A swing control system and method for a dynamic pod and a dynamic pod

Abstract

The application discloses a swing control system and method of a dynamic cabin. The dynamic cabin comprises a dynamic cabin body, a mechanical support, a waterway system and a driving system. The mechanical support comprises a fixed base, a rotating frame, a sliding frame, a limiting guide rail, a roll axis system and a pitch axis system. The driving system comprises a roll oil cylinder and a pitch oil cylinder. The dynamic cabin further comprises a parking platform used for placing the sliding frame. The control system comprises a waterway control module configured to control the waterway system to inject water in the dynamic cabin body, a preparation calibration module configured to perform oil cylinder operation preparation and position calibration, a parking platform control module configured to control the oil cylinder to drive the folding and erection of the parking platform of the sliding frame, and a swing control module configured to control the dynamic cabin body to swing according to a preset swing angle and speed. The swing control system and method can realize accurate control of the swing range and speed of the dynamic cabin.

Description

Technical Field

[0001] This invention relates to the field of motion control technology, and in particular to a dynamic cabin sway control system and method. Background Technology

[0002] In marine equipment sway fatigue tests, multi-degree-of-freedom dynamic cabins reproduce the actual attitude in waves through a combined roll-pitch motion. Modern dynamic cabins generally adopt a "high-pressure seawater rapid injection + hydraulic cylinder drive" scheme, with roll and pitch cylinders propelling the cabin at set angles and angular velocities. Therefore, the cabin attitude and cylinder movements must be precisely coordinated within millisecond time windows; otherwise, phenomena such as "water hammer overload," "angle overshoot," or "mechanical impact" will occur, leading to training distortion, structural fatigue, or even pipeline rupture. However, existing control technologies mainly suffer from the following defects: the water and oil circuits operate independently, high-pressure water injection and sway drive are controlled by two separate PLCs, lacking a unified timing reference. The absence of gravity balancing and auxiliary support leads to problems such as mechanical impact noise and poor position locking reliability. Summary of the Invention

[0003] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a dynamic cabin sway control system, method, and sway cabin. The dynamic cabin sway control system provided in this application, integrating water, oil, and mechanical systems and providing comprehensive monitoring, can solve the synchronization and safety challenges under high load, high frequency, and high-precision swaying conditions, meeting the stringent requirements of high-intensity simulation training and reliability assessment for marine equipment.

[0004] To achieve the above objectives, the present invention adopts the following technical solution.

[0005] In some embodiments, a rocking control system for a dynamic cabin is provided, the dynamic cabin including a dynamic cabin body, a mechanical support, a water system, and a drive system; the mechanical support includes a fixed base, a rotating frame, a sliding frame, a limiting guide rail, a roll axis system, and a pitch axis system; the drive system includes a roll cylinder and a pitch cylinder.

[0006] The dynamic cabin also includes a parking platform for placing the sliding frame;

[0007] The control system includes:

[0008] The water system control module is configured to control the water system's water injection into the dynamic chamber.

[0009] Prepare the calibration module and configure it to perform cylinder operation preparation and position calibration.

[0010] The parking platform control module is configured to control the hydraulic cylinder to drive the parking platform to fold down and erect the parking sliding frame;

[0011] The sway control module is configured to control the dynamic cabin to sway according to a preset sway angle and speed.

[0012] In some embodiments, the water system includes a high-pressure water system component and a low-pressure water system component, and the control water system for injecting water into the dynamic chamber includes:

[0013] High-pressure water is injected through a high-pressure water circuit component to simulate a high-pressure pipeline environment;

[0014] Low-pressure water is injected through a low-pressure water circuit component to simulate the mass of the target object.

[0015] In some embodiments, the control system further includes a monitoring module configured to monitor at least one of the following: cylinder stroke, cylinder speed, cylinder acceleration, oil temperature, oil pressure, and parking status.

[0016] In some embodiments, the swing control module further includes a synchronization control submodule, a feedback control submodule, and a compensation control submodule.

[0017] In some embodiments, the swing control system further includes an auxiliary support subsystem and a hydraulic oil source;

[0018] Locking devices are installed on the horizontal and vertical cylinders to achieve locking at any position, including the zero position.

[0019] In some embodiments, a sway control method for a dynamic cabin is provided, the method being applied to a sway control system as described in any of the preceding embodiments, the sway control method comprising: an auxiliary hydraulic cylinder of an auxiliary support subsystem connecting a sliding frame to a foundation, thereby achieving gravity balance of moving parts under pressure adaptation of an accumulator group.

[0020] In some embodiments, the method further includes: using a combination of a constant pressure variable pump and an accumulator to supply hydraulic oil to provide sufficient and suitable pressure and flow hydraulic energy to the drive system.

[0021] In some embodiments, locking at any position, including the zero position, is achieved by a locking device installed on the rocker cylinder and the pitch cylinder.

[0022] In some embodiments, a dynamic cabin is provided, the dynamic cabin including a sway control system as described in any of the preceding embodiments.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: In the embodiments of this application, the rotating frame and sliding frame of the mechanical support are the direct load-bearing structures of the dynamic cabin, and are connected to the dynamic cabin through the lateral axis system, so that the dynamic cabin can complete the lateral swaying around the lateral axis system; the rotating frame is connected to the fixed support base through the longitudinal axis system, and the sliding frame can only move up and down under the constraint of the limit guide rail, so that the sliding frame can drive the dynamic cabin to complete the longitudinal swaying around the longitudinal axis system; the folding parking platform is folded down by hydraulic cylinder when the dynamic cabin is moving, and is erected by hydraulic cylinder when the dynamic cabin is stopped, and the sliding frame is parked on the parking platform; limit position buffers are installed on the rotating frame and the folding parking platform to realize the overtravel protection of lateral and longitudinal swaying.

[0024] In some embodiments of this application, the hydraulic servo system comprises a hydraulic oil storage device, a hydraulic pump, a monitoring device, pipelines, and valves. It employs multi-level protection and automatic program control, enabling the rocking cabin to perform rocking motion according to the required motion model while meeting the requirements for motion accuracy and stability. Specifically, the roll drive subsystem's roll servo cylinder connects the sliding frame to the roll axis to complete the roll drive; the pitch drive subsystem's pitch servo cylinder connects the sliding frame to the foundation to complete the pitch drive; the auxiliary support subsystem's auxiliary hydraulic cylinder connects the sliding frame to the foundation, achieving gravity balance of the moving parts under the pressure adaptation of the accumulator group; the control valve groups of each subsystem, combined with the control system, perform electro-hydraulic control of the hydraulic cylinders to achieve motion drive control and safety protection; the hydraulic oil source uses a combination of a constant-pressure variable pump and accumulator oil supply to provide sufficient and suitable pressure and flow hydraulic energy to the drive system; locking devices are installed on the pitch and roll servo cylinders, enabling locking at any position, including zero position. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the dynamic cabin motion device in some embodiments of this application.

[0026] Figure 2 This is a schematic diagram of the overall structure of the dynamic cabin in some embodiments of this application.

[0027] Figure 3 This is a schematic diagram of the sliding side of the dynamic cabin in some embodiments of this application.

[0028] Figure 4 This is a schematic diagram of the rotating side of the dynamic cabin in some embodiments of this application.

