A Wave Sensor Detection System and Control Method Based on Wave Spectrum

Abstract

The present invention relates to a wave sensor detection system and control method based on a wave spectrum, belonging to the technical field of ocean observation. The wave sensor detection system includes: 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 wave points on the wave surface, the two-dimensional morphological changes of the wave surface, and the rotational motion of the sensor carrier based on the P-M wave spectrum, the ITTC directional distribution function, the Gerstner ocean wave model, and the linear superposition theory, and controls the wave sensor detection system to simulate the six-dimensional motion state of the sensor in the ocean wave environment for detecting and verifying the measurement of comprehensive characteristic parameters such as wave height, wave period, wave direction, wave energy spectrum, and wave direction spectrum by the wave sensor.

Description

Technical Field

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

[0002] A wave sensor is a device used to measure the characteristics of ocean surface waves, mainly including parameters such as wave height, wave period, wave direction, and wave energy (generally wave energy spectrum and direction spectrum). It plays an irreplaceable role in ocean science, engineering applications, and environmental protection. The calibration equipment or detection equipment for wave sensors 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, and has important value in aspects such as scientific research, engineering applications, data credibility, and equipment maintenance. Currently, most of the existing calibration equipment or detection equipment for wave sensors can only simulate simple motions such as standard sine or circular motions, and can only complete the measurement verification of simple parameters such as wave height, wave period, and single wave direction of wave sensors; the existing calibration equipment or detection equipment for wave sensors cannot simulate the real six-dimensional random motion of sensors at sea, so it cannot complete the accuracy verification of complex parameters such as the real sea wave direction, wave energy spectrum, and direction spectrum of wave sensors. Summary of the Invention

[0003] To solve the above technical problems, the present invention proposes a wave sensor detection system based on a wave spectrum, including: 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;

[0004] 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 amounts for the 6 axes, and drives the motor modules of each motion module according to the control amounts;

[0005] 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 wave points on the sea surface;

[0006] The A-axis motion module, B-axis motion module, and C-axis motion module are mutually orthogonal rotational motion modules, where the A-axis motion module and B-axis motion module are used to simulate the change in the dip angle of the wave point section, and the C-axis motion module is used to simulate the self-rotation motion of the wave sensor carrier.

[0007] The present invention also provides 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. Based on the discretization processing of the P-M spectrum, the wave spectrum density value is calculated; based on the discretization processing of the ITTC directional distribution function, the proportional value corresponding to each component wave in each distribution direction is calculated; through the directional spectrum processing, the amplitude of each component wave in each distribution direction is calculated; based on the Gerstner ocean wave model and the linear superposition theory, the real-time displacement of the wave point is calculated; the two-dimensional inclination attitude of the wave surface at the wave point position is calculated; the self-rotation angle of the analog sensor on the carrier is calculated; the target motion trajectories of each motion axis of the detection system are calculated, and the six-dimensional motion state of the sensor in the simulated ocean wave environment is controlled by the wave sensor detection system.

[0008] In a preferred embodiment, the time is used as the virtual axis as the main control variable t, and through the signal processing module, the real-time control variable of each axis is calculated. The real-time control variable adopts the quadratic spline interpolation algorithm; the signal processing module collects the real-time displacement values of each axis and calculates the real-time deviation amount of each axis. As the input quantity of the displacement compensator for 5 axes, the displacement compensator calculates the compensation amount of each axis through the real-time deviation value of each axis. ;

[0009] The control quantity after the compensation of each axis is adjusted by the PID controller and then 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 point and the simulated motion of the wave surface inclination.

