively compensated in real time, and a safe and stable power generation space can be provided for the wind power generation module under the severe sea condition and the swinging state of the ship body; the wave compensation platform adopts the layout mode that the two servo cylinders in the center are vertically installed and the four servo cylinders are obliquely installed, high-precision compensation of six degrees of freedom of a ship body can be achieved, and the wave compensation platform has the advantages of being high in stability and bearing capacity, wide in compensation range and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation on ship decks, and in particular to a wind power generation energy storage system on ship decks. Background Art

[0002] Today's wind turbines are divided into two types according to their axial direction: horizontal-axis and vertical-axis wind turbines. Horizontal-axis wind turbines have a large effective area and a high wind energy utilization rate, but they are more expensive and difficult to install, and they have directional tails, making them suitable for large generators. Vertical-axis wind turbines do not have directional tails, are less expensive, and are easier to install, making them suitable for medium and small wind turbines. However, under the influence of wind and waves, the power generation efficiency of the ship deck is very low, mainly because the swaying of the ship causes the wind to blow towards the power generation device and cannot fully utilize the wind energy; therefore, a power generation device with wave function is needed; wave compensation is mainly divided into two categories: one is the passive wave compensation platform, which mainly uses a spring damping system to compensate for the sway and heave of the hull, with low accuracy and serious hysteresis; the other is the conventional active compensation platform, which can only compensate for the three degrees of freedom of the hull's roll, pitch and heave, but cannot compensate for the three degrees of freedom of sway, pitch and bow and stern, and adopts an installation method in which the six servo cylinders are staggered and tilted, with poor load-bearing capacity and cannot bear large mass loads. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a ship deck wind power generation energy storage system, which can solve the problem that general ship deck power generation cannot fully utilize wind energy due to strong winds and waves and ship shaking.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a ship deck wind power generation and energy storage system, the innovation of which is: comprising a wind power generation module, a wave compensation module and an energy storage battery; The wind power generation module comprises a supporting frame, a central axis, blades, a wind shield, an air induction wall and a generator set; The central axis is arranged perpendicular to the center of the supporting base frame, and the central axis includes a central inner axis and a central outer axis; the length of the central inner axis is greater than the length of the central outer axis; a through hole for accommodating the central inner axis is arranged in the central outer axis, and the central inner axis is coaxially arranged in the through hole of the central outer axis; a plurality of blade racks are vertically arranged on the central outer axis along the circumferential direction; the bottom end of the central inner axis extends out of the bottom end of the central outer axis; The blades are provided in a plurality and are mounted on a blade rack in a vertical direction. The blades are of a planar structure or a concave structure. The blades drive the central outer shaft to rotate through the blade rack. A generator set is provided at the bottom end of the blades near the central outer shaft. The wind shield surrounds the outside of the blades, and the two end edges of the wind shield are respectively connected to the two ends of the central inner shaft through horizontal connecting rods. The wind shield can rotate around the central inner shaft, and the wind shield includes an air inlet, an air outlet and a pair of wind shields; the pair of wind shields separate the air inlet from the air outlet; The wind induction wall includes a first wind induction plate and a second wind induction plate; one end of the first wind induction plate and the second wind induction plate are respectively connected to the two end edges of the same wind shield, and the first wind induction plate extends outward along the tangent direction of the wind shield of the wind shield; the other end of the first wind induction plate and the second wind induction plate are connected to form a tapered structure; the wind induction wall rotates with the wind shield; The generator set is installed on the supporting frame and is located in the notch at the bottom end of the blade near the central axis. The generator set has a plurality of generators; the generator is connected to the bottom end of the central outer shaft through a clutch; The wave compensation module comprises an upper platform, a lower platform and a servo cylinder group; the upper platform and the lower platform are parallel to each other, the lower platform is fixedly connected to the deck of the hull, and a wind power generation module is fixedly connected directly above the upper platform; six servo cylinders are sequentially connected between the upper platform and the lower platform along the circumferential direction; The upper end of the servo cylinder is connected to the lower surface of the upper platform through an upper ball joint, and the lower end of the servo cylinder is connected to the upper surface of the lower platform through a lower ball joint. A linear displacement sensor is installed on the servo cylinder, and the linear displacement sensor is connected to a motion controller. The six servo cylinders arranged in sequence along the circumferential direction are recorded as the first servo cylinder, the second servo cylinder, the third servo cylinder, the fourth servo cylinder, the fifth servo cylinder and the sixth servo cylinder; the first servo cylinder and the fourth servo cylinder are arranged in the vertical direction and the centers of the first servo cylinder and the fourth servo cylinder are perpendicular to the upper platform and the lower platform; The second servo cylinder, the third servo cylinder, the fifth servo cylinder and the sixth servo cylinder are arranged obliquely and inclined between the upper platform and the lower platform; the two connection points between the upper ends of the first servo cylinder and the fourth servo cylinder and the upper platform are located on a circle with a radius of R1; the four connection points between the upper ends of the four obliquely arranged servo cylinders and the upper platform are located on a circle with a radius of r1, and R1=r1; The two connection points between the lower ends of the first servo cylinder and the fourth servo cylinder and the lower platform are located on a circle with a radius of R1, and the four connection points between the lower ends of the four inclined servo cylinders and the lower platform are located on a circle with a radius of R2, and R2>R1; a posture sensor is installed at the center of gravity of the lower platform, and the posture sensor is connected to the motion controller through a signal line; The energy storage battery is connected to the generator set through cables.