[0029] Figure 5 This is a schematic diagram of the structure of the low-pressure water inlet pipe of the water system in some embodiments of this application.

[0030] Figure 6 This is a schematic diagram of the structure of the rotary joint of the water system in some embodiments of this application.

[0031] Figure 7 This is a schematic diagram of the adaptive pressure stabilizing pipeline structure of the high-pressure water circuit component in some embodiments of this application.

[0032] Figure 8 This is an overall schematic diagram of the limiting and buffering structure of the dynamic cabin in some embodiments of this application.

[0033] Figure 9 This is a schematic diagram of the guide rail limit adjustment device of the dynamic cabin in some embodiments of this application.

[0034] Figure 10 This is a schematic diagram of the limiting guide rail of the dynamic cabin in some embodiments of this application.

[0035] Figure 11 This is a schematic diagram of the buffer base and limit adjustment structure of the dynamic cabin in some embodiments of this application.

[0036] Figure 12 This is a schematic diagram of the buffer adjustment structure of the dynamic cabin in some embodiments of this application.

[0037] Figure 13 This is a structural block diagram of the sway control system of the dynamic cabin in some embodiments of this application.

[0038] Figure 14 This is a schematic diagram of the installation method of the dynamic cabin in some embodiments of this application.

[0039] Figure 15 This is a schematic diagram of the installation method of the dynamic cabin in some embodiments of this application.

[0040] Figure 16 This is a schematic diagram of the support fixture for the dynamic cabin in some embodiments of this application.

[0041] Figure 17 This is a schematic diagram illustrating the adjustment of the support fixture for the dynamic cabin in some embodiments of this application.

[0042] Figure 18 This is a schematic diagram of the temporary support rod of the dynamic cabin in some embodiments of this application.

[0043] Figure 19 This is a schematic diagram of the limiting buffer device of the dynamic cabin in some embodiments of this application.

[0044] Figure 20 This is a schematic diagram of the parking platform structure in some embodiments of this application.

[0045] Figure 21 This is a schematic diagram of the hydraulic system for the movement of the dynamic cabin in some embodiments of this application.

[0046] Explanation of reference numerals in the attached drawings: Mechanical support 1000, water system 2000, drive system 3000, dynamic cabin 4000, parking platform 5000, first parking platform 5001, second parking platform 5002; fixed base 1010, lower fixed base 1011, upper fixed base 1012, rotating frame 1020, first pitch pivot hole 1021, second pitch pivot hole 1022, second pivot hole 1023, sliding frame 1030, frame structure 1031, limiting guide rail 1040, first limiting guide rail 1041, second limiting guide rail 1042; foundation column 1043, base plate 1044, guide rail pad 1045; lateral axis system 1050, first pivot 1051, second pivot 1052. First pivot seat 1053, second pivot seat 1054, first pivot connecting seat 1055, pitch shaft system 1060, first pitch shaft 1061, second pitch shaft 1062, first pitch shaft seat 1063, second pitch shaft seat 1064; guide rail limit adjustment device 1100, pre-embedded screw 1101, upper pre-embedded screw 1101a, middle pre-embedded screw 1101b, lower pre-embedded screw 1101c, adjusting nut 1102, limit plate 1103, locking nut 1104, double nut 1104a, single nut 1104b, clamping bolt 1105; limit adjustment structure 1200, adjusting pad 1201, adjusting connecting screw 1202, buffer adjustment structure 1300, bullseye bearing 13 01. Spring 1302; Buffer base 1400; Limiting buffer device 1500; Roll buffer 1510; First roll buffer 1510a; Second roll buffer 1510b; Pitch buffer 1520; First upper pitch buffer 1520a; Second upper pitch buffer 1520b; First lower pitch buffer 1520c; Second lower pitch buffer 1520d; Water pipe 2010; High-pressure water circuit assembly 2020; High-pressure inlet pipe 2021; Low-pressure water circuit assembly 2030; Low-pressure inlet pipe 2031; First pipe 2032; Second pipe 2033; Third pipe 2034; Pitch shaft through-tube 2035; Rotary joint 2040; Outer ring 2041; Fixed joint 2042; Flow... 2043, ball bearing 2044, central support 2050, first hydraulic slip ring 2060, second hydraulic slip ring 2070, hose section 2081, second hose 2082, fixed water supply pipeline 2091, fixed platform 2092, first hinge 2093, second hinge 2094; adaptive pressure stabilizing pipeline structure 2100, telescopic cylinder 2110, cylinder barrel 2111, piston rod 2112, piston 2113, inner tube 2114, water passage hole 2115, water inlet 2120, water outlet 2130, first cavity 2140, second cavity 2150, support ring 2160, support ring seal 2171, piston seal 2172, third cavity 2180, connecting pipeline 2181, connecting interface 2190;Rolling cylinder 3010, first rolling cylinder 3010a, second rolling cylinder 3010b, pitching cylinder 3020, first pitching cylinder 3020a, second pitching cylinder 3020b, auxiliary support subsystem 3030, hydraulic oil source 3040, constant pressure variable pump 3041, accumulator 3042, locking device 3050, accumulator group 3060; first end 4010, second end 4020; water circuit control module 6100, preparation and calibration module 6200, parking platform control module 6300, swing control module 6400, monitoring module 6500; support fixture 7100, first jack 7101, second jack 7102, third jack 7103; temporary support rod 7200; rotating connector 7300; scaffolding 7400. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0048] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0049] In some embodiments of this application, an overall scheme for dynamic cabin simulation is proposed, including a motion device (including the overall support structure of the dynamic cabin), a water system, a limiting and buffering structure, a sway control system, an adaptive pressure-stabilizing pipeline structure, an overall control hydraulic system, and an installation method. Through the overall scheme for dynamic cabin simulation of this application, precise control of the dynamic cabin's roll and pitch, as well as sea state simulation, can be achieved.

[0050] refer to Figures 1-4 , Figure 21 , Figure 1 (a) is a schematic diagram of the dynamic cabin motion device from one view direction, and (b) is a schematic diagram of the dynamic cabin motion device from another view direction. Figure 2(a) is a schematic diagram of the overall structure of the dynamic cabin in the sliding direction, and (b) is a schematic diagram of the overall structure of the dynamic cabin in the rotating direction. In some embodiments, the dynamic cabin motion device is mainly used to realize the two-degree-of-freedom motion of the dynamic cabin body in roll and pitch. The dynamic cabin motion device mainly includes a mechanical support 1000 and a drive system 3000. The mechanical support 1000 mainly includes a fixed base 1010, a rotating frame 1020 (i.e., a swing frame), a sliding frame 1030, a roll axis system 1050, and a pitch axis system 1060. The drive system 3000 includes a roll drive subsystem, a pitch drive subsystem, and an auxiliary support subsystem 3030. Specifically, it includes a roll cylinder 3010, a pitch cylinder 3020, and an auxiliary cylinder. The roll cylinder 3010 is a roll servo hydraulic cylinder. The pitch cylinder 3020 is a pitch servo hydraulic cylinder. The auxiliary cylinder is an auxiliary hydraulic cylinder (i.e., an auxiliary support hydraulic cylinder).