[0010] In a preferred embodiment, based on the discretization processing of the P-M spectrum, the wave spectrum density value is calculated:

[0011] ;

[0012] 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 significant wave height, and the angular frequency of the i-th component wave is ;

[0013] Based on the discretization processing of the ITTC directional distribution function, the proportional value corresponding to each component wave in each distribution direction is calculated:

[0014] , ;

[0015] 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 proportional value corresponding to the i-th component wave in the j-th distribution direction; is the distribution angle corresponding to the j-th distribution direction, , is the simulated main wave direction angle;

[0016] Calculate the amplitude of the i-th component wave in the j-th distribution direction :

[0017] ;

[0018] is the wave spectrum density value of the i-th component wave corresponding to the j-th distribution direction.

[0019] In the preferred embodiment, based on the Gerstner wave model and the linear superposition theory, the real-time displacement of the wave point is derived:

[0020] ;

[0021] where, is the horizontal position coordinate of the wave point under the calm sea surface; is the wave crest sharpness coefficient, ; t is the current time point; is the wave number under, take the deep sea wave number as ; is a uniformly distributed random variable in the interval; is the three-dimensional displacement coordinate of the wave point at time t.

[0022] In the preferred embodiment, calculate the tangent slope in the x-axis direction :

[0023] ;

[0024] Calculate the tangent slope in the y-axis direction :

[0025] ;

[0026] Calculate the wave surface normal vector at the position of the wave point :

[0027] ;

[0028] Solve to obtain the rotation angles of the system A-axis and B-axis corresponding to the normal attitude and :

[0029] ;

[0030] Calculate the self-rotation angle of the analog sensor on the carrier: ,

[0031] is the rotation angle of the C axis, is the analog autobiography angle for each time increment interval.

[0032] In a preferred embodiment, calculate the target motion trajectories of the respective moving axes of the detection system :

[0033] .

[0034] In a preferred embodiment, measure in real time through the respective axis displacement sensors Calculate the deviation between the actual displacement and the target displacement of the respective moving axes of the detection system :

[0035] ;

[0036] Denoted as:

[0037] ;

[0038] 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; is the deviation between the actual displacement and the target displacement of the C axis.

[0039] In a preferred embodiment, through the deviation of each axis to calculate the compensation amount of each axis :

[0040] ;

[0041] wherein, is the deviation between the actual displacement and the target displacement of the mth axis, where the first axis to the fifth axis correspond to the X axis, Y axis, Z axis, A axis, and B axis in sequence.

[0042] Compared with the prior art, the present invention has the following beneficial technical effects:

[0043] The system can simulate the real motion state of the sensor under the sea wave environment and has the following characteristics:

[0044] 1. Incorporate multiple theories and models

[0045] The system skillfully combines the P-M wave spectrum, the ITTC directional distribution function, the Gerstner ocean wave model, and the linear superposition theory. These theories and models are highly authoritative and practical in their respective fields. Through their comprehensive application, the system can more comprehensively simulate the complex characteristics of ocean waves, improving the accuracy and authenticity of the simulation.

[0046] 2. Multi-axis linkage control

[0047] The system adopts a complex and delicate multi-axis linkage control technology, which enables the system to accurately simulate the complex motion states of sensors in three-dimensional space. This multi-axis linkage control method not only improves the simulation accuracy but also enhances the flexibility and adaptability of the system, enabling it to cope with challenges under different sea conditions.

[0048] 3. Comprehensive simulation capabilities

[0049] 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 rotational motion of the sensor carrier. This comprehensive simulation capability enables the system to more realistically reflect the actual motion states of sensors in the marine environment, providing strong support for the research and development of wave sensors.

[0050] 4. Real-time measurement and data processing

[0051] The system is built-in with a 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. Through comparative analysis with theoretical simulation data, the system can further verify the accuracy and reliability of the simulation results.

[0052] 5. Verification and testing functions

[0053] The system can not only simulate the ocean wave environment but also verify and test the measurement results of wave sensors. This function is of great significance for the research and improvement of wave sensors, which can help developers timely discover and solve problems, improving the performance and reliability of sensors.

