CN106882344A - A kind of compensation of undulation measurement apparatus, measuring method and use its ocean platform - Google Patents
A kind of compensation of undulation measurement apparatus, measuring method and use its ocean platform Download PDFInfo
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- CN106882344A CN106882344A CN201710081167.9A CN201710081167A CN106882344A CN 106882344 A CN106882344 A CN 106882344A CN 201710081167 A CN201710081167 A CN 201710081167A CN 106882344 A CN106882344 A CN 106882344A
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- compensation
- heave
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- rolling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/005—Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a kind of compensation of undulation measurement apparatus, measuring method and use its ocean platform, including compensation drive unit and platform displacement measurement unit, the compensation drive unit includes rolling compensation driver, pitching compensation driver, heave compensation driver and drive link；Six linear movement pick-ups are connected on described between measurement plate and lower measurement plate.Platform displacement measuring unit is set to simulate six degree of freedom platform, six servoBcylinders of six of which linear movement pick-up correspondence six degree of freedom platform；The compensation drive unit is set, compensation of undulation is carried out with to platform displacement measuring unit, so as to measure the compensation of undulation amount of six servoBcylinders of six degree of freedom platform, complicated parallel manipulator programmed algorithm is converted into mechanical sender mechanism, reduces compensation of undulation measurement difficulty.
Description
Technical field
The present invention relates to marine transportation implement field, more particularly to a kind of compensation of undulation measurement apparatus, measuring method
And use its ocean platform.
Background technology
Due to the influence of stormy waves, the ship of operation on the sea can produce it is irregular wave, this has had a strong impact on staff
At sea security during operation.Therefore, often through setting six degree of freedom platform, by adjust the flexible of six servoBcylinders and
Rolling, pitching and the heave for carrying out real-Time Compensation upper mounting plate are waved, so that upper mounting plate held stationary.But it is existing to be directed to six freely
The compensation of undulation measuring mechanism for spending platform is required to stroke needed for the algorithm of complexity goes directly to calculate the compensation of each servoBcylinder, surveys
Amount difficulty is big, and measurement cost is high, and compensation precision is not high, it is necessary to continue to optimize algorithm to improve compensation precision.
The content of the invention
It is an object of the invention to propose that a kind of calculate complicated algorithm is converted into mechanical sender, measurement is more directly perceived accurate
Really, measurement cost and difficulty, compensation precision compensation of undulation measurement apparatus high are reduced.
It is an object of the invention to propose that a kind of calculate complicated algorithm is converted into mechanical sender, measurement is more directly perceived accurate
Really, measurement cost and difficulty, compensation precision compensation of undulation measuring method high are reduced.
It is an object of the invention to propose that a kind of calculate complicated algorithm is converted into mechanical sender, measurement is more directly perceived accurate
Really, measurement cost and difficulty, compensation precision ocean platform high are reduced.
It is that, up to this purpose, the present invention uses following technical scheme：
A kind of compensation of undulation measurement apparatus, including compensation drive unit and platform displacement measurement unit, the compensation drive
Unit includes rolling compensation driver, pitching compensation driver, heave compensation driver and drive link；
The output shaft of rolling compensation driver and the output shaft of pitching compensation driver with the top of drive link
Connection, and the rolling compensates driver and pitching compensation driver is mutually perpendicular to, the rolling compensation driver drives institute
State drive link to move along the x-axis, drive link described in the pitching compensation driver drives is moved along Y-axis；
The platform displacement measuring unit includes upper measurement plate and lower measurement plate, and the upper measurement plate activity is placed on driving and connects
Bar；The bottom of the drive link is provided with heave drive installation plate, and two heave compensation drivers of setting are installed on described
The two ends of drive installation plate are heaved, and the output shaft of the heave compensation driver and the lower surface of upper measurement plate connect, institute
Measurement plate in heave compensation driver drives is stated to be moved along Z axis；
The lower measurement plate is arranged at the lower section of measurement plate and is parallel to each other with upper measurement plate, on described measurement plate and
Six linear movement pick-ups are connected between lower measurement plate, the upper end of each linear movement pick-up respectively passes through a upper cardan
With the connection of upper measurement plate, the lower end of each linear movement pick-up is respectively connected by a lower cardan and lower measurement plate；Institute
State measurement plate and be provided with three not hinged supports on collinear, the two neighboring linear movement pick-up is hinged on same
Individual upper hinged support；The lower measurement plate is provided with three not in collinear lower hinged support, the two neighboring displacement of the lines
Sensor is hinged on same lower hinged support.