[0005] Furthermore, the angle formed by the air inlet and the air outlet with the central axis is 90 degrees, and the angle between the air inlet and the air outlet is 90 degrees; the bottom end of the wind cover is provided with a plurality of pulleys along the circumferential direction, and the support frame is provided with a slide rail matching the pulley at the bottom end of the wind cover; the bottom end of the central outer shaft is provided with a first bevel gear, and the support frame is provided with a plurality of second bevel gears matching the first bevel gear; the second bevel gear corresponds to the generator and is connected through a clutch; the first bevel gear and the second bevel gear are both provided in a lubricating oil tank; the same blade is provided in the vertical direction The segmented structure comprises a plurality of blade segments; gaps are arranged between adjacent blade segments; the induced draft wall is connected to the central outer shaft by bearings through reinforcing connecting rods passing through the gaps between adjacent blade segments; the blades are provided in six groups, and the blades are evenly arranged on the central outer shaft at equal angles along the circumferential direction; a gear driven by a driving motor is arranged at the bottom end of the central inner shaft; the driving motor is installed on a supporting chassis, and the driving motor drives the gear through a reducer to drive the central inner shaft to rotate, and then the central inner shaft drives the entire wind cover and the induced draft wall to rotate; a protective cover is arranged outside the driving motor and the gear.

[0006] Furthermore, the specific working state of the wave compensation module is as follows: S1: the motion attitude values ​​a1, a2, a3, a4, a5, a6 of the roll, pitch, sway, surge, heave and stern of the hull are measured by the attitude sensor, and transmitted to the motion controller in real time. The motion controller calculates the compensation values ​​of roll, pitch, sway, surge, heave and stern according to the inverse solution algorithm of the wave compensation value, and controls the corresponding six servo cylinders according to the compensation values ​​to realize the six-degree-of-freedom compensation of the medical bed; S2: When a2=a3=a4=a5=a6=0, and a1≠0, there is a rolling motion, the controller controls the second and fifth servo cylinders arranged relatively to move, and the other servo cylinders do not move; when a1=a3=a4=a5=a6=0, and a2≠0, there is a pitching motion, the controller controls the first and fourth servo cylinders arranged relatively to move, and the other servo cylinders do not move; when a1=a2=a4=a5=a6=0, and a3≠0, there is a swaying motion, the controller controls the second and fifth servo cylinders arranged relatively to move, and the other servo cylinders move later ; When a1=a2=a3=a5=a6=0, and a4≠0, when there is longitudinal swing motion, the controller controls the first servo cylinder and the fourth servo cylinder arranged relatively to move, and the other servo cylinders move later; when a1=a2=a3=a4=a6=0, and a5≠0, when there is heave motion, the controller controls the first servo cylinder and the fourth servo cylinder arranged relatively to move, and the other servo cylinders do not move; when a1=a2=a3=a4=a5=0, and a6≠0, when there is fore and aft swing motion, the controller controls the second servo cylinder and the fifth servo cylinder arranged relatively to move, and the other servo cylinders do not move.

