Wave sensor detection system based on wave spectrum and control method

Abstract

The invention discloses a wave sensor detection system based on a wave spectrum and a control method, and relates to the technical field of ocean observation, the wave sensor detection system comprises an X-axis motion module, a Y-axis motion module, a Z-axis motion module, an A-axis motion module, a B-axis motion module, a C-axis motion module and a control system; the control system calculates the three-dimensional translational motion of a wave surface point, the two-dimensional form change of a wave surface and the autorotation motion of a sensor carrier based on a P-M wave spectrum, an ITTC direction distribution function, a Gerstner sea wave model and a linear superposition theory; the wave sensor detection system is controlled to simulate the six-dimensional motion state of the sensor in the ocean wave environment so as to detect measurement and verification of the wave sensor on comprehensive characteristic parameters such as wave height, wave period, wave direction, wave energy spectrum and wave direction spectrum.

Description

Technical Field

[0001] The present invention relates to the field of ocean observation technology, and in particular to a wave sensor detection system and a control method based on wave spectrum. Background Art

[0002] Wave sensors are devices used to measure the characteristics of ocean surface waves, mainly including wave height, wave period, wave direction, and wave energy (generally wave energy spectrum and directional spectrum). They play an irreplaceable role in marine science, engineering applications, and environmental protection. Wave sensor calibration equipment or detection equipment is a detection platform that simulates the movement of wave sensors in real ocean waves. It is a key tool to ensure the measurement accuracy and reliability of wave sensors. It is of great value in scientific research, engineering applications, data credibility, and equipment maintenance. At present, most of the existing wave sensor calibration equipment or detection equipment can only simulate simple movements such as standard sine or circular movements, and can only complete the measurement and verification of simple parameters such as wave height, wave period, and single wave direction by wave sensors; the existing wave sensor calibration equipment or detection equipment cannot simulate the real six-dimensional random movement of the sensor at sea, and cannot complete the accuracy verification of complex parameters such as the real wave direction, wave energy spectrum, and directional spectrum of the wave sensor. Summary of the invention

[0003] In order to solve the above technical problems, the present invention proposes a wave sensor detection system based on wave spectrum, comprising: an X-axis motion module, a Y-axis motion module, a Z-axis motion module, an A-axis motion module, a B-axis motion module, a C-axis motion module and a control system; The control system controls the wave sensor detection system to simulate the six-dimensional motion state of the sensor in the ocean wave environment, calculates the control amount of the six axes, and drives the motor modules of each motion module according to the control amount; The X-axis motion module, Y-axis motion module, and Z-axis motion module are mutually orthogonal linear motion modules that simulate the three-dimensional translational motion of the wave surface points; The A-axis motion module, the B-axis motion module, and the C-axis motion module are mutually orthogonal rotational motion modules, wherein the A-axis motion module and the B-axis motion module are used to simulate the change of the tangent angle of the wave surface point, and the C-axis motion module is used to simulate the autobiographical motion of the wave sensor carrier.

[0004] The present invention also proposes a control method for a wave sensor detection system based on a wave spectrum, which is used to control the above-mentioned wave sensor detection system, calculate the wave spectrum density value based on PM spectrum discretization processing; calculate the proportional value corresponding to each component wave in each distribution direction based on ITTC directional distribution function discretization processing; calculate the amplitude of each component wave in each distribution direction through directional spectrum processing; calculate the real-time displacement of the wave surface point based on the Gerstner wave model and linear superposition theory; calculate the two-dimensional inclination angle attitude of the wave surface at the wave surface point position; calculate the rotation angle of the simulated sensor on the carrier; calculate the target motion trajectory of each motion axis of the detection system, and control the wave sensor detection system to simulate the six-dimensional motion state of the sensor in the ocean wave environment.