[0054] 6. Scalability and flexibility

[0055] It has good scalability and flexibility. This means that the system can be customized and optimized according to actual needs (simulation of different ranges and different sea condition parameters) to meet the requirements of different application scenarios and sensor types. Description of the drawings

[0056] Figure 1 It is a schematic structural diagram of the wave sensor detection system of the present invention;

[0057] Figure 2 It is a schematic diagram of the modules of the control system of the present invention;

[0058] Figure 3 It is the simulated three-dimensional wave surface of the present invention;

[0059] Figure 4 It is a schematic diagram of the three-dimensional translation trajectory of the simulated wave points of the present invention;

[0060] Figure 5 It is a schematic diagram showing the change of the simulated two-dimensional wave surface attitude over time of the present invention;

[0061] Figure 6 It is a schematic diagram showing the change of the self-rotation angle of the simulated wave points over time of the present invention;

[0062] Figure 7 It is a flowchart of the method for processing data of the original theoretical motion trajectory of the present invention;

[0063] Figure 8 It is a flowchart of the overall motion control scheme of the present invention. Specific embodiments

[0064] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment 1

[0065] As Figure 1 shown, it is a schematic diagram of the structure of the wave sensor detection system based on the wave spectrum of the present invention. The wave sensor detection system realizes the displacement and attitude movement of the simulated wave sensor at the wave points of real sea waves through a motion module with 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 points of the sea waves; the A-axis, B-axis, and C-axis are mutually orthogonal rotational motion modules. Among them, the A-axis and B-axis can simulate the change of the section inclination angle of the wave points, and the C-axis can simulate the self-rotation motion of the wave sensor carrier (such as a buoy).

[0066] The control system includes: a power supply system, an industrial computer, a 6-axis motion control card, a servo drive module, a motor module, and a displacement measurement system.

[0067] The industrial control computer calculates the control quantities for 6 axes through the LabVIEW control program; the 6-axis motion control card converts the given control quantities into the control quantities for the servo drive module to drive the motor modules of each motion module.

[0068] As Figure 2 shown, the motion forms of the respective motion axes of the motion module are as follows:

[0069] X-axis motion module: Adopts the ball screw drive form, uses the square rail method for motion limitation, and uses the absolute encoder method for displacement measurement;

[0070] Y-axis motion module: Adopts the rack and pinion drive form, uses the square rail method for motion limitation, and uses the magnetic scale method for displacement measurement;

[0071] Z-axis motion module: Adopts the synchronous belt drive form, uses the square rail method for motion limitation, and uses the magnetic scale method for displacement measurement;

[0072] A-axis motion module: Adopts the synchronous belt drive form, uses the coaxial bearing for motion limitation, and uses the absolute encoder method for displacement measurement;

[0073] B-axis motion module: Adopts the synchronous belt drive form, uses the coaxial bearing for motion limitation, and uses the absolute encoder method for displacement measurement;

[0074] C-axis motion module: Adopts the synchronous belt drive form, uses the coaxial bearing for motion limitation, and uses the absolute encoder method for displacement measurement; Embodiment 2

[0075] This embodiment proposes a control method for a wave sensor detection system based on a wave spectrum

[0076] (I) Motion trajectory algorithm

[0077] 1. Based on the discretization processing of the P-M spectrum, calculate the wave spectrum density value:

[0078] ;

[0079] 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 significant wave height, and different can be set to simulate the wave motion under different sea conditions; the angular frequency of the i-th component wave is , , and the step size is .

[0080] 2. Based on the discretization processing of the ITTC direction distribution function, calculate the proportional value corresponding to each component wave in each distribution direction:

[0081] , ;

[0082] j is the serial number of each wave distribution direction; J is the total number of each wave distribution direction in the group; is the proportional value corresponding to the i-th component wave in the j-th distribution direction.

[0083] is the distribution angle corresponding to the j-th distribution direction, , with a step size of ;

[0084] is the simulated main wave direction angle, and also the included angle between the installation direction of the acceleration sensor and the north direction of the geographical coordinate system (the device coordinate system coincides with the geographical coordinate system).