[0051] In some embodiments, the rotating frame 1020 and sliding frame 1030 of the mechanical support 1000 are direct load-bearing structures of the dynamic cabin 4000, and are connected to the dynamic cabin 4000 through the lateral axis system 1050, allowing the dynamic cabin to sway around the lateral axis system 1050. The rotating frame 1020 is connected to the fixed base 1010 through the longitudinal axis system 1060, and the sliding frame 1030 can only move up and down under the constraint of the limiting guide rail 1040, allowing the sliding frame 1030 to drive the dynamic cabin to sway around the longitudinal axis system 1060.

[0052] The folding parking platform 5000 folds down via hydraulic cylinders when the dynamic cabin is in motion, and stands up via hydraulic cylinders when the dynamic cabin is stopped, with the sliding frame 1030 resting on the parking platform 5000. Limit position buffers, i.e., limit buffer devices 1500, are installed on the rotating frame 1020, the parking platform 5000, and the limit guide rail 1040 to provide overtravel protection against roll and pitch.

[0053] The 3000 drive system employs a hydraulic system, specifically a hydraulic servo system. This system consists of a hydraulic oil storage device, a hydraulic pump, a monitoring device, pipelines, and valves. It utilizes multi-level protection and automated program control, enabling the swing cabin to perform swing motion according to a preset motion model while meeting requirements for motion accuracy and stability.

[0054] The roll drive subsystem's roll servo cylinder, i.e., roll cylinder 3010, is connected to the rotating frame 1020, driving the dynamic cabin 4000 to rotate around the roll axis 1050, thus completing the roll drive. The pitch drive subsystem's pitch servo cylinder, i.e., pitch cylinder 3020, is connected to the sliding frame 1030 and the foundation, driving the dynamic cabin 4000 to rotate around the pitch axis 1060, thus completing the pitch drive. The auxiliary hydraulic cylinder of the auxiliary support subsystem 3030 is connected to the sliding frame 1030 and the foundation, achieving gravity balance of the dynamic cabin under the pressure adaptation of the accumulator group 3060. The control valve groups of each subsystem, combined with the sway control system, perform electro-hydraulic control of the hydraulic cylinders, realizing motion drive control, safety protection, etc. The hydraulic oil source 3040 adopts a combination of constant pressure variable pump 3041 and accumulator 3042 to provide sufficient and suitable pressure and flow hydraulic energy to the drive system 3000. The pitch servo cylinder and roll servo cylinder are equipped with locking devices, which can achieve locking at any position, including the zero position.

[0055] In some embodiments, the dynamic cabin includes a dynamic cabin motion device. It is understood that the dynamic cabin motion device can be used to realize the two-degree-of-freedom motion of the dynamic cabin body, i.e., the roll and pitch motion of the dynamic cabin body. The dynamic cabin motion device can be an integrated dynamic cabin system including a water system, a limiting and buffering structure, a sway control system, an adaptive pressure-stabilizing pipeline structure, and an overall control hydraulic system.

[0056] In some embodiments of this application, the dynamic cabin 4000 is along the longitudinal direction ( Figure 1 The length L1 along the X direction is not less than 10m, and along the transverse direction ( Figure 1 The width W1, perpendicular to the X and Z directions, is not less than 8m, and along the vertical direction ( Figure 1 The height H1 (in the Z direction) is not less than 8m. In some embodiments, the maximum mass of the dynamic cabin 4000 is not less than 400t. In some embodiments, the maximum range of roll motion of the dynamic cabin is ±20°, the maximum roll speed is 0.2rad / s, the maximum range of pitch motion is ±10°, and the maximum pitch speed is 0.1rad / s.

[0057] In some embodiments of this application, a dynamic cabin motion device may be provided, which includes a mechanical support 1000, a water system 2000, and a drive system 3000.

[0058] The mechanical support 1000 includes a fixed base 1010, a rotating frame 1020, a sliding frame 1030, a limiting guide rail 1040, a lateral rocking axis system 1050, and a longitudinal rocking axis system 1060.

[0059] The drive system 3000 includes a roll cylinder 3010 and a pitch cylinder 3020.

[0060] A dynamic cabin 4000 is provided between the sliding frame 1030 and the rotating frame 1020. The lateral cylinder 3010 is connected to the dynamic cabin 4000. The dynamic cabin 4000 is connected to the rotating frame 1020 through the lateral shaft system 1050. The dynamic cabin 4000 can complete the lateral swing around the lateral shaft system 1050 under the drive of the lateral cylinder 3010.

[0061] The rotating frame 1020 is connected to the fixed base 1010 via the pitch axis 1060. The pitch cylinder 3020 is connected to the sliding frame 1030. The sliding frame 1030 is set between the limit guide rails 1040. The sliding frame 1030 can drive the dynamic cabin 4000 to complete the pitch swing around the pitch axis 1060 under the drive of the pitch cylinder 3020.

[0062] The water system 2000 includes a water pipe 2010, which passes through the roll axis 1050 and the pitch axis 1060 and is connected to the dynamic hull 4000.

[0063] In the embodiments of this application, the rotating frame is connected to the fixed base via a pitch axis system, while the dynamic cabin is connected to the rotating frame via a roll axis system. The dynamic cabin motion device can simultaneously achieve two degrees of freedom of roll and pitch motion at one end of the rotating frame. Furthermore, water pipes pass through the roll and pitch axes systems and are connected to the dynamic cabin, enabling a smooth and stable supply of low-pressure and high-pressure water simultaneously, simulating various sea conditions. The overall structure has high reliability, a reasonable layout of the roll and pitch axes, precise positioning, good control stability, and high sway control accuracy.

[0064] In some embodiments, the dynamic cabin 4000 has a first end 4010 and a second end 4020, wherein the first end 4010 of the dynamic cabin 4000 is located on the sliding side and the second end 4020 is located on the rotating side. It is understood that the sliding side is the side where the sliding frame 1030 is installed, and the rotating side is the side where the rotating frame 1020 is installed.

[0065] In some embodiments, the roll axis system 1050 includes a first pivot 1051 and a second pivot 1052. The first pivot 1051 is disposed at a first end 4010 of the dynamic cabin 4000, and the pitch axis system 1060 and the second pivot 1052 are disposed at a second end 4020 of the dynamic cabin 4000. In some embodiments, the distance L2 between the first pivot 1051 and the second pivot 1052 of the roll axis system 1050 is not greater than 12m.

[0066] In some embodiments, the pitch axis system 1060 includes a first pitch axis 1061 and a second pitch axis 1062, the axes of the first pitch axis 1061 and the second pitch axis 1062 coincide and are perpendicular to the axis of the second axis 1052 of the roll axis system 1050, and the second axis 1052 is located above the first pitch axis 1061 and the second pitch axis 1062.

[0067] refer to Figure 18 and Figure 19 , Figure 18 (a) is a schematic diagram of the installation of the roll shaft system at the first end, and (b) is a schematic diagram of the installation of the roll shaft system and pitch shaft system at the second end. Specifically, the pitch shaft system 1060 includes a first pitch pivot seat 1063 and a second pitch pivot seat 1064, with a first pitch shaft 1061 and a second pitch shaft 1062 respectively mounted on the first pitch pivot seat 1063 and the second pitch pivot seat 1064. The roll shaft system 1050 includes a first pivot seat 1053 and a second pivot seat 1054, with a first pivot 1051 and a second pivot 1052 respectively mounted on the first pivot seat 1053 and the second pivot seat 1054.