[0005] In the preferred embodiment, time is used as the virtual axis as the main control variable t, and the real-time control variable of each axis is calculated through the signal processing module. The real-time control variable uses a quadratic spline interpolation algorithm; the signal processing module collects the real-time displacement value of each axis and calculates the real-time deviation of each axis , as the input of the displacement compensator of the five axes, the displacement compensator calculates the compensation amount of each axis through the real-time deviation value of each axis ; The compensated control quantities of each axis are adjusted by the PID controller and transmitted to the 6-axis motion control card to control the real-time motion of each axis, realizing the three-dimensional motion of the three-dimensional wave surface points and the simulated motion of the wave surface inclination.

[0006] In a preferred embodiment, based on the PM spectrum discretization process, the wave spectrum density value is calculated: ; Where: i is the serial number of the component wave; I is the total number of component waves; is the wave spectrum density value corresponding to the i-th component wave; is the theoretical effective wave height, and the angular frequency of the i-th component wave is ; Based on the discretization of ITTC directional distribution function, the corresponding proportion value of each component wave in each distribution direction is calculated: , ; Where: j is the serial number of each distribution direction of the wave; J is the total number of each distribution direction of the group of waves; is the proportion value corresponding to the i-th component wave in the j-th distribution direction; is the distribution angle corresponding to the jth distribution direction, , is the simulated main wave direction angle; Calculate the amplitude of the i-th component wave in the j-th distribution direction : ; is the wave spectrum density value corresponding to the i-th component wave in the j-th distribution direction.

[0007] In a preferred embodiment, based on the Gerstner wave model and linear superposition theory, the real-time displacement of the wave surface point is derived: ; in, is the horizontal position coordinate of the wave surface point under the calm sea surface; is the wave crest sharpness coefficient, ; t is the current time point; for The wave number under deep sea is taken as ; for Random variables with uniform distribution in interval; Wave surface point The three-dimensional displacement coordinates at time t.

[0008] In a preferred embodiment, the slope of the tangent line in the x-axis direction is calculated : ; Calculate the slope of the tangent line in the y-axis direction : ; Calculate wave surface points The wave surface normal vector at the position : ; Solved The rotation angle of the system A-axis and B-axis corresponding to the normal posture and : ; Calculate the rotation angle of the simulated sensor on the carrier: , is the C-axis rotation angle, is the simulated biography angle for each time increment.

[0009] In a preferred embodiment, the target motion trajectory of each motion axis of the detection system is calculated : .

[0010] In a preferred embodiment, each axis displacement sensor measures the Calculate the deviation between the actual displacement and the target displacement of each motion axis of the detection system : ; Denoted as: ; is the deviation between the actual displacement and the target displacement of the X-axis; is the deviation between the actual displacement and the target displacement of the Y axis; is the deviation between the actual displacement and the target displacement of the Z axis; is the deviation between the actual displacement and the target displacement of the A-axis; is the deviation between the actual displacement and the target displacement of the B axis; It is the deviation between the actual displacement and the target displacement of the C-axis.

[0011] In a preferred embodiment, the deviations of the axes are To calculate the compensation amount of each axis : ; in, is the deviation between the actual displacement and the target displacement of the mth axis, where the first to fifth axes correspond to the X-axis, Y-axis, Z-axis, A-axis, and B-axis respectively.

[0012] Compared with the prior art, the present invention has the following beneficial technical effects: The system can simulate the real motion state of the sensor in the marine wave environment and has the following characteristics: 1. Integrate multiple theories and models The system cleverly combines the PM wave spectrum, ITTC directional distribution function, Gerstner wave model and linear superposition theory, which are highly authoritative and practical in their respective fields. Through their comprehensive application, the system can simulate the complex characteristics of waves more comprehensively and improve the accuracy and authenticity of the simulation.

[0013] 2. Multi-axis linkage control The system uses complex and sophisticated multi-axis linkage control technology, which enables the system to accurately simulate the complex motion state of the sensor in three-dimensional space. This multi-axis linkage control method not only improves the accuracy of the simulation, but also enhances the flexibility and adaptability of the system, enabling it to cope with challenges in different sea conditions.

