The invention relates to a motion compensation type
pile gripper perpendicularity adjustment control method which comprises the following steps: 1, mounting a tilt angle sensor and a displacement sensor on a
pile gripper for detecting the tilt angle theta of a
pile body and the position of a supporting arm in real time; step 2, acquiring a current inclination angle value theta c and a target value theta t through a
control system, calculating a real-time perpendicularity deviation
delta theta = theta c-theta t, and driving a
servo mechanism to adjust the position of a supporting arm according to the perpendicularity deviation
delta theta so as to perform motion compensation; and step 3, dynamically correcting the compensation process by using a closed-
loop control algorithm until the condition that verticality adjustment is completed is met, namely
delta theta is less than or equal to epsilon, and epsilon is an allowable error threshold. A high-precision inclination angle sensor and a displacement sensor are installed on the pile gripper, the inclination angle of a pile body and the position deviation of a supporting arm are detected in real time, and a
control signal is dynamically generated through a closed-
loop control algorithm to drive a
servo mechanism to conduct adjustment. A dynamic parameter compensation mechanism is designed,
control parameters are corrected in real time according to the inclination angle of the foundation and external force interference, the adjusting precision and stability under the conditions of complex terrains and dynamic external force are remarkably improved, a
servo mechanism achieves precise action through a hydraulic driving
system and a
proportional control valve, the
response time of the servo mechanism meets the
engineering requirement, and the
engineering cost is reduced. And the perpendicularity error of the pile body can be controlled within a preset range, the construction efficiency and the long-term stability are improved, and the problem that a traditional manual adjustment and mechanical
auxiliary system is insufficient in precision is solved.