[0007] The advantages of the present invention are: 1) The present invention adopts independent central inner axis and central outer axis structures to connect the wind hood and the blades respectively, and arranges an air inlet on the wind hood, and adjusts the angle of the wind hood by driving a motor to realize that the air inlet on the wind hood is perpendicular to the wind direction; the arranged air inlet wall will guide the wind blowing vertically toward the wind shield to the air inlet; it is ensured that the surface where the diameter of the entire air inlet hood is located is the wind receiving surface, thereby improving the utilization efficiency of wind energy; by arranging a pulley along the circumferential direction at the bottom end of the wind hood, and arranging a slide rail matching the pulley at the bottom end of the wind hood on the supporting base; the supporting strength of the entire wind hood is ensured, and the stability of the entire vertical axis wind turbine is improved; the same blade is a segmented structure along the vertical direction, and gaps are arranged between adjacent blade segments; the air inlet wall can be connected to the central outer axis by bearings through a reinforcing connecting rod passing through the gap between adjacent blade segments; the stability of the air inlet wall is improved; a plurality of generators are adopted to cooperate with the central outer axis, thereby ensuring the power generation efficiency and improving the wind energy conversion rate.

[0008] 2) The present invention can compensate for the roll, pitch, sway, surge, heave and sway of the hull while also fully and real-time compensating for the six degrees of freedom of the wind power generation module, and can provide a safe and stable power generation space for the wind power generation module under severe sea conditions and when the hull is swaying; the wave compensation platform adopts a layout in which two servo cylinders are vertically installed in the center and four servo cylinders are inclinedly installed, which can achieve high-precision compensation for the six degrees of freedom of the hull, and has the characteristics of high stability, strong carrying capacity, and a wide compensation range. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0010] Figure 1 This is a structural diagram of a ship deck wind power generation and energy storage system according to the present invention.

[0011] Figure 2 This is a partial structural diagram of a wind power generation module of a ship deck wind power generation and energy storage system of the present invention. DETAILED DESCRIPTION

[0012] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0013] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] like Figure 1 Figure 2 A ship deck wind power generation and energy storage system is shown, comprising a wind power generation module, a wave compensation module and an energy storage battery.

[0015] The wind power generation module includes a supporting frame 1, a central axis 2, blades 3, a wind cover 4, an air induction wall 5 and a generator set 6.

[0016] The central axis 2 is arranged perpendicularly to the center of the supporting base frame 1, and the central axis 2 includes a central inner axis 21 and a central outer axis 22; the length of the central inner axis 21 is greater than the length of the central outer axis 22; a through hole for accommodating the central inner axis 21 is arranged in the central outer axis 22, and the central inner axis 21 is coaxially nested in the through hole of the central outer axis 22; a plurality of blade racks are vertically arranged on the central outer axis 22 along the circumferential direction; the bottom end of the central inner axis 21 extends out of the bottom end of the central outer axis 22.

[0017] There are a plurality of blades 3 which are mounted on a blade frame in a vertical direction. The blades 3 are of a planar structure or a concave structure. The blades 3 drive the central outer shaft 22 to rotate through the blade frame. A generator set 6 is arranged at the bottom end of the blades 3 near the central outer shaft 22 .

[0018] The wind hood 4 surrounds the outside of the blade 3, and the two end edges of the wind hood 4 are respectively connected to the two ends of the central inner shaft 21 through horizontal connecting rods. The wind hood can rotate around the central inner shaft 21. The wind hood includes an air inlet 41, an air outlet 42 and a pair of wind shields 43; the pair of wind shields 43 separates the air inlet 41 from the air outlet 42.

[0019] The air induction wall 5 includes a first air induction plate 51 and a second air induction plate 52; one end of the first air induction plate 51 and the second air induction plate 52 are respectively connected to the two end edges of the same wind shield 43, and the first air induction plate 51 extends outward along the tangent direction of the wind shield 43 of the wind hood 4; the other end of the first air induction plate 51 and the second air induction plate 52 are connected to form a conical structure; the angle of the conical structure is 45 degrees; the air induction wall 5 rotates with the wind hood 4.