[0014] 3. Comprehensive simulation capabilities The system can not only simulate the three-dimensional motion of wave surface points and the two-dimensional attitude motion of the wave surface, but also simulate the rotation motion of the sensor carrier. This comprehensive simulation capability enables the system to more realistically reflect the actual motion state of the sensor in the marine environment, providing strong support for the research and development of wave sensors.

[0015] 4. Real-time measurement and data processing The system has a built-in high-precision real-time motion trajectory measurement and data processing module, which can accurately record and process the dynamic data of each axis of the system. This function not only improves the real-time performance of the simulation, but also provides a reliable basis for subsequent data analysis and verification. By comparing and analyzing with theoretical simulation data, the system can further verify the accuracy and reliability of the simulation results.

[0016] 5. Verification and testing functions The system can not only simulate the wave environment, but also verify and test the measurement results of the wave sensor. This function is of great significance to the research and development and improvement of wave sensors, and can help developers find and solve problems in a timely manner and improve the performance and reliability of sensors.

[0017] 6. Scalability and flexibility It has good scalability and flexibility. This means that the system can be customized and optimized according to actual needs (different ranges, different sea state parameter simulations) to meet the needs of different application scenarios and sensor types. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the wave sensor detection system of the present invention; Figure 2 It is a module schematic diagram of the control system of the present invention; Figure 3 It is the simulated wave three-dimensional curved surface of the present invention; Figure 4 A schematic diagram of the three-dimensional translation trajectory of a simulated wave surface point of the present invention; Figure 5 It is a schematic diagram of the simulated two-dimensional wave surface posture changing with time according to the present invention; Figure 6 It is a schematic diagram of the change of the rotation angle of the simulated wave surface point over time of the present invention; Figure 7 It is a flow chart of the method for processing data of the original theoretical motion trajectory of the present invention; Figure 8 It is a flow chart of the overall motion control scheme of the present invention. DETAILED DESCRIPTION

[0019] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Example 1

[0020] like Figure 1 As shown, it is a structural schematic diagram of the wave sensor detection system based on wave spectrum of the present invention. The wave sensor detection system realizes the displacement and posture motion of the wave sensor at the real wave surface point through the motion module of 6 degrees of freedom (X axis, Y axis, Z axis, A axis, B axis, C axis). Specifically, the X axis, Y axis and Z axis are mutually orthogonal linear motion modules, simulating the three-dimensional translation motion of the wave surface point; the A axis, B axis and C axis are mutually orthogonal rotation motion modules, wherein the A axis and B axis can simulate the change of the inclination angle of the tangent plane of the wave surface point, and the C axis can simulate the autobiography of the wave sensor carrier (such as a buoy).

[0021] The control system includes: power supply system, industrial computer, 6-axis motion control card, servo drive module, motor module and displacement measurement system.

[0022] The industrial computer completes the calculation of the control quantity of the 6 axes through the labview control program; the 6-axis motion control card converts the given control quantity into the control quantity of the servo drive module to drive the motor modules of each motion module.

[0023] like Figure 2 As shown, the motion forms of each motion axis of the motion module are as follows: X-axis motion module: ball screw transmission, square rail motion limitation, and absolute encoder displacement measurement; Y-axis motion module: adopts gear rack transmission, motion limitation adopts square rail method, and displacement measurement adopts magnetic scale method; Z-axis motion module: Synchronous belt drive, square rail motion limit, magnetic scale displacement measurement; A-axis motion module: Synchronous belt drive is adopted, coaxial bearings are used for motion limitation, and absolute encoder is used for displacement measurement; B-axis motion module: Synchronous belt drive is adopted, coaxial bearings are used for motion limitation, and absolute encoder is used for displacement measurement; C-axis motion module: Synchronous belt drive, coaxial bearings for motion limitation, and absolute encoder for displacement measurement; Example 2

[0024] This embodiment proposes a control method for a wave sensor detection system based on a wave spectrum. 1. Motion trajectory algorithm

[0025] 1. Based on the PM spectrum discretization processing, calculate the wave spectrum density value: ; Where: i is the serial number of the component wave; I is the total number of component waves; is the wave spectrum density value corresponding to the i-th component wave; is the theoretical effective wave height, by setting different It can simulate wave motion in different sea conditions; the angular frequency of the i-th component wave is , , the step length is .