Preferably, also including attitude transducer, connection corner bracket and motion controller, the attitude transducer and motion control
Device is installed in lower measurement plate；
The connection corner bracket is right angle frame, and two bursts of the connection corner bracket are provided with connection through hole, the connection corner bracket
Be placed on that the rolling compensates driver and pitching is compensated on driver by the connection through hole, the top of the drive link and
The connection corner bracket connection；
The rolling compensation driver, pitching compensation driver, heave compensation driver, linear movement pick-up and attitude are passed
Sensor is electrically connected with the motion controller.
Preferably, the rolling compensation driver includes rolling motor, rolling shaft coupling, rolling screw mandrel body and horizontal stroke
Reeling stem nut, the rolling motor is connected by rolling shaft coupling and rolling feed screw nut；The rolling screw mandrel body
Rolling feed screw nut is socketed on, and the rolling screw mandrel body is connected through the top of the connection corner bracket and drive link；
The rolling motor drives rolling screw mandrel body to move back and forth by rolling shaft coupling.
Preferably, the pitching compensation driver includes pitching motor, pitching shaft coupling, pitching screw mandrel body and indulges
Reeling stem nut, the pitching motor is connected by pitching shaft coupling and pitching feed screw nut；The pitching screw mandrel body
Pitching feed screw nut is socketed on, and the pitching screw mandrel body is connected through the top of the connection corner bracket and drive link；
The pitching motor drives pitching screw mandrel body to move back and forth by pitching shaft coupling.
Preferably, the heave compensation driver includes that heave screw mandrel, heave turbine, heave worm screw and heave drive electricity
Machine, the lower surface connection on the top and upper measurement plate of the heave screw mandrel；The heave motor is installed on heave and drives peace
On dress plate, the output shaft connection of the heave worm screw and heave motor；
The heave Cover For A Turbine is on heave screw mandrel, and the external tooth of the heave turbine and the external tooth of heave worm screw are nibbled
Close；The heave motor drives heave screw mandrel to move up and down by heaving turbine；
Heave connecting plate is additionally provided with, the heave screw mandrel of two heave compensation drivers is installed on the two of heave connecting plate
End.
Preferably, using the ocean platform of the compensation of undulation measurement apparatus, including hull, six degree of freedom platform and described
Compensation of undulation measurement apparatus, the lower measurement plate of the compensation of undulation measurement apparatus is installed on the deck of hull, and the rolling is mended
Repay on the wall of driver and pitching compensation driver difference fixed hull；
The six degree of freedom platform includes upper mounting plate and lower platform, and the lower platform is installed on the deck of hull, described
The top that upper mounting plate is arranged at lower platform is simultaneously parallel with lower platform；
Six servoBcylinders are connected between the upper mounting plate and lower platform, the upper end of each six servoBcylinder respectively passes through
One upper connection hook hinge and upper mounting plate connection, the lower end of each six servoBcylinder under one respectively by connecting Hooke's hinge
Chain and lower platform are connected；
The position relationship of six servoBcylinders and six linear movement pick-ups of compensation of undulation measurement apparatus are completely the same；
Six servoBcylinders are electrically connected with the motion controller.
Preferably, the measuring method of the compensation of undulation measurement apparatus, comprises the following steps：
Step A, attitude transducer detects rolling variable quantity, pitching variable quantity and the heave variable quantity of the lower measurement plate simultaneously
It is sent to motion controller；
Step B, motion controller controls the rolling compensation driver fortune according to the rolling variable quantity of the lower measurement plate
Dynamic to carry out rolling real-Time Compensation with to upper measurement plate, then the pitching variable quantity according to the lower measurement plate controls the pitching to mend
Repay driver motion carries out pitching real-Time Compensation with to upper measurement plate, then according to the heave variable quantity control of the lower measurement plate
The heave compensation driver motion carries out heave real-Time Compensation with to upper measurement plate；
Step C, six linear movement pick-ups are detected from the displacement difference between the step A and the step B respectively
And it is sent to motion controller；
Step D, motion controller amplifies the displacement difference that six linear movement pick-ups are detected in proportion, so as to obtain institute
State stroke needed for six compensation of servoBcylinder in six degree of freedom platform, stroke needed for the compensation of each servoBcylinder by with its position
The displacement difference for putting identical linear movement pick-up is amplified obtained in proportion；
Step E, motion controller stroke according to needed for six compensation of servoBcylinder drives six servoBcylinders to stretch, from
And real-Time Compensation is carried out to upper mounting plate.