[0020] The generator set 6 is mounted on the supporting frame 1 and is located in the notch at the bottom end of the blade 3 near the central axis. The generator set 6 has a plurality of generators; the generators are connected to the bottom end of the central outer shaft 22 through a clutch.

[0021] The angle formed by the air inlet 41 and the air outlet 42 with the central axis is 90 degrees, and the angle between the air inlet 41 and the air outlet 42 is 90 degrees.

[0022] A plurality of pulleys 44 are arranged at the bottom end of the wind shield 4 along the circumferential direction, and a slide rail 45 matching the pulleys 44 at the bottom end of the wind shield is arranged on the supporting base frame 1 .

[0023] A first bevel gear 221 is provided at the bottom end of the central outer shaft 22, and a plurality of second bevel gears 222 cooperating with the first bevel gear 221 are provided on the supporting base; the second bevel gear 222 corresponds to the generator and is connected through a clutch; the first bevel gear 221 and the second bevel gear 222 are both arranged in a lubricating oil tank.

[0024] The same blade 3 is a segmented structure along the vertical direction, including a plurality of blade segments; gaps are provided between adjacent blade segments.

[0025] The wind induction wall 5 is connected to the central outer shaft 22 by means of bearings through reinforcing connecting rods passing through the gaps between adjacent blade segments.

[0026] The blades 3 are in six groups, and the blades 3 are evenly arranged on the central outer axis at equal angles along the circumferential direction.

[0027] The bottom end portion of the central inner shaft 22 is provided with a gear driven by a driving motor 7; the driving motor 7 is installed on the supporting base frame 1, and the driving motor 7 drives the gear through a reducer to drive the central inner shaft 21 to rotate, and then the central inner shaft 21 drives the entire wind hood 4 and the air induced wall 5 to rotate; a protective cover is provided outside the driving motor 7 and the gear.

[0028] The wave compensation module includes an upper platform 8, a lower platform 9 and a servo cylinder group 10; the upper platform 8 and the lower platform 9 are parallel to each other, the lower platform 9 is fixedly connected to the deck of the hull, and a wind power generation module is fixedly connected directly above the upper platform; six servo cylinders are sequentially connected between the upper platform 8 and the lower platform 9 along the circumferential direction.

[0029] The upper end of the servo cylinder is connected to the lower surface of the upper platform through an upper ball joint, and the lower end of the servo cylinder is connected to the upper surface of the lower platform through a lower ball joint. The servo cylinder is equipped with a linear displacement sensor, which is connected to a motion controller.

[0030] The six servo cylinders arranged in sequence along the circumferential direction are respectively recorded as the first servo cylinder 101, the second servo cylinder 102, the third servo cylinder 103, the fourth servo cylinder 104, the fifth servo cylinder 105 and the sixth servo cylinder 106; the first servo cylinder and the fourth servo cylinder are arranged in the vertical direction and the centers of the first servo cylinder and the fourth servo cylinder are perpendicular to the upper platform and the lower platform.

[0031] The second servo cylinder, the third servo cylinder, the fifth servo cylinder and the sixth servo cylinder are arranged obliquely, and are inclined between the upper platform and the lower platform; the two connection points between the upper ends of the first servo cylinder and the fourth servo cylinder and the upper platform are located on a circle with a radius of R1; the four connection points between the upper ends of the four obliquely arranged servo cylinders and the upper platform are located on a circle with a radius of r1, and R1=r1; The two connection points between the lower ends of the first servo cylinder and the fourth servo cylinder and the lower platform are located on a circle with a radius of R1, and the four connection points between the lower ends of the four inclined servo cylinders and the lower platform are located on a circle with a radius of R2, and R2>R1; a posture sensor 11 is installed at the center of gravity of the lower platform, and the posture sensor 11 is connected to the motion controller through a signal line.

[0032] The energy storage battery is connected to the generator set through cables.