[0026] 2. Based on the discretization of ITTC directional distribution function, calculate the corresponding proportion value of each component wave in each distribution direction: , ; j is the serial number of each distribution direction of the wave; J is the total number of each distribution direction of the group of waves; is the proportion value corresponding to the i-th component wave in the j-th distribution direction.

[0027] is the distribution angle corresponding to the jth distribution direction, , the step length is ; It is the simulated main wave direction angle, which is also the angle between the installation direction of the accelerometer and the north direction of the geographic coordinate system (the device coordinate system and the geographic coordinate system coincide).

[0028] 3. Calculate the amplitude of each component wave in each distribution direction through directional spectrum processing: ; is the distribution direction of the i-th component wave in the j-th distribution direction (angular frequency is , the distribution angle is ) corresponding to the wave spectrum density value; , ; , ; Calculate the amplitude of the i-th component wave in the j-th distribution direction : .

[0029] 4. Based on the Gerstner wave model and linear superposition theory, calculate the real-time displacement of the wave surface point: ; is the horizontal position coordinate of the wave surface point under the calm sea surface; is the wave crest sharpness coefficient, ; t is the current time point; for The wave number under deep sea is taken as ; for Random variables with uniform distribution in interval; Wave surface point The three-dimensional displacement coordinates at time t; the displacement coordinates in each plane are recorded as: ; 5. Calculate the two-dimensional inclination angle of the wave surface at the wave surface point position: Calculate the slope of the tangent line in the x-axis direction : ; Calculate the slope of the tangent line in the y-axis direction : ; Calculate wave surface points The wave surface normal vector at the position : ; By rotating the formula in three-dimensional space, we can get The rotation angle of the system A-axis and B-axis corresponding to the normal posture and : ; A-axis rotation angle : Upward tilt is positive, downward tilt is negative, amplitude limit ; B axis rotation angle : Upward tilt is positive, downward tilt is negative, amplitude limit ; 6. Calculate the rotation angle of the simulated sensor on the carrier: ; is the C-axis rotation angle, which is used as the simulated sensor carrier self-rotation angle; in, is the simulated autobiography angle for each time increment, for Random variables with uniform distribution in interval; It is a set constant, representing the speed of the sensor's self-propagation carrier.

[0030] 7. Calculate the target motion trajectory of each motion axis of the detection system : ;

[0031] like Figure 3 Shown by Simulated wave diagram (150 m x 150 m area).

[0032] Detect the actual movement of the system and take the wave surface points The position of is taken as the motion simulation trajectory, recorded as : ; ;

[0033] Figure 4 , Figure 5 , Figure 6 To pass To simulate The 150-second trajectory of the wave surface point, Figure 4 Figure 5 They are linked.

[0034] Denoted as: ;

[0035] is the theoretical motion trajectory function formula of the X-axis about time t; is the theoretical motion trajectory function formula of the Y axis with respect to time t; is the theoretical motion trajectory function formula of the Z axis with respect to time t; is the theoretical motion trajectory function formula of axis A with respect to time t; is the theoretical motion trajectory function formula of axis B with respect to time t; is the theoretical motion trajectory function formula of the C axis with respect to time t.

[0036] 2. Trajectory Optimization Generated based on motion trajectory algorithm Time period (time step )’s theoretical trajectory: ;

[0037] Let this dataset be , , is the value at the kth time point; , is the sequence number of the process points of the motion trajectory, the total number is ; is the X-axis displacement value under the theoretical motion trajectory; is the Y-axis displacement value under the theoretical motion trajectory; is the Z-axis displacement value under the theoretical motion trajectory; is the A-axis rotation angle under the theoretical motion trajectory; is the B-axis rotation angle under the theoretical motion trajectory; is the C-axis rotation angle under the theoretical motion trajectory.

[0038] Each motion unit of the system has amplitude and response time limitations. The theoretical motion trajectory may have over-amplitude, cusps, etc., so it is necessary to process the original theoretical motion trajectory. The processing method is as follows: Figure 7 shown.