[0085] 3. Through direction spectrum processing, calculate the amplitude of each component wave in each distribution direction:

[0086] ;

[0087] is the wave spectrum density value corresponding to the i-th component wave in the j-th distribution direction (angular frequency is , and the distribution angle is );

[0088] , ;

[0089] , ;

[0090] Calculate the amplitude of the i-th component wave in the j-th distribution direction : .

[0091] 4. Based on the Gerstner wave model and the linear superposition theory, calculate the real-time displacement of the wave point:

[0092] ;

[0093] is the horizontal position coordinate of the wave point under the calm sea surface; is the wave crest sharpness coefficient, ; t is the current time point; is the wave number under, and the deep sea wave number is taken as ; is a uniformly distributed random variable in the interval;

[0094] is the wave point The three-dimensional displacement coordinates at time t; the displacement coordinates in each plane are respectively denoted as: ;

[0095] 5. Calculate the two-dimensional inclination attitude of the wave surface at the wave point position:

[0096] Calculate the tangent slope in the x-axis direction :

[0097] ;

[0098] Calculate the tangent slope in the y-axis direction :

[0099] ;

[0100] Calculate the wave point Normal vector of the wave surface at the position :

[0101] ;

[0102] Through the three-dimensional space rotation formula, the rotation angles of the system A-axis and B-axis corresponding to the normal attitude can be solved and and :

[0103] ;

[0104] Rotation angle of the A-axis : Positive for upward inclination, negative for downward inclination, amplitude limit ;

[0105] Rotation angle of the B-axis : Positive for upward inclination, negative for downward inclination, amplitude limit ;

[0106] 6. Calculate the self-rotation angle of the analog sensor on the carrier:

[0107] ;

[0108] is the C-axis rotation angle, serving as the self-rotation angle of the analog sensor carrier;

[0109] Among them, is the analog self-rotation angle in each time increment interval, is a random variable uniformly distributed in the interval; is a set constant, representing the speed magnitude of the sensor self-rotation and carrier self-rotation.

[0110] 7. Calculate the target motion trajectories of each moving axis of the detection system :

[0111] ;

[0112] As shown Figure 3 is the wave graph (150 m × 150 m area) simulated by . Take the position of the wave point

[0113] of the actual motion of the detection system as the motion simulation trajectory, denoted as : :

[0114] ;

[0115] ;

[0116] Figure 4 , Figure 5 , Figure 6 are the 150-second trajectories of the wave points simulated by , where are linked Figure 4 Figure 5 . Denote as:

[0117] Denote as:

[0118] ;

[0119] is the theoretical motion trajectory function formula of the X-axis with respect to 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 the A-axis with respect to time t; is the theoretical motion trajectory function formula of the B-axis with respect to time t; is the theoretical motion trajectory function formula of the C-axis with respect to time t.

[0120] (II) Trajectory Optimization

[0121] Generate the theoretical motion trajectories for the time period (time step ) according to the motion trajectory algorithm: :

[0122] ;

[0123] Denote this data set as ,

[0124] , which is the value at the k-th time point;

[0125] , which is the serial number of the process point of the motion trajectory, and the total number is ;

[0126] 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.

[0127] Each motion unit of the system has limitations on amplitude and response time. There may be phenomena such as over-amplitude and cusps in the theoretical motion trajectory. Therefore, it is necessary to perform data processing on the original theoretical motion trajectory, and the processing method is as Figure 7 shown.

[0128] Obtain the processed motion trajectory:

[0129] Denote ;

[0130] 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.

[0131] (III) Trajectory motion control method

[0132] The entire system adopts the virtual axis linkage control method, that is, taking 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 points is closer to the motion trajectory of the real ocean wave as much as possible, it is necessary to perform linkage control compensation on the motion of 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 motion of the carrier, which is a random motion and the accuracy is not required, so no linkage control is performed. The overall motion control scheme flowchart is as Figure 8 shown:

[0133] Figure 8Six-axis actual control is shown. The system motion control uses time as a 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 the quadratic spline interpolation algorithm. At the same time, the signal processing module collects the real-time displacement values of each axis and calculates the real-time deviation of each axis. As the input of the displacement compensator for 5 axes. The displacement compensator calculates the compensation amount of each axis through the real-time deviation value of each axis. .