[0068] In some embodiments, the rotating frame 1020 has a first pitch pivot hole 1021, a second pitch pivot hole 1022, and a second pivot hole 1023. Correspondingly, the first pitch pivot seat 1063 and the second pitch pivot seat 1064 each have a first pitch pivot seat hole and a second pitch pivot seat hole, respectively. The second pivot seat 1054 has a second pivot seat hole. The first pitch pivot 1061 is disposed within the first pitch pivot hole 1021 and the first pitch pivot seat 1063, and the second pitch pivot 1062 is disposed within the second pitch pivot hole 1022 and the second pitch seat hole. The second pivot 1052 is disposed within the second pivot hole 1023 and the second pivot seat hole. In the embodiments of this application, the rotating frame 1020, as a key support component for pitch and roll, bears the large mass of the dynamic cabin while simultaneously bearing the rotation of the first pitch pivot, the second pitch pivot, and the second pivot. Specifically, both the first pitch pivot 1063 and the second pitch pivot 1064 are fixedly connected to the fixed base 1010. The second pivot 1054 is fixedly connected to the second end of the dynamic cabin.

[0069] In some embodiments, the sliding frame 1030 is connected to the first rotating shaft seat 1053 via a first rotating shaft connecting seat 1055. The first rotating shaft seat 1053 has a first rotating shaft seat hole, and the first rotating shaft connecting seat 1055 has a first rotating shaft connecting hole. The first rotating shaft 1051 is disposed within the first rotating shaft seat hole and the first rotating shaft connecting hole. In embodiments of this application, the central axes of the first rotating shaft and the second rotating shaft are collinear and coincident.

[0070] In some embodiments, the first rotating shaft, the first pitching shaft, and the second pitching shaft are all hollow shafts, each with a through hole along its central axis. A low-pressure water inlet pipe 2031 passes through the first pitching shaft and the second pitching shaft. A high-pressure water inlet pipe 2021 passes through the first rotating shaft. In the embodiments of this application, by using hollow shafts, the water pipes of the water system can directly pass through the center of the rotating shaft, enabling water injection while the dynamic hull is rocking, without the two interfering with each other.

[0071] refer to Figures 4-6 In some embodiments, the low-pressure water inlet pipe 2031 includes a first pipe 2032, a second pipe 2033, and a third pipe 2034. The first pipe 2032 is located between the first pitch axis 1061 and the water source. The second pipe 2033 is located between the first pitch axis 1061 and the second axis 1052. The third pipe 2034 is located between the second axis 1052 and the dynamic cabin 4000.

[0072] In some embodiments, the low-pressure water inlet pipe 2031 is symmetrically arranged with respect to a first symmetry plane, which is a plane perpendicular to the axes of the first pitch axis 1061 and the second pitch axis 1062, and the axis of the second axis 1052 of the roll axis system 1050 coincides with the first symmetry plane. In the embodiments of this application, the flow rate requirement of the low-pressure water inlet pipe is relatively large. By setting symmetrical low-pressure water inlet pipes, the two pitch axes can be matched perfectly, and the large flow rate requirement can also be met.

[0073] In some embodiments, the water system 2000 includes a rotary joint 2040 and a central support 2050. The central support 2050 is fixedly connected to a second rotating shaft 1052. The rotary joint 2040 is connected to the central support 2050. The rotary joint 2040 includes an outer ring 2041 and a fixed joint 2042, which are rotatably connected. The outer ring 2041 is connected to the third pipe 2034, and the fixed joint 2042 is connected to the second pipe 2033. The fixed joint 2042 has a flow channel 2043 inside.

[0074] In some embodiments, the outer ring 2041 and the fixed joint 2042 are rotatably connected by a ball bearing 2044. The outer ring 2041 is fixedly connected to the second rotating shaft seat 1054, and the fixed joint 2042 is fixedly connected to the second rotating shaft 1052. In embodiments of this application, when the dynamic cabin is rocking, the third pipeline 2034 can rotate synchronously with the dynamic cabin and rotate relative to the fixed joint 2042.

[0075] In some embodiments, the water system 2000 includes a pitch shaft through-tube 2035. There are two pitch shaft through-tubes 2035, which are symmetrically arranged. The two pitch shaft through-tubes 2035 respectively pass through the first pitch shaft 1061 and the second pitch shaft 1062. The two ends of the pitch shaft through-tube 2035 are respectively connected to the first pipe 2032 and the second pipe 2033.

[0076] In some embodiments, a first liquid slip ring 2060 is connected to the first pipe 2032. The first liquid slip ring 2060 is connected between the rocker shaft through-tube 2035 and the first pipe 2032. The first liquid slip ring allows the rocker shaft through-tube and the first pipe to rotate smoothly relative to each other without interfering with leakage. Specifically, the first pipe is a fixed pipe and can be connected to a low-pressure water source. The first liquid slip ring has an inner ring and an outer tube, which can rotate relative to each other without leakage.

[0077] In the embodiments of this application, when the dynamic cabin pitches, the second and third pipelines can rotate synchronously with the dynamic cabin and can rotate relative to the first pipeline.

[0078] Figure 7 This is a schematic diagram of the adaptive pressure-stabilizing pipeline structure 2100 of the high-pressure water circuit assembly 2020 in some embodiments of this application. (Reference) Figure 7 In some embodiments, the high-pressure water circuit assembly 2020 includes an adaptive pressure-stabilizing pipeline structure 2100, which includes a telescopic cylinder 2110, an inlet 2120, and an outlet 2130.

[0079] The telescopic cylinder 2110 includes a cylinder barrel 2111, a piston rod 2112, a piston 2113, and an inner tube 2114. The inner tube 2114 is disposed inside the cylinder barrel 2111; both the piston rod 2112 and the inner tube 2114 have water passage holes 2115. The piston rod 2112 is cylindrical, and the piston 2113 is annular. One end of the piston rod 2112 is connected to the piston 2113, and the piston 2113 is disposed between the cylinder barrel 2111 and the inner tube 2114. The water inlet 2120 is directly connected to the inner tube 2114. The water outlet 2130 is directly connected to the piston rod 2112. The water outlet 2130 is connected to the high-pressure water inlet pipe 2021 of the high-pressure water circuit assembly 2020.

[0080] In some embodiments, a first cavity 2140 is provided between the piston rod 2112 and the top end of the inner tube 2114, and a second cavity 2150 is provided between the inner tube 2114 and the cylinder 2111.

[0081] The effective areas of the cross-sections of the first cavity 2140 and the second cavity 2150 are equal.

[0082] In some embodiments, the outer diameter of the inner tube 2114 is D1, the inner diameter of the cylinder 2111 is D2, the inner diameter of the piston rod 2112 is D3, and the outer diameter of the piston rod 2112 is D4. The matching design of D1, D2, D3, and D4 ensures that the effective cross-sectional areas of the first cavity 2140 and the second cavity 2150 are equal.

[0083] In some embodiments, a support ring 2160 and a support ring seal 2171 are provided between the piston rod 2112 and the inner tube 2114.

[0084] Piston seals 2172 are provided between the piston 2113 and the inner tube 2114, and between the piston 2113 and the cylinder 2111.

[0085] In some embodiments, a third cavity 2180 is provided between the piston 2113 and the lower end of the cylinder 2111, the third cavity 2180 having a connecting pipe 2181 connected to an expansion tank (not shown).