[0039] Get the processed motion trajectory: remember ;

[0040] is the X-axis displacement value under the motion trajectory after data processing; is the Y-axis displacement value under the motion trajectory after data processing; is the Z-axis displacement value under the motion trajectory after data processing; is the A-axis rotation angle under the motion trajectory after data processing; is the B-axis rotation angle under the motion trajectory after data processing; is the C-axis rotation angle under the motion trajectory after data processing.

[0041] 3. Trajectory motion control method The whole system adopts the virtual axis linkage control method, that is, using time as the virtual axis to coordinate the motion control of 6 degrees of freedom. Since it is necessary to ensure that the motion of the simulated wave surface points is closer to the motion trajectory of the real waves, it is necessary to perform linkage control compensation for the motion of the 5 degrees of freedom such as X, Y, Z, A, and B to ensure that the simulated waveform is closer to the real motion. Since the C-axis motion simulates the rotation of the carrier, it is a random motion and there is no requirement for accuracy, so linkage control is not performed. The flow chart of the overall motion control solution is as follows: Figure 8 As shown: Figure 8 The actual control of the six axes is shown. The system motion control uses time as the virtual axis as the main control variable t. Through the signal processing module, the real-time control variable of each axis is calculated. The real-time control variable uses a quadratic spline interpolation algorithm; at the same time, the signal processing module collects the real-time displacement value of each axis and calculates the real-time deviation of each axis. , as the input of the displacement compensator of the five axes. The displacement compensator calculates the compensation amount of each axis through the real-time deviation value of each axis. .

[0042] The compensated control quantities of each axis are adjusted by the PID controller and transmitted to the 6-axis motion control card to control the real-time motion of each axis, thereby realizing the three-dimensional motion of the three-dimensional wave surface points and the simulated motion of the wave surface inclination.

[0043] 1. Signal processing module It mainly completes two functions: (a) Control signal quantity of each axis: taking time as the virtual axis, the trajectory data set of Perform interpolation calculations to obtain As the control signal of each axis; (ii) Collect the actual displacement value of the 6 axes and the theoretical interpolation deviation at the corresponding time , transmitted to each displacement compensator.

[0044] (1) Control signal quantity of each axis: The smoothness of the equipment movement should be ensured as much as possible, so it is necessary to perform interpolation data control on the trajectory data set. In order to ensure the smoothness of the movement as much as possible, numerical interpolation based on the quadratic spline curve is selected. The specific interpolation parameters are as follows: ;

[0045] : is the second-order parameter of the spline curve; : is the first-order parameter of the spline curve; : is the constant term of the spline curve; Among them: When k=1, the first interpolation parameter is: ;

[0046] When , the iterative formula of interpolation parameters is: ;

[0047] Recorded as ;

[0048] is the X-axis displacement value of the target motion trajectory after interpolation processing; is the Y-axis displacement value of the target motion trajectory after interpolation processing; is the Z-axis displacement value of the target motion trajectory after interpolation processing; is the A-axis rotation angle of the target motion trajectory after interpolation processing; is the B-axis rotation angle of the target motion trajectory after interpolation processing; is the C-axis rotation angle of the target motion trajectory after interpolation processing.

[0049] (2) Real-time deviation calculation of each axis: The displacement parameters of each axis measured by the system through the displacement sensor are recorded as: ;

[0050] is the displacement value measured by the X-axis displacement sensor; is the displacement value measured by the Y-axis displacement sensor; is the displacement value measured by the Z-axis displacement sensor; is the rotation angle measured by the A-axis displacement sensor; is the rotation angle measured by the B-axis displacement sensor; It is the rotation angle measured by the C-axis displacement sensor.

