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Control method for multi-degree-of-freedom displacement variation compensation platform and control system

A technology of displacement change and control method, applied in the direction of controller and electric controller with specific characteristics, which can solve the problems of poor compensation accuracy, inability to predict the movement trend of the lower platform in advance, and inaccurate compensation amount of the actuator.

Active Publication Date: 2018-07-20
KEEN OFFSHORE ENG CO LTD +1
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Problems solved by technology

However, in the wave compensation process of the existing multi-degree-of-freedom platform, the compensation amount of each actuator is inaccurate, and the movement trend of the lower platform cannot be predicted in advance, resulting in hysteresis of compensation and poor compensation accuracy. The platform cannot always remain on the same level

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  • Control method for multi-degree-of-freedom displacement variation compensation platform and control system
  • Control method for multi-degree-of-freedom displacement variation compensation platform and control system
  • Control method for multi-degree-of-freedom displacement variation compensation platform and control system

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Embodiment Construction

[0044] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0045] The control method of the multi-degree-of-freedom displacement compensation platform of this embodiment, such as figure 1 As shown, including controller 1 and multi-degree-of-freedom platform 2, such as figure 2 As shown, the multi-degree-of-freedom platform 2 includes an upper platform 21, a lower platform 22, and six actuators 23 hinged between the upper platform 21 and the lower platform 22, and the controller 1 drives the actuators 23 through a servo valve 24. The piston rod telescopic of device 23 comprises the following steps:

[0046] Step A, such as image 3 As shown, the static coordinate system OXYZ is established on the upper platform 21, the center of the circumscribed circle of the upper platform 21 is selected as the origin of the static coordinate system, and the dynamic coo...

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Abstract

The invention discloses a control method for a multi-degree-of-freedom displacement variation compensation platform and a control system. The control method comprises a controller and a multi-degree-of-freedom platform, wherein the multi-degree-of-freedom platform comprises an upper platform, a lower platform and six actuators hinged between the upper platform and the lower platform, the actuatorsare driven to expand and contract through servo valves, the attitude of the lower platform is measured through an attitude sensor, the corresponding compensation amount Ki of the six actuators is obtained according to the expansion and contraction quantity [delta]di of the six actuators, Ki=-[delta]di, and then the six servo valves are controlled to respectively drive piston rods of the corresponding actuators to move until reaching the corresponding compensation amount Ki. The control method is used for performing PID closed-loop adjustment and correction on the prediction deviation betweena future motion curve and an actual motion curve and performing secondary correction on the prediction deviation between the future motion curve and the actual motion curve according to the actual displacement of the six actuators.

Description

technical field [0001] The invention relates to the field of marine transportation operation equipment, in particular to a control method and a control system for a multi-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, it is often necessary to set up a multi-degree-of-freedom platform to compensate the roll, pitch and heave of the upper platform in real time by adjusting the telescopic and swaying of the six actuators, so as to keep the upper platform stable. However, in the wave compensation process of the existing multi-degree-of-freedom platform, the compensation amount of each actuator is inaccurate, and the movement trend of the lower platform cannot be predicted in advance, resulting in hysteresis and poor compensation accuracy. Platforms cannot always remain on the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 麦志辉黄鹏邓达紘李光远吴平平陆军张静波马振军陈峰
Owner KEEN OFFSHORE ENG CO LTD
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