[0086] In some embodiments, the high-pressure water inlet pipe 2021 of the high-pressure water circuit assembly 2020 has a second liquid slip ring 2070.

[0087] In some embodiments, the second liquid slip ring 2070 is a bend, one end of which is connected to a horizontal high-pressure water inlet pipe 2021, and the other end of which is connected to an adaptive pressure stabilizing pipeline structure 2100.

[0088] In some embodiments, the first fluid slip ring 2060 and the second fluid slip ring 2070 have the same structure. In some embodiments, the inner diameters of the first fluid slip ring 2060 and the second fluid slip ring 2070 are different. In some embodiments, the inner diameter of the first fluid slip ring 2060 is 350 mm, and the inner diameter of the second fluid slip ring 2070 is 100 mm.

[0089] In some embodiments, a flexible hose section 2081 is provided between the bend and the adaptive pressure-stabilizing pipeline structure 2100.

[0090] In some embodiments, the adaptive pressure-stabilizing pipeline structure 2100 is connected to the dynamic chamber via a first flexible hose. In some embodiments, the flexible hose and the dynamic chamber are connected by a liquid slip ring. This liquid slip ring is a second liquid slip ring 2070, and the first flexible hose has a hose section 2081. In some embodiments, the second liquid slip ring 2070 is disposed between the outlet 2130 of the adaptive pressure-stabilizing pipeline structure 2100 and the first rotating shaft 1051 of the dynamic chamber. Specifically, a high-pressure water inlet pipe 2021 is disposed within the first rotating shaft 1051. A connection interface 2190 is provided between the high-pressure water inlet pipe 2021 and the first flexible hose. The second liquid slip ring 2070 is disposed at the connection interface 2190.

[0091] In some embodiments, the high-pressure water circuit assembly 2020 includes a fixed water supply pipe 2091, with a second flexible hose 2082 between the fixed water supply pipe 2091 and the water inlet 2120. The fixed water supply pipe 2091 is fixed to the fixed platform 2092. One end of the cylinder barrel 2111 of the telescopic cylinder 2110 is rotatably connected to the fixed platform 2092 via a first hinge 2093, and one end of the piston rod 2112 of the telescopic cylinder 2110 is rotatably connected to the frame structure 1031 via a second hinge 2094.

[0092] A dynamic cabin in some embodiments of this application includes a water system 2000, the water system 2000 including water pipes, the water pipes passing through the roll axis 1050 and connected to the dynamic cabin body 4000.

[0093] refer to Figures 8-12 In some embodiments of this application, a limiting and buffering structure for a dynamic cabin is provided. The limiting and buffering structure includes a guide rail limiting adjustment device 1100, a buffer base 1400, a limiting adjustment structure 1200, and a buffer adjustment structure 1300. The guide rail limiting adjustment device 1100 is connected to the limiting guide rail 1040. The buffer base is connected to the frame structure 1031, and a limiting adjustment structure is provided between the buffer base and the frame structure 1031. The buffer base is provided with the buffer adjustment structure.

[0094] In some embodiments, the limiting guide rail 1040 includes a first limiting guide rail 1041 and a second limiting guide rail 1042.

[0095] The sliding frame 1030 is disposed between the first limiting guide rail 1041 and the second limiting guide rail 1042. The first limiting guide rail 1041 and the second limiting guide rail 1042 are symmetrically arranged and have the same structure.

[0096] Both the first limiting guide rail 1041 and the second limiting guide rail 1042 include a guide rail limiting adjustment device 1100.

[0097] The sliding frame 1030 includes a frame structure 1031 and a buffer base, and the buffer base and the frame structure 1031 have a limit adjustment structure.

[0098] The buffer base is equipped with a buffer adjustment structure.

[0099] In some embodiments, the frame structure 1031 of the sliding frame 1030 is arc-shaped, the arc-shaped frame structure 1031 protrudes upward, and the sway cylinder 3020 is disposed below the frame structure 1031.

[0100] In some embodiments, at least two roll cylinders 3010 are provided, symmetrically arranged on both sides of the roll shaft system 1050. In some embodiments, the distance W2 between the two roll cylinders 3010 is not less than 3m. In some embodiments, the dynamic cabin 4000 has a length L1 = 10m, a width W1 = 8m, and a height H1 = 8m. The distance L2 between the first rotating shaft 1051 and the second rotating shaft 1052 of the roll shaft system 1050 is 12m. The distance W2 between the two roll cylinders 3010 is 3m.

[0101] In some embodiments, the first limiting guide rail 1041 and the second limiting guide rail 1042 include a base column 1043 and a base plate 1044. The guide rail limiting adjustment device 1100 includes a pre-embedded screw 1101, an adjusting nut 1102, and a limiting plate 1103. The pre-embedded screw 1101 is horizontally arranged inside the base column 1043, with one end extending out of the base column 1043, having an extended end. The adjusting nut 1102 is threadedly connected to the extended end. The base plate 1044 is disposed on the extended end. The limiting plate 1103 is disposed between the base plate 1044 and the adjusting nut 1102. The extended end passes through the base plate 1044 and is locked by a locking nut 1104.

[0102] In some embodiments, the first limiting guide rail 1041 and the second limiting guide rail 1042 include guide rail pads 1045, which are fixedly mounted on the surface of the base plate 1044. In some embodiments, the guide rail pads 1045 are fixedly mounted on the base plate 1044 by clamping bolts 1105. In some embodiments, the guide rail pads 1045 are made of wear-resistant material.

[0103] In some embodiments, there are multiple embedded screws 1101, including an upper embedded screw 1101a, a middle embedded screw 1101b, and a lower embedded screw 1101c. The locking nuts 1104 on the upper embedded screw 1101a and the lower embedded screw 1101c are double nuts 1104a, and the locking nut 1104 on the middle embedded screw 1101b is a single nut 1104b. In the embodiments of this application, the locking nuts on the upper and lower embedded screws are double nuts, and the locking nut on the middle embedded screw is a single nut. The single nut corresponds to the part connecting the guide rail pad, ensuring that the connection between the guide rail pad and the base plate is not damaged while locking.

[0104] In some embodiments, the limiting adjustment structure is provided in sets both above and below the buffer base. In some embodiments, the limiting adjustment structure includes multiple adjusting pads 1201. The multiple adjusting pads are fixedly connected between the buffer base and the frame structure 1031 by adjusting connecting screws 1202.

[0105] In some embodiments, the buffer adjustment structure includes a bullseye bearing 1301, and a spring 1302 is provided between the bullseye bearing and the buffer base. In some embodiments, the spring is a disc spring. In some embodiments, the gap X between the top end of the bullseye bearing 1301 and the guide rail pad 1045 is 1.5mm < X < 2mm. In the embodiments of this application, the gap X reserved between the top end of the bullseye bearing and the guide rail pad can prevent interference and jamming with the guide rail pad during the sliding process of the sliding frame. The gap X of 1.5mm < X < 2mm can effectively achieve sliding guidance without excessive interference.

[0106] In some embodiments, a method for adjusting the limiting buffer structure of a dynamic cabin is provided, including: if the deviation of the left and right column foundations is too large, adjusting the buffer bases at both ends of the sliding frame 1030 assembly is used to extend or retract the gap between the buffer base and the guide rail through the adjusting pad between the buffer base and the frame of the sliding frame 1030; the gap between the top of the bullseye bearing and the guide rail is adjusted to 1.5mm < X < 2mm.