[0051] The system measures the displacement parameters of each axis through displacement sensors Calculate the deviation between the actual displacement and the target displacement: ;

[0052] Denoted as: ;

[0053] is the deviation between the actual displacement and the target displacement of the X-axis; is the deviation between the actual displacement and the target displacement of the Y axis; is the deviation between the actual displacement and the target displacement of the Z axis; is the deviation between the actual displacement and the target displacement of the A-axis; is the deviation between the actual displacement and the target displacement of the B axis; It is the deviation between the actual displacement and the target displacement of the C-axis.

[0054] 2. Displacement compensator Mainly through the deviation of each axis , to calculate the compensation amount of each axis (C axis does not make compensation), improve the linkage accuracy of each axis, and ensure the motion accuracy of the simulated wave surface point. The specific algorithm for the compensation amount of each axis (C axis does not make compensation) is as follows: ; is the deviation between the actual displacement and the target displacement of the mth axis, where the first to fifth axes correspond to the X-axis, Y-axis, Z-axis, A-axis, and B-axis respectively.

[0055] Recorded as ;

[0056] is the compensation amount of X-axis linkage control; is the compensation amount of Y-axis linkage control; is the compensation amount of Z-axis linkage control; is the compensation amount of A-axis linkage control; It is the compensation amount of B-axis linkage control.

[0057] The present invention integrates advanced theories and methods such as PM wave spectrum, ITTC directional distribution function, Gerstner wave model and linear superposition theory. Through complex and sophisticated multi-axis linkage control technology, the system can fully reproduce the three-dimensional translation movement of wave surface points, the two-dimensional morphological changes of the wave surface and the rotation movement of the sensor carrier, ensuring the high authenticity and comprehensiveness of the simulation process, and can accurately simulate the real six-dimensional motion state of the sensor in the ocean wave environment. Since the present invention can simulate the real six-dimensional random motion of the wave sensor in the ocean wave environment, the present invention can perform comprehensive detection and verification of the wave sensor (wave height, wave period, wave direction, energy spectrum and directional spectrum, etc.), that is, the system not only has the ability to test conventional sea condition parameters (such as wave height, wave period, wave direction), but also can deeply test the complex parameters of the wave sensor, including wave energy spectrum and directional spectrum, etc., to provide key data support for the in-depth analysis and understanding of wave characteristics.

[0058] The present invention has a multi-dimensional data comparison and verification function. The system has a built-in high-precision real-time motion trajectory measurement and data processing module, which can accurately record and process the dynamic data of each axis of the system. Through the comparative analysis of multi-dimensional data such as theoretical simulation data, system real motion data and sensor measurement data, the system can not only effectively verify the accuracy and reliability of the simulation of the real wave environment, but also accurately verify the quality effect of the measurement data of the wave sensor, providing a solid experimental foundation and technical support for the research and development and testing of wave sensors.

[0059] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. The embodiments should therefore be considered exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A wave sensor detection system based on wave spectrum, characterized in that: include: X-axis motion module, Y-axis motion module, Z-axis motion module, A-axis motion module, B-axis motion module, C-axis motion module and control system; The control system controls the wave sensor detection system to simulate the six-dimensional motion state of the sensor in the ocean wave environment, calculates the control amount of the six axes, and drives the motor modules of each motion module according to the control amount; The X-axis motion module, Y-axis motion module, and Z-axis motion module are mutually orthogonal linear motion modules, simulating the three-dimensional translational motion of the wave surface points; The A-axis motion module, the B-axis motion module, and the C-axis motion module are mutually orthogonal rotational motion modules, wherein the A-axis motion module and the B-axis motion module are used to simulate the change of the tangent angle of the wave surface point, and the C-axis motion module is used to simulate the autobiographical motion of the wave sensor carrier.

2. A control method for a wave sensor detection system based on wave spectrum, used to control the wave sensor detection system according to claim 1, characterized in that: Based on the discretization of PM spectrum, the wave spectrum density value is calculated; based on the discretization of ITTC directional distribution function, the proportional value corresponding to each component wave in each distribution direction is calculated; through directional spectrum processing, the amplitude of each component wave in each distribution direction is calculated; Based on the Gerstner wave model and linear superposition theory, the real-time displacement of the wave surface point is calculated; the two-dimensional inclination angle of the wave surface at the wave surface point position is calculated; the rotation angle of the simulated sensor on the carrier is calculated; the target motion trajectory of each motion axis of the detection system is calculated, and the wave sensor detection system is controlled to simulate the six-dimensional motion state of the sensor in the ocean wave environment.