[0134] The control quantity of each axis after compensation is adjusted by the PID controller and then transmitted to the 6-axis motion control card to control the real-time motion of each axis, so as to realize the three-dimensional motion of the three-dimensional wave point and the simulation motion of the wave surface inclination.

[0135] 1. Signal processing module

[0136] It mainly completes two functions: (1) The control signal quantity of each axis: Using time as a virtual axis, interpolate the trajectory data set to obtain as the control signal of each axis; (2) Collect the actual displacement values of 6 axes and the theoretical interpolation deviation at the corresponding moment and transmit them to each displacement compensator.

[0137] (1) The control signal quantity of each axis:

[0138] To ensure the smoothness of the equipment movement as much as possible, it is necessary to perform interpolation data control on the trajectory data set. 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:

[0139] ;

[0140] : Second-order parameter of the spline curve;

[0141] : First-order parameter of the spline curve;

[0142] : Constant term of the spline curve;

[0143] Among them: When k = 1, the interpolation parameters of the first segment: ;

[0144] When, the iterative formula of the interpolation parameters is:

[0145] ;

[0146] Denoted as ;

[0147] is the X-axis displacement value under the target motion trajectory after interpolation processing; is the Y-axis displacement value under the target motion trajectory after interpolation processing; is the Z-axis displacement value under the target motion trajectory after interpolation processing; is the A-axis rotation angle under the target motion trajectory after interpolation processing; is the B-axis rotation angle under the target motion trajectory after interpolation processing; is the C-axis rotation angle under the target motion trajectory after interpolation processing.

[0148] (2)Calculation of real-time deviation of each axis:

[0149] The displacement parameters of each axis measured by the system through the displacement sensor are denoted as:

[0150] ;

[0151] 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; is the rotation angle measured by the C-axis displacement sensor.

[0152] The displacement parameters of each axis measured by the system through the displacement sensor Calculate the deviation between the actual displacement and the target displacement:

[0153] ;

[0154] Denoted as:

[0155] ;

[0156] 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; is the deviation between the actual displacement and the target displacement of the C-axis.

[0157] 2. Displacement compensator

[0158] Mainly through the deviation of each axis , calculate the compensation amount of each axis (the C axis is not compensated), improve the linkage accuracy of each axis, and ensure the motion accuracy of the simulated wave point. The algorithms for the compensation amounts of each axis (the C axis is not compensated) are as follows:

[0159] ;

[0160] is the deviation between the actual displacement and the target displacement of the m-th axis, where the 1st axis to the 5th axis correspond to the X axis, Y axis, Z axis, A axis, and B axis in sequence.

[0161] is denoted as ;

[0162] is the compensation amount for X-axis linkage control; is the compensation amount for Y-axis linkage control; is the compensation amount for Z-axis linkage control; is the compensation amount for A-axis linkage control; is the compensation amount for B-axis linkage control.

[0163] The present invention integrates advanced theories and methods such as the P-M wave spectrum, ITTC directional distribution function, Gerstner ocean wave model, and linear superposition theory. Through complex and precise multi-axis linkage control technology, the system can reproduce the three-dimensional translational motion of the wave point, the two-dimensional morphological changes of the wave surface, and the rotational motion of the sensor carrier in all directions, 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.

[0164] 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 conduct comprehensive detection and verification on the wave sensor (wave height, wave period, wave direction, energy spectrum, direction 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 direction spectrum, etc., providing key data support for the in-depth analysis and understanding of ocean wave characteristics.