The compensation of undulation measurement apparatus set platform displacement measuring unit to simulate six degree of freedom platform, six of which line
Six servoBcylinders of displacement transducer correspondence six degree of freedom platform；The compensation drive unit is set, with to platform displacement
Measuring unit carries out compensation of undulation, so as to measure the compensation of undulation amount of six servoBcylinders of six degree of freedom platform, will be multiple
Miscellaneous parallel manipulator programmed algorithm is converted into mechanical sender mechanism, reduces compensation of undulation measurement difficulty.The compensation of undulation measurement
Device first passes through rolling compensation driver, pitching compensation driver and heave compensation driver to the upper of platform displacement measuring unit
Measurement plate carries out the real-Time Compensation of rolling, pitching and heave, is then sensed by six displacements of the lines of platform displacement measuring unit
Device detection is from the displacement difference before and after the compensation of upper measurement plate, then six displacement differences are amplified into output, as six in proportion
Stroke needed for the compensation of each servoBcylinder in free degree platform, measurement is more directly perceived accurate, reduces measurement cost and difficulty, compensation
High precision.
Brief description of the drawings
The present invention will be further described for accompanying drawing, but content in accompanying drawing does not constitute any limitation of the invention.
Fig. 1 is the compensation of undulation measurement apparatus structural representation of one of embodiment of the invention；
Fig. 2 is the longitudinal profile structure chart of one of embodiment of the invention；
Fig. 3 is the horizontal section structure chart of one of embodiment of the invention；
Fig. 4 is the heave compensation driver sectional structure chart of one of embodiment of the invention；
Fig. 5 is the six degree of freedom platform structure figure of one of embodiment of the invention.
Wherein：Rolling compensates driver 11；Pitching compensates driver 12；Heave compensation driver 13；Drive link 14；Even
Connect corner bracket 15；Upper measurement plate 21；Lower measurement plate 22；Drive link 14；Heave drive installation plate 16；Linear movement pick-up 23；On
Universal joint 24；Lower cardan 25；Attitude transducer 26；Motion controller 3；Rolling motor 111；Rolling shaft coupling 112；It is horizontal
Reeling bar body 113；Rolling feed screw nut 114；Pitching motor 121；Pitching shaft coupling 122；Pitching screw mandrel body 123；
Pitching feed screw nut 124；Heave screw mandrel 131；Heave turbine 132；Heave worm screw 133；Heave motor 134；Heave connection
Plate 135；Six degree of freedom platform 4；Upper mounting plate 41；Lower platform 42；ServoBcylinder 43；Upper connection hook hinge 44；Lower connection Hooke's hinge
Chain 45.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
The compensation of undulation measurement apparatus of the present embodiment, as shown in figure 1, including compensation drive unit and platform displacement measurement list
Unit, the compensation drive unit includes rolling compensation driver 11, pitching compensation driver 12, heave compensation driver 13 and drives
Dynamic connecting rod 14；
The output shaft of rolling compensation driver 11 and the output shaft of pitching compensation driver 12 with drive link 14
Top connection, and rolling compensation driver 11 and pitching compensation driver 12 be mutually perpendicular to, and rolling compensation is driven
Dynamic device 11 drives the drive link 14 to move along the x-axis, and the pitching compensation driver 12 drives the drive link 14 along Y-axis
It is mobile；
The platform displacement measuring unit includes upper measurement plate 21 and lower measurement plate 22, and the upper measurement plate 21 activity is placed on
Drive link 14；The bottom of the drive link 14 is provided with heave drive installation plate 16, sets two heave compensations and drives
Device 13 is installed on the two ends of the heave drive installation plate 16, and the heave compensation driver 13 output shaft and upper measurement
The lower surface connection of plate 21, the heave compensation driver 13 drives upper measurement plate 21 to be moved along Z axis；
The lower measurement plate 22 is arranged at the lower section of measurement plate 21 and is parallel to each other with upper measurement plate 21, surveys on described
Six linear movement pick-ups 23 are connected between template 21 and lower measurement plate 22, the upper end of each linear movement pick-up 23 is each logical
Cross a upper cardan 24 and upper measurement plate 21 is connected, the lower end of each linear movement pick-up 23 is respectively by universal under one
Section 25 and lower measurement plate 22 are connected；The upper measurement plate 21 is provided with three not hinged supports on collinear, two neighboring
The linear movement pick-up 23 is hinged on same upper hinged support；The lower measurement plate 22 is provided with three not collinear
Lower hinged support, the two neighboring linear movement pick-up 23 is hinged on same lower hinged support.