3. The control method of the wave sensor detection system based on wave spectrum according to claim 2 is characterized in that: With time as the virtual axis as the main control variable t, the real-time control variable of each axis is calculated through the signal processing module. The real-time control variable uses a quadratic spline interpolation algorithm; the signal processing module collects the real-time displacement value of each axis and calculates the real-time deviation of each axis , as the input of the displacement compensator of the five axes, the displacement compensator calculates the compensation amount of each axis through the real-time deviation value of each axis ; The compensated control quantities of each axis are adjusted by the PID controller and transmitted to the 6-axis motion control card to control the real-time motion of each axis, realizing the three-dimensional motion of the three-dimensional wave surface points and the simulated motion of the wave surface inclination.

4. The control method of the wave sensor detection system based on wave spectrum according to claim 2 is characterized in that: Based on the PM spectrum discretization processing, the wave spectrum density value is calculated: ； Where: i is the serial number of the component wave; I is the total number of component waves; is the wave spectrum density value corresponding to the i-th component wave; is the theoretical effective wave height, and the angular frequency of the i-th component wave is ; Based on the discretization of ITTC directional distribution function, the corresponding proportion value of each component wave in each distribution direction is calculated: ； Where: j is the serial number of each distribution direction of the wave; J is the total number of each distribution direction of the group of waves; is the proportion value corresponding to the i-th component wave in the j-th distribution direction; is the distribution angle corresponding to the jth distribution direction, , is the simulated main wave direction angle; Calculate the amplitude of the i-th component wave in the j-th distribution direction : ； is the wave spectrum density value corresponding to the i-th component wave in the j-th distribution direction.

5. The control method of the wave sensor detection system based on wave spectrum according to claim 4 is characterized in that: Based on the Gerstner wave model and linear superposition theory, the real-time displacement of the wave surface point is derived: ； in, is the horizontal position coordinate of the wave surface point under the calm sea surface; is the wave crest sharpness coefficient, ; t is the current time point; for The wave number under deep sea is taken as ; for Random variables with uniform distribution in interval; Wave surface point The three-dimensional displacement coordinates at time t.

6. The control method of the wave sensor detection system based on wave spectrum according to claim 3 is characterized in that: Calculate the slope of the tangent line in the x-axis direction : ； Calculate the slope of the tangent line in the y-axis direction : ； Calculate wave surface points The wave surface normal vector at the position : ； Solved The rotation angle of the system A-axis and B-axis corresponding to the normal posture and : ； Calculate the rotation angle of the simulated sensor on the carrier: ; is the C-axis rotation angle, is the simulated biography angle for each time increment.

7. The control method of the wave sensor detection system based on wave spectrum according to claim 4 is characterized in that: Calculate the target motion trajectory of each motion axis of the detection system : 。 8. The control method of the wave sensor detection system based on wave spectrum according to claim 7 is characterized in that: Real-time measurement of the displacement of each axis through the displacement sensor Calculate the deviation between the actual displacement and the target displacement of each motion axis of the detection system : ； Denoted as: ； is the deviation between the actual displacement and the target displacement of the X-axis; is the deviation between the actual displacement and the target displacement of the Y axis; is the deviation between the actual displacement and the target displacement of the Z axis; is the deviation between the actual displacement and the target displacement of the A-axis; is the deviation between the actual displacement and the target displacement of the B axis; It is the deviation between the actual displacement and the target displacement of the C-axis.

9. The control method of the wave sensor detection system based on wave spectrum according to claim 5, characterized in that: Deviations through the individual axes To calculate the compensation amount of each axis : ； in, is the deviation between the actual displacement and the target displacement of the mth axis, where the first to fifth axes correspond to the X-axis, Y-axis, Z-axis, A-axis, and B-axis respectively.

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