[0165] The present invention has a multi-dimensional data comparison and verification function. The system is built-in with a 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 simulating the real sea wave environment, but also accurately verify the quality effect of the measurement data of the wave sensor, providing a solid experimental basis and technical support for the research and development and testing of the wave sensor.

[0166] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Thus, all changes that fall within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A control method for a wave sensor detection system based on wave spectrum, 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; With time as the virtual axis as the main control variable, 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 control quantity of each axis after compensation is 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 wave surface point and the simulated motion of the wave surface inclination; Calculate the slope of the tangent line in the x-axis direction d(x,y,t) x : Z(x,y,t) is the displacement coordinate at time t in the Z plane; θ j is the distribution angle corresponding to the jth distribution direction; A i,j is the amplitude of the i-th component wave in the j-th distribution direction; k i is the wave number; ε i,j is a random variable uniformly distributed in the interval [0,2π]; w i is the angular frequency of the i-th component wave; Calculate the slope of the tangent line in the y-axis direction d(x,y,t) y : Calculate the wave surface normal vector at the wave surface point P (x, y, t) Solved The rotation angles of the system A-axis and B-axis corresponding to the normal posture are A(x,y,t) and B(x,y,t): Calculate the rotation angle of the simulated sensor on the carrier: C(x,y,t)=∑δ t C(x,y,t) is the C-axis rotation angle, δ t is the simulated rotation angle for each time increment.

2. The control method of the wave sensor detection system based on wave spectrum according to claim 1 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; S(w i ) is the wave spectrum density value corresponding to the i-th component wave; H s is the theoretical effective wave height, and the angular frequency of the i-th component wave is w i ; 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 wave distribution direction; J is the total number of each wave distribution direction; G(w i ,θ j ) is the proportional value of the i-th component wave in the j-th distribution direction; θ j is the distribution angle corresponding to the jth distribution direction, θ m is the simulated main wave direction angle; Calculate the amplitude A of the i-th component wave in the j-th distribution direction i,j : S(w i ,θ j ) is the wave spectrum density value corresponding to the i-th component wave in the j-th distribution direction; Δθ j is the step size of the distribution angle, Δw i is the step size of the angular frequency.

3. The control method of the wave sensor detection system based on wave spectrum according to claim 2 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: Where x, y are the horizontal coordinates of the wave point under the calm sea surface; Q is the wave crest sharpness coefficient, Q∈(0,1); t is the current time point; k i w i The wave number under deep sea is taken as ε i,j is a random variable uniformly distributed in the interval [0,2π]; is the three-dimensional displacement coordinates of the wave surface point (x, y) at time t.

4. The control method of the wave sensor detection system based on wave spectrum according to claim 2 is characterized in that: Calculate the target motion trajectory of each motion axis of the detection system 5. The control method of the wave sensor detection system based on wave spectrum according to claim 4 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: ε1(t)=z(t)-X2(t) ε2(t)=y(t)-X2(t) ε3(t)=z(t)-Z2(t) ε4(t)=θ A (t)-A2(t) ε5(t)=θ B (t)-B2(t) ε6(t)=θ C (t)-C2(t) ε1(t) is the deviation between the actual displacement and the target displacement of the X-axis; ε2(t) is the deviation between the actual displacement and the target displacement of the Y-axis; ε3(t) is the deviation between the actual displacement and the target displacement of the Z-axis; ε4(t) is the deviation between the actual displacement and the target displacement of the A-axis; ε5(t) is the deviation between the actual displacement and the target displacement of the B-axis; ε6(t) is the deviation between the actual displacement and the target displacement of the C-axis.

6. The control method of the wave sensor detection system based on wave spectrum according to claim 3 is characterized in that: Deviations through the individual axes To calculate the compensation amount of each axis Among them, ε m (t) 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.

7. A wave sensor detection system based on wave spectrum, used to implement the control method of the wave sensor detection system based on wave spectrum according to any one of claims 1 to 6, 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 rotational motion of the wave sensor carrier.

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