[0107] refer to Figures 3-4 , Figure 8 , Figures 19-20 In some embodiments, the dynamic cabin motion device further includes a limiting buffer device 1500, which includes a roll buffer 1510 and a pitch buffer 1520.

[0108] The roll buffer 1510 is disposed on the rotating frame 1020 and is symmetrically disposed on both sides of the roll shaft system 1050, including a first roll buffer 1510a and a second roll buffer 1510b. Specifically, the first roll buffer 1510a and the second roll buffer 1510b are respectively disposed on both sides of the second rotating shaft hole 1023 on the rotating frame 1020.

[0109] In some embodiments, the roll buffer 1520 is disposed at least above the limiting guide rail 1040. In some embodiments, the roll buffer 1520 includes an upper roll buffer 1520 and a lower roll buffer 1520. The upper roll buffer 1520 is disposed above the limiting guide rail 1040. The lower roll buffer 1520 is disposed on the parking platform 5000. The dynamic cabin includes a parking platform 5000, which is used to place the sliding frame 1030. Specifically, the parking platform 5000 includes a first parking platform 5001 and a second parking platform 5002, which are respectively disposed near the first limiting guide rail 1041 and the second limiting guide rail 1042, and are used to support both ends of the sliding frame 1030.

[0110] The upper roll buffer 1520 includes a first upper roll buffer 1520a and a second upper roll buffer 1520b. The first upper roll buffer 1520a and the second upper roll buffer 1520b are respectively disposed on the top of the first limit guide rail 1041 and the second limit guide rail 1042. The lower roll buffer 1520 includes a first lower roll buffer 1520c and a second lower roll buffer 1520d. The first lower roll buffer 1520c and the second lower roll buffer 1520d are respectively disposed on the first parking platform 5001 and the second parking platform 5002.

[0111] In the embodiments of this application, the upper pitch buffer is used to buffer and limit the dynamic cabin's upward overtravel during pitching. The lower pitch buffer is used to buffer and limit the dynamic cabin's downward overtravel during pitching. The roll buffer is used to buffer and limit the dynamic cabin's roll angle overtravel during rolling. In the embodiments of this application, the limiting and buffering devices can effectively ensure the safety of the dynamic cabin's movement.

[0112] refer to Figure 13 and Figures 20-21 In some embodiments of this application, a sway control system for a dynamic cabin is provided. This sway control system includes a hydraulic system for the movement of the dynamic cabin, the hydraulic system including a drive system 3000. The dynamic cabin also includes a parking platform 5000 for placing a sliding frame 1030.

[0113] Specifically, in some embodiments, the parking platform 5000 is a folding parking platform. The parking platform 5000 includes a folding hydraulic cylinder 5010, a folding platform 5020, and a fixed platform 5030. The folding hydraulic cylinder 5010 is located between the folding platform 5020 and the fixed platform 5030. One end of the folding hydraulic cylinder 5010 is connected to one side of the fixed platform 5030, and the other end is connected to the top of the folding platform 5020. In some embodiments, the top of the folding platform 5020 has a parking surface 5021, and the fixed platform 5030 has a support surface 5031 above it. The parking surface 5021 is used to park the sliding frame. The support surface 5031 is used to support the folding platform 5020. A lower sway damper is disposed on the support surface 5031. In embodiments of this application, the folding hydraulic cylinder 5010 is connected to the parking platform control module. When the dynamic cabin is not in operation, the folding platform 5020 is in a vertical position, and the sliding frame can be placed on the parking surface 5021.

[0114] The control system includes: a water circuit control module 6100, configured to control the water circuit system 2000 to fill the dynamic cabin 4000 with water; a preparation and calibration module 6200, configured to perform preparation work for cylinder operation and position calibration; a parking platform control module 6300, configured to control the cylinder to drive the parking platform 5000 of the parking slide 1030 to fold down and stand up; and a swing control module 6400, configured to control the dynamic cabin 4000 to swing according to a preset swing angle and speed.

[0115] The water injection system 2000 into the dynamic hull 4000 includes: injecting high-pressure water through the high-pressure water circuit component 2020 to simulate a high-pressure pipeline environment; and injecting low-pressure water through the low-pressure water circuit component 2030 to simulate the mass of the target object. In some embodiments, the water injection system 2000 into the dynamic hull 4000 further includes: injecting low-pressure water through the low-pressure water circuit component 2030 to simulate water leakage due to damage to the target object. In some embodiments, the target object may be a ship, underwater equipment, etc.

[0116] In some embodiments, the control system further includes a monitoring module 6500, configured to monitor at least one of the following: cylinder stroke, cylinder speed, cylinder acceleration, oil temperature, oil pressure, and parking state. Specifically, it can monitor the cylinder stroke, cylinder speed, cylinder acceleration, oil temperature, and oil pressure of the roll cylinder and pitch cylinder. It can also monitor the cylinder stroke of the folding cylinder of the parking platform, as well as the folding and standing states of the parking platform.

[0117] In some embodiments, the swing control system further includes an auxiliary support subsystem 3030 and a hydraulic oil source 3040. Specifically, the auxiliary support subsystem 3030 includes an auxiliary cylinder, which is an auxiliary hydraulic cylinder. In some embodiments, there are two auxiliary hydraulic cylinders, namely a first auxiliary hydraulic cylinder 3030a and a second auxiliary hydraulic cylinder 3030b. The first auxiliary hydraulic cylinder 3030a and the second auxiliary hydraulic cylinder 3030b are symmetrically arranged on both sides of a first plane of symmetry. In the embodiments of this application, the symmetrical arrangement of the first and second auxiliary hydraulic cylinders not only serves a guiding function but also balances gravity, reduces the burden on the drive system, and ensures the accuracy of the drive and the stability of the system.

[0118] In some embodiments, the drive system 3000 includes a roll drive subsystem and a pitch drive subsystem. Of course, the auxiliary support subsystem 3030 can also be a component of the drive system 3000. Specifically, the drive system 3000 includes a roll cylinder 3010 and a pitch cylinder 3020. The roll cylinder 3010 is a roll servo cylinder, and there are two roll cylinders 3010, namely a first roll cylinder 3010a and a second roll cylinder 3010b. The pitch cylinder 3020 is a pitch servo cylinder, and there are two pitch cylinders 3020, namely a first pitch cylinder 3020a and a second pitch cylinder 3020b. A rocking control module is used to control the movement of the roll cylinders 3010 and 3020. In some embodiments, a locking device 3050 is installed on the roll cylinders 3010 and 3020 to achieve locking at any position, including the zero position. In some embodiments, the locking device is installed between the cylinder body and the piston.

[0119] In the embodiments of this application, the telescopic cylinder 2110 is disposed on the sliding side of the dynamic cabin and is located on the center plane of the dynamic cabin. The first auxiliary hydraulic cylinder 3030a and the second auxiliary hydraulic cylinder 3030b are symmetrically disposed on both sides of the telescopic cylinder 2110, and the first pitching cylinder 3020a and the second pitching cylinder 3020b are symmetrically disposed on both sides of the first auxiliary hydraulic cylinder 3030a and the second auxiliary hydraulic cylinder 3030b, respectively. In the embodiments of this application, the first pitching cylinder 3020a, the first auxiliary hydraulic cylinder 3030a, the telescopic cylinder 2110, the second auxiliary hydraulic cylinder 3030b, and the second pitching cylinder 3020b are arranged symmetrically in sequence, making reasonable use of the space under the sliding frame, and enabling auxiliary support and guidance, high-pressure water supply, and pitching drive when needed.