The compensation of undulation measurement apparatus set platform displacement measuring unit to simulate six degree of freedom platform 4, six of which
Six servoBcylinders 43 of the corresponding six degree of freedom platform 4 of linear movement pick-up 23；The compensation drive unit is set, with to flat
Platform displacement measurement unit carries out compensation of undulation, is mended so as to measure the wave of six servoBcylinders 43 of six degree of freedom platform 4
The amount of repaying, mechanical sender mechanism is converted into by complicated parallel manipulator programmed algorithm, reduces compensation of undulation measurement difficulty.The wave
Compensation measurement apparatus first pass through rolling compensation driver 11, pitching compensation driver 12 and heave compensation driver 13 to platform position
The upper measurement plate 21 of measuring unit carries out the real-Time Compensation of rolling, pitching and heave, then by platform displacement measuring unit
Displacement difference of six linear movement pick-ups 23 detection from before and after being compensated in upper measurement plate 21, it is then six displacement differences are same
Stroke needed for the compensation of each servoBcylinder 43 in scaling output, as six degree of freedom platform 4.
The algorithm that the existing compensation of undulation measuring mechanism for six degree of freedom platform 4 is required to complexity goes directly to calculate each
Stroke needed for the compensation of individual servoBcylinder 43, measurement difficulty is big, and measurement cost is high, and compensation precision is not high, it is necessary to continue to optimize algorithm
To improve compensation precision.And the compensation of undulation measurement apparatus of the present embodiment, by drive link 14 by rolling compensate driver 11,
Pitching compensates driver 12 and heave compensation driver 13 is together in series, so that rolling compensation driver 11, pitching compensation drives
Device 12 and heave compensation driver 13 are compensated to upper measurement plate 21 respectively, the position of measurement plate 21 is kept constant, and
Front and rear six linear movement pick-ups 23 of compensation are obtained with this, amplifying can measure six degree of freedom platform 4 of its simulation in proportion
In each servoBcylinder 43 compensation needed for stroke, complicated algorithm is calculated and is converted into mechanical sender, measurement more it is directly perceived accurately,
Measurement cost and difficulty are reduced, compensation precision is high.And, rolling compensation driver 11 and pitching compensate the tandem drive of driver 12
Upper measurement plate 21 is moved in horizontal plane, and compared with driving is individually separated, mobile route becomes straight line by broken line, and mobile route shortens,
Regulation more quick and precisely, improves the compensation precision of roll and pitch.Set two heave compensation drivers 13, and with upper measurement
The two ends connection of plate 21, two heave compensation drivers 13 cooperate, enable measurement plate 21 with its axis as fulcrum on
Lower swing, with upper measurement plate 21 described in leveling, improves heave compensation precision.
Preferably, as shown in Fig. 2 also including attitude transducer 26, connection corner bracket 15 and motion controller 3, the attitude
Sensor 26 and motion controller 3 are installed in lower measurement plate 22；
As shown in Figure 1, Figure 3, the connection corner bracket 15 is right angle frame, and two bursts of the connection corner bracket 15 are provided with connection
Through hole, the connection corner bracket 15 is placed on the rolling and compensates driver 11 and pitching compensation driver 12 by the connection through hole
On, the top of the drive link 14 and the connection corner bracket 15 are connected；
Rolling compensation driver 11, the pitching compensation driver 12, heave compensation driver 13, linear movement pick-up 23
Electrically connected with the motion controller 3 with attitude transducer 26.
The attitude transducer 26 is used to detect the rolling variable quantity of lower measurement plate 22, pitching variable quantity and heave change
Amount, the motion controller 3 calculates upper survey according to the rolling variable quantity of lower measurement plate 22, pitching variable quantity and heave variable quantity
The offset of rolling, pitching and the heave of template 21, and control rolling to compensate driver 11, pitching compensation driver 12 and with this
Heave compensation driver 13, to carry out compensation of undulation to upper measurement plate 21, obtains six displacement differences of linear movement pick-up 23；From
And motion controller 3 only needs to calculate the offset of rolling, pitching and the heave of measurement plate 21, you can by mechanical sender
Mode, directly obtains stroke needed for the compensation of each servoBcylinder 43 in the six degree of freedom platform 4 of its simulation, without complicated algorithm
Stroke needed for six compensation of the servoBcylinder 43 is calculated, measurement is more quick and precisely.The connection corner bracket 15 is right angle frame, from
And ensure that rolling compensation driver 11 and pitching compensation driver 12 are mutually perpendicular to, and position-limiting action is played, improve compensation precision.