[0033] The specific working status of the wave compensation module is as follows: S1: The attitude sensor measures the motion attitude values ​​a1, a2, a3, a4, a5, a6 of the ship's roll, pitch, sway, surge, heave and stern roll, and transmits them to the motion controller in real time. The motion controller calculates the compensation values ​​of roll, pitch, sway, surge, heave and stern roll according to the inverse solution algorithm of the wave compensation value, and controls the corresponding six servo cylinders according to the compensation values ​​to realize the six-degree-of-freedom compensation of the medical bed; S2: When a2=a3=a4=a5=a6=0, and a1≠0, there is a rolling motion, the controller controls the second and fifth servo cylinders arranged relatively to move, and the other servo cylinders do not move; when a1=a3=a4=a5=a6=0, and a2≠0, there is a pitching motion, the controller controls the first and fourth servo cylinders arranged relatively to move, and the other servo cylinders do not move; when a1=a2=a4=a5=a6=0, and a3≠0, there is a swaying motion, the controller controls the second and fifth servo cylinders arranged relatively to move, and the other servo cylinders move later ; When a1=a2=a3=a5=a6=0, and a4≠0, when there is longitudinal swing motion, the controller controls the first servo cylinder and the fourth servo cylinder arranged relatively to move, and the other servo cylinders move later; when a1=a2=a3=a4=a6=0, and a5≠0, when there is heave motion, the controller controls the first servo cylinder and the fourth servo cylinder arranged relatively to move, and the other servo cylinders do not move; when a1=a2=a3=a4=a5=0, and a6≠0, when there is fore and aft swing motion, the controller controls the second servo cylinder and the fifth servo cylinder arranged relatively to move, and the other servo cylinders do not move.

[0034] Those skilled in the art should understand that the present invention is not limited to the above-mentioned embodiments. The above-mentioned embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, and these changes and improvements shall all fall within the scope of the present invention claimed for protection.

Claims

1. A ship deck wind power generation energy storage system, characterized by: It includes wind power generation module, wave compensation module and energy storage battery; The wind power generation module comprises a supporting frame, a central axis, blades, a wind shield, an air induction wall and a generator set; The central axis is arranged perpendicular to the center of the supporting base frame, and the central axis includes a central inner axis and a central outer axis; the length of the central inner axis is greater than the length of the central outer axis; a through hole for accommodating the central inner axis is arranged in the central outer axis, and the central inner axis is coaxially arranged in the through hole of the central outer axis; a plurality of blade racks are vertically arranged on the central outer axis along the circumferential direction; the bottom end of the central inner axis extends out of the bottom end of the central outer axis; The blades are provided in a plurality and are mounted on a blade rack in a vertical direction. The blades are of a planar structure or a concave structure. The blades drive the central outer shaft to rotate through the blade rack. A generator set is provided at the bottom end of the blades near the central outer shaft. The wind shield surrounds the outside of the blades, and the two end edges of the wind shield are respectively connected to the two ends of the central inner shaft through horizontal connecting rods. The wind shield can rotate around the central inner shaft, and the wind shield includes an air inlet, an air outlet and a pair of wind shields; the pair of wind shields separate the air inlet from the air outlet; The wind induction wall includes a first wind induction plate and a second wind induction plate; one end of the first wind induction plate and the second wind induction plate are respectively connected to the two end edges of the same wind shield, and the first wind induction plate extends outward along the tangent direction of the wind shield of the wind shield; the other end of the first wind induction plate and the second wind induction plate are connected to form a tapered structure; the wind induction wall rotates with the wind shield; The generator set is installed on the supporting frame and is located in the notch at the bottom end of the blade near the central axis. The generator set has a plurality of generators; the generator is connected to the bottom end of the central outer shaft through a clutch; The wave compensation module comprises an upper platform, a lower platform and a servo cylinder group; the upper platform and the lower platform are parallel to each other, the lower platform is fixedly connected to the deck of the hull, and a wind power generation module is fixedly connected directly above the upper platform; six servo cylinders are sequentially connected between the upper platform and the lower platform along the circumferential direction; The upper end of the servo cylinder is connected to the lower surface of the upper platform through an upper ball joint, and the lower end of the servo cylinder is connected to the upper surface of the lower platform through a lower ball joint. A linear displacement sensor is installed on the servo cylinder, and the linear displacement sensor is connected to a motion controller. The six servo cylinders arranged in sequence along the circumferential direction are recorded as the first servo cylinder, the second servo cylinder, the third servo cylinder, the fourth servo cylinder, the fifth servo cylinder and the sixth servo cylinder; the first servo cylinder and the fourth servo cylinder are arranged in the vertical direction and the centers of the first servo cylinder and the fourth servo cylinder are perpendicular to the upper platform and the lower platform; The second servo cylinder, the third servo cylinder, the fifth servo cylinder and the sixth servo cylinder are arranged obliquely and inclined between the upper platform and the lower platform; the two connection points between the upper ends of the first servo cylinder and the fourth servo cylinder and the upper platform are located on a circle with a radius of R1; the four connection points between the upper ends of the four obliquely arranged servo cylinders and the upper platform are located on a circle with a radius of r1, and R1=r1; The two connection points between the lower ends of the first servo cylinder and the fourth servo cylinder and the lower platform are located on a circle with a radius of R1, and the four connection points between the lower ends of the four inclined servo cylinders and the lower platform are located on a circle with a radius of R2, and R2>R1; a posture sensor is installed at the center of gravity of the lower platform, and the posture sensor is connected to the motion controller through a signal line; The energy storage battery is connected to the generator set through cables.