[0120] In some embodiments, the swing control module further includes a synchronization control submodule, a feedback control submodule, and a compensation control submodule.

[0121] In the embodiments of this application, the synchronization control submodule is used to control the synchronous operation of two roll cylinders. The synchronization control submodule is also used to control the synchronous operation of two pitch cylinders. The synchronization control submodule is also used to control the synchronous operation of two auxiliary hydraulic cylinders. In the embodiments of this application, due to limitations in manufacturing processes and installation levels, the system characteristics of each hydraulic cylinder subsystem in each direction of movement are not entirely consistent, and the tracking effects are also different. Moreover, since the dynamic chamber is a flexible system, it is affected by loads, and its roll direction movement will apply a dynamic force with an off-center load on one side, and the dynamic off-center loads are also different. When the synchronization error is too large, some embodiments of this application use a cross-coupling method to suppress the peak value of the synchronization error.

[0122] In some embodiments, the feedback control submodule is used to perform feedback control based on cylinder stroke, cylinder speed, cylinder acceleration, hydraulic pressure, etc., so that the roll cylinder and pitch cylinder are driven according to a preset motion model to realize the swaying motion of the dynamic cabin. In the embodiments of this application, the dynamic cabin itself has relatively low damping, belonging to an underdamped system, with poor disturbance resistance, and the control effect of the controller will be affected by the load change. In the embodiments of this application, a control algorithm that fuses displacement and pressure multi-sensor sensors is used, and a pressure inner loop is added to increase the damping ratio of the entire closed-loop system, improve the system's disturbance resistance, and the system's pressure inner loop can adaptively adjust the control quantity according to the load size to realize dynamic load adaptive feedback and achieve high-precision tracking control under large inertia dynamic loads.

[0123] In some embodiments, the compensation control submodule adds predictive control to the traditional PID controller, establishing a pulse feedforward compensation control based on the proportional-integral predictive (PIP) control algorithm. According to the location and magnitude of the impact, it adjusts the corresponding valve opening to increase torque output and dynamically compensate for the impact. Using pulse predictive compensation control can effectively counteract the effects of the impact, allowing the system to maintain the same tracking accuracy under impact as without impact, and the shape of the sway position curve does not show significant distortion.

[0124] In some embodiments, this application provides a dynamic cabin motion control method, which is applied to the dynamic cabin motion device as described in any of the preceding claims. The dynamic cabin motion control method includes: injecting water into the dynamic cabin 4000 through a water system 2000; activating the roll cylinder 3010 and the pitch cylinder 3020; driving the folding parking platform 5000 of the folding parking slide frame 1030 through the cylinders; and controlling the dynamic cabin 4000 to perform swaying motion according to a preset swaying angle and speed.

[0125] In some embodiments, a sway control method for a dynamic cabin is provided, the method being applied to a sway control system as described in any of the preceding embodiments, the sway control method comprising: an auxiliary hydraulic cylinder of an auxiliary support subsystem 3030 connecting a sliding frame 1030 to a foundation, i.e., a fixed platform 2092, to achieve gravity balance of moving parts under pressure adaptation of an accumulator group 3060.

[0126] In some embodiments, the swing control method further includes: the hydraulic oil source 3040 adopts a combination of constant pressure variable pump 3041 and accumulator 3042 to provide sufficient and suitable pressure and flow hydraulic energy to the drive system 3000.

[0127] In some embodiments, the rocking control method further includes locking at any position, including the zero position, by means of locking devices installed on the lateral rocking cylinder 3010 and the longitudinal rocking cylinder 3020.

[0128] In some embodiments, a method for installing a dynamic cabin is provided. The method is applied to the dynamic cabin motion device as described in any of the preceding embodiments. The fixed base 1010 includes an upper fixed base 1012 and a lower fixed base 1011. The installation method includes: fixing the lower fixed base 1011 to a horizontal surface; fixing the limiting guide rail 1040 to a horizontal surface; placing the parking platform 5000 between the limiting guide rails 1040; placing the pitching hydraulic base between the parking platforms 5000; fixing the upper fixed base 1012 to the lower fixed base 1011; installing the rotating frame 1020 to the upper fixed base 1012; installing the sliding frame 1030 to the parking platform 5000; installing the sliding side roll axis 1050 to the sliding frame 1030; installing the dynamic cabin body 4000 between the rotating frame 1020 and the sliding side roll axis 1050; installing the drive system 3000; and installing the water system 2000. In the embodiments of this application, the parking platform 5000 is a folding parking platform 5000.

[0129] refer to Figure 14 In some embodiments, the installation method includes: determining the central axis, the fixed base axis, and the sliding frame axis; installing the lower fixed base 1011 according to the central axis and the fixed base axis; after positioning the lower fixed base 1011, measuring the positioning dimensions of the lower fixed base 1011, including: horizontal elevation, the overall horizontal elevation of the upper plane of the lower fixed base 1011 with a deviation of less than or equal to 1 mm; the symmetrical deviation relative to the central axis to the left and right is less than or equal to 1.5 mm; and installing the limiting guide rail 1040 according to the central axis and the sliding frame axis.

[0130] refer to Figure 15In some embodiments, the limiting guide rail 1040 includes a first limiting guide rail 1041 and a second limiting guide rail 1042, and the first limiting guide rail 1041 and the second limiting guide rail 1042 include a foundation column 1043, a base plate 1044, and a guide rail pad 1045.

[0131] The limiting guide rail 1040 is fixedly installed on a horizontal surface, including: measuring the upper and lower distances of the mounting surfaces of the base plate 1044 to ensure that the deviation D11 ≤ 3mm. The diagonal is measured to ensure that the symmetry deviation D12 from the central axis is ≤ 1.5mm.

[0132] Install the guide rail pads 1045. After installation, measure the distance between the two guide rail pads 1045, and measure the vertical distances AB and CD respectively, ensuring that the deviation D21 ≤ 3mm. Measure the diagonals AD and BC of the two guide rail pads 1045, ensuring that the symmetry deviation with the central axis D22 ≤ 1.5mm.

[0133] In some embodiments, fixing the limiting guide rail 1040 to a horizontal surface includes adjusting the spacing of the base plates 1044 on the left and right foundation columns 1043 by adjusting the adjusting nut 1102 on the pre-embedded screw.

[0134] In some embodiments, the connection method between the base plate 1044 and the pre-embedded screw 1101 includes: using double nuts 1104a at the upper and lower ends; using a single nut 1104b in the middle section; and installing the guide rail pad 1045 after the base plate 1044 and the pre-embedded screw 1101 are locked together.

[0135] refer to Figures 16-17 , Figure 17 (a) is a schematic diagram of installation via a support fixture from one perspective, and (b) is a schematic diagram of installation via a support fixture from another perspective. In some embodiments, mounting the sliding bracket 1030 on the parking platform 5000 includes adjusting the positioning of the sliding bracket 1030 assembly.

