A debugging method for a six-degree-of-freedom displacement compensation platform

Abstract

The invention discloses a debugging method of a six-degree-of-freedom displacement change compensation platform. Before the assembling process of the six-degree-of-freedom displacement change compensation platform, the open loop debugging is carried out on hydraulic cylinders. Whether the actual stroke of each hydraulic cylinder is the same as a preset stroke or not is detected through an electronic ruler. Six hydraulic cylinders are subjected to joint debugging, and the PID closed-loop adjustment and correction is carried out on each hydraulic cylinder until the six hydraulic cylinders can achieve synchronously linear movements and mutually sine and cosine curve movements. A posture sensor is randomly swung, wherein the following motion is debugged firstly, and then the compensation motion is debugged. The factory performance of the six-degree-of-freedom displacement change compensation platform is optimized, and the field debugging difficulty thereof is reduced. Meanwhile, the fielddebugging period of the platform is shortened.

Description

technical field [0001] The invention relates to the field of marine transportation operation equipment, in particular to a debugging method for a six-degree-of-freedom displacement change compensation platform. Background technique [0002] Due to the influence of wind and waves, ships operating at sea will sway irregularly, which seriously affects the safety of staff when working at sea. Therefore, the six-degree-of-freedom displacement compensation platform is often set up, and the rolling, pitching and heaving of the upper platform are compensated in real time by adjusting the expansion and swing of the six hydraulic cylinders, so that the upper platform remains stable. However, the existing six-degree-of-freedom displacement compensation platform is installed and debugged on site, and the debugging period is long and difficult to debug. Moreover, due to the limitation of on-site environmental conditions, the debugging accuracy is often poor, which affects the actual perf...

AI Technical Summary

Problems solved by technology

However, the existing six-degree-of-freedom displacement compensation platform is installed and debugged on site, and the debugging period is long and difficult to debug. Moreover, due to the limitation of on-site environmental conditions, the debugging accuracy is often poor, which affects the actual performance of the multi-degree-of-freedom platform.

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