2. A ship deck wind power generation and energy storage system according to claim 1, characterized in that: The angle formed by the air inlet and the air outlet with the central axis is 90 degrees, and the angle between the air inlet and the air outlet is 90 degrees; the bottom end of the wind cover is provided with a plurality of pulleys along the circumferential direction, and the support chassis is provided with a slide rail that matches the pulley at the bottom end of the wind cover; the bottom end of the central outer shaft is provided with a first bevel gear, and the support chassis is provided with a plurality of second bevel gears that match the first bevel gear; the second bevel gear corresponds to the generator and is connected through a clutch; the first bevel gear and the second bevel gear are both arranged in a lubricating oil tank; the same blade is a distribution along the vertical direction The segmented structure comprises a plurality of blade segments; gaps are arranged between adjacent blade segments; the induced draft wall is connected to the central outer shaft by bearings through reinforcing connecting rods passing through the gaps between adjacent blade segments; the blades are provided in six groups, and the blades are evenly arranged on the central outer shaft at equal angles along the circumferential direction; a gear driven by a driving motor is arranged at the bottom end of the central inner shaft; the driving motor is installed on a supporting chassis, and the driving motor drives the gear through a reducer to drive the central inner shaft to rotate, and then the central inner shaft drives the entire wind cover and the induced draft wall to rotate; a protective cover is arranged outside the driving motor and the gear.

3. A ship deck wind power generation and energy storage system according to claim 1, characterized in that: The specific working state of the heave compensation module is: S1: The attitude sensors measure the hull's roll, pitch, sway, surge, heave and stern motion attitude values ​​a1, a2, a3, a4, a5, a6, and transmit them to the motion controller in real time. The motion controller calculates the compensation values ​​of roll, pitch, sway, surge, heave and stern according to the inverse solution algorithm of the wave compensation value, and controls the corresponding six servo cylinders according to the compensation values ​​to achieve six-degree-of-freedom compensation of the medical bed; S2: When a2=a3=a4=a5=a6=0, and a1≠0, there is a rolling motion, the controller controls the second and fifth servo cylinders arranged relatively to move, and the other servo cylinders do not move; when a1=a3=a4=a5=a6=0, and a2≠0, there is a pitching motion, the controller controls the first and fourth servo cylinders arranged relatively to move, and the other servo cylinders do not move; when a1=a2=a4=a5=a6=0, and a3≠0, there is a swaying motion, the controller controls the second and fifth servo cylinders arranged relatively to move, and the other servo cylinders move later ; When a1=a2=a3=a5=a6=0, and a4≠0, when there is longitudinal swing motion, the controller controls the first servo cylinder and the fourth servo cylinder arranged relatively to move, and the other servo cylinders move later; when a1=a2=a3=a4=a6=0, and a5≠0, when there is heave motion, the controller controls the first servo cylinder and the fourth servo cylinder arranged relatively to move, and the other servo cylinders do not move; when a1=a2=a3=a4=a5=0, and a6≠0, when there is fore and aft swing motion, the controller controls the second servo cylinder and the fifth servo cylinder arranged relatively to move, and the other servo cylinders do not move.

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