[0136] Specifically, the installation method includes: setting up a support fixture 7100.

[0137] Specifically, jacks are used on the supporting fixture 7100 for vertical adjustment; the jack used for vertical adjustment is the first jack 7101.

[0138] A jack is used on the supporting fixture 7100 for front-to-back adjustment; the jack used for front-to-back adjustment is the second jack 7102.

[0139] A cylindrical hydraulic jack is installed between the guide rail base plate 1044 and the buffer base for left and right adjustment. The cylindrical hydraulic jack used for left and right adjustment is the third jack 7103.

[0140] In some embodiments, the installation method of the dynamic cabin further includes setting up scaffolding 7400. By setting up scaffolding 7400, the installation and commissioning can be carried out at a certain installation height.

[0141] refer to Figure 18 In some embodiments, after the sliding side rocker shaft system 1050 assembly is positioned, temporary support rods 7200 are added on both sides to support the rocker bearing seat. In some embodiments, a temporary support rod 7200 is also provided between the rotating frame 1020 and the fixed base 1010. The temporary support rods ensure accurate positioning and prevent displacement before completion.

[0142] In some embodiments, the dynamic cabin 4000 is installed between the rotating frame 1020 and the sliding side roll axis 1050, including: welding and fixing both sides of the dynamic cabin 4000 to the rotating frame 1020 and the sliding side roll axis 1050 respectively through the rotating connector 7300, i.e., the support. In the embodiments of this application, both sides of the dynamic cabin 4000 are welded to the rotating connector 7300 respectively, and the rotating connectors 7300 at both ends are fixedly connected to the first rotating shaft seat 1053 and the second rotating shaft seat 1054 respectively by bolts.

[0143] In some embodiments, installing the water system 2000 includes installing water pipes and water system components from top to bottom.

[0144] In some embodiments, a dynamic cabin is also provided, which is obtained by the installation method of the dynamic cabin as described in any of the preceding embodiments.

[0145] In the embodiments of this application, the rotating frame and sliding frame of the mechanical support are the direct load-bearing structures of the dynamic cabin. They are connected to the dynamic cabin through a lateral axis system, allowing the dynamic cabin to sway laterally around the lateral axis system. The rotating frame is connected to the fixed support base through a longitudinal axis system. The sliding frame, constrained by the limit guide rail, can only move up and down, and can drive the dynamic cabin to sway longitudinally around the longitudinal axis system. The folding-down parking platform folds down via a hydraulic cylinder when the dynamic cabin is moving, and stands up via a hydraulic cylinder when the dynamic cabin is stopped, with the sliding frame resting on the parking platform. Limit position buffers are installed on the rotating frame and the folding-down parking platform to achieve overtravel protection for lateral and longitudinal movements.

[0146] In the embodiments of this application, the hydraulic system consists of a hydraulic oil storage device, a hydraulic pump, a monitoring device, pipelines, and valves. It employs multi-level protection and automatic program control, enabling the rocking cabin to perform rocking motion according to the required motion model while meeting the requirements for motion accuracy and stability. Specifically, the roll drive subsystem's roll servo cylinder connects the sliding frame and the roll shaft to complete the roll drive. The pitch drive subsystem's pitch servo cylinder connects the sliding frame and the foundation to complete the pitch drive. The auxiliary support subsystem's auxiliary hydraulic cylinder connects the sliding frame and the foundation, achieving gravity balance of the moving parts under the pressure adaptation of the accumulator group. The control valve groups of each subsystem, combined with the control system, perform electro-hydraulic control of the hydraulic cylinders, realizing motion drive control and safety protection. The hydraulic oil source uses a combination of a constant-pressure variable pump and accumulator oil supply to provide sufficient and suitable pressure and flow hydraulic energy to the drive system; locking devices are installed on the pitch and roll servo cylinders, enabling locking at any position, including zero position.

[0147] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A sway control system for a dynamic cabin, characterized in that, The dynamic cabin includes a dynamic cabin body, a mechanical support, a water system, and a drive system; the mechanical support includes a fixed base, a rotating frame, a sliding frame, a limiting guide rail, a roll axis system, and a pitch axis system; the drive system includes roll cylinders and pitch cylinders; the sway control system also includes an auxiliary support subsystem and a hydraulic oil source, and the auxiliary support subsystem includes two auxiliary hydraulic cylinders; The dynamic cabin also includes a parking platform for placing the sliding frame; The swing control system includes: The water system control module is configured to control the water system's water injection into the dynamic chamber. Prepare the calibration module and configure it to perform cylinder operation preparation and position calibration. The parking platform control module is configured to control the hydraulic cylinder to drive the parking platform to fold down and erect the parking sliding frame; The sway control module is configured to control the dynamic cabin to sway according to a preset sway angle and speed. The water system includes a high-pressure water system component and a low-pressure water system component. The water control system for injecting water into the dynamic chamber includes: High-pressure water is injected through a high-pressure water circuit component to simulate a high-pressure pipeline environment; The mass of the target object is simulated by injecting low-pressure water through a low-pressure water circuit component. The water control system for injecting water into the dynamic chamber also includes: injecting low-pressure water through a low-pressure water circuit component to simulate water leakage caused by damage to the target object; The swing control module also includes a synchronization control submodule, a feedback control submodule, and a compensation control submodule; The synchronization control submodule is used to control the synchronous operation of two roll cylinders, the synchronous operation of two pitch cylinders, and the synchronous operation of two auxiliary hydraulic cylinders. The feedback control submodule is used to perform feedback control based on the cylinder stroke, cylinder speed, cylinder acceleration, and hydraulic pressure, so that the roll cylinder and pitch cylinder are driven according to the preset motion model to realize the dynamic swaying motion of the cabin. The compensation control submodule is configured to add predictive control to the traditional PID controller, establish pulse feedforward compensation control based on proportional-integral predictive control strategy, and adjust the corresponding valve opening according to the position and magnitude of the impact to increase torque output and dynamically compensate for the impact.

2. The sway control system for the dynamic cabin according to claim 1, characterized in that, The swing control system also includes a monitoring module configured to monitor at least one of the following: cylinder stroke, cylinder speed, cylinder acceleration, oil temperature, oil pressure, and parking status.

3. The sway control system for the dynamic cabin according to claim 2, characterized in that, Locking devices are installed on the horizontal and vertical cylinders to achieve locking at any position, including the zero position.

4. A method for controlling the swaying of a dynamic cabin, characterized in that, The method is applied to the sway control system of the dynamic cabin as described in any one of claims 1-3, characterized in that the sway control method includes: the auxiliary hydraulic cylinder of the auxiliary support subsystem connects the sliding frame and the foundation, and under the pressure adaptation of the accumulator group, the dynamic cabin achieves gravity balance.

5. The method for controlling the swaying of a dynamic cabin according to claim 4, characterized in that, The method further includes: the hydraulic oil source adopts a combination of constant pressure variable pump and accumulator oil supply to provide sufficient and suitable pressure and flow hydraulic energy for the drive system.

6. The method for controlling the swaying of a dynamic cabin according to claim 5, characterized in that, Locking at any position, including the zero position, is achieved by using locking devices installed on the horizontal and vertical hydraulic cylinders.

7. A dynamic cabin, characterized in that, The dynamic cabin includes the sway control system of the dynamic cabin as described in any one of claims 1-3.

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