Preferably, as shown in Figure 2 and Figure 3, the rolling compensation driver 11 includes rolling motor 111, rolling shaft coupling
Device 112, rolling screw mandrel body 113 and rolling feed screw nut 114, the rolling motor 111 pass through the He of rolling shaft coupling 112
Rolling feed screw nut 114 connects；The rolling screw mandrel body 113 is socketed on rolling feed screw nut 114, and the rolling screw mandrel
Top connection of the body 113 through the connection corner bracket 15 and drive link 14；The rolling motor 111 is joined by rolling
Axle device 112 drives rolling screw mandrel body 113 to move back and forth.The rolling compensation driver 11 is passed through by rolling motor 111
Rolling shaft coupling 112 drives rolling feed screw nut 114 to rotate, and is then converted into the rectilinear movement of rolling screw mandrel body 113, screw mandrel
Transmission, realizes step-less adjustment, it is not easy to shift, response quickly；And the rotating for passing through rolling motor 111 is controllable
Rolling screw mandrel body 113 processed is moved back and forth, so as to realize the rolling compensation to upper measurement plate 21.
Preferably, as shown in figure 3, pitching compensation driver 12 includes pitching motor 121, pitching shaft coupling
122nd, pitching screw mandrel body 123 and pitching feed screw nut 124, the pitching motor 121 is by pitching shaft coupling 122 and indulges
Reeling stem nut 124 is connected；The pitching screw mandrel body 123 is socketed on pitching feed screw nut 124, and the pitching screw mandrel sheet
Top connection of the body 123 through the connection corner bracket 15 and drive link 14；The pitching motor 121 passes through pitching shaft coupling
Device 122 drives pitching screw mandrel body 123 to move back and forth.The pitching compensation driver 12 is by pitching motor 121 by vertical
Shaking shaft coupling 122 drives pitching feed screw nut 124 to rotate, and is then converted into the rectilinear movement of pitching screw mandrel body 123, and screw mandrel is passed
It is dynamic, realize step-less adjustment, it is not easy to shift, response quickly；And the rotating for passing through pitching motor 121 is that can control
Pitching screw mandrel body 123 is moved back and forth, so as to realize the pitching compensation to upper measurement plate 21.
Preferably, as shown in Figure 2, Figure 4 shows, the heave compensation driver 13 include heave screw mandrel 131, heave turbine 132,
Heave worm screw 133 and heave motor 134, the lower surface connection on the top and upper measurement plate 21 of the heave screw mandrel 131；Institute
Heave motor 134 is stated to be installed on heave drive installation plate 16, it is described to heave worm screw 133 and heave motor 134
Output shaft is connected；The heave turbine 132 is sheathed on heave screw mandrel 131, and the external tooth for heaving turbine 132 and heave snail
The external tooth engagement of bar 133；The heave motor 134 drives heave screw mandrel 131 to move up and down by heaving turbine 132；Also
Heave connecting plate 135 is provided with, the heave screw mandrel 131 of two heave compensation drivers 13 is installed on heave connecting plate 135
Two ends.The heave motor 134 drives heave turbine 132 to rotate, and then drives the liter engaged with the heave turbine 132
Heavy turbine 132 is rotated, and the heave turbine 132 acts also as feed screw nut to drive heave screw mandrel 131 to move up and down.Described in two
The heave screw mandrel 131 of heave compensation driver 13 is installed on the two ends of heave connecting plate 135, and the heave connecting plate 135 is played
Position-limiting action, limits two heave amplitudes of heave screw mandrel 131, prevents two heave screw mandrels 131 and heave drive installation plate 16
Separate, improve safety in utilization.
Preferably, as shown in figure 5, including hull, six degree of freedom platform 4 and the compensation of undulation measurement apparatus, the ripple
The lower measurement plate 22 of wave compensation measurement apparatus is installed on the deck of hull, and the rolling compensation driver 11 and pitching compensation are driven
On the wall of the dynamic difference of device 12 fixed hull；The six degree of freedom platform 4 includes upper mounting plate 41 and lower platform 42, the lower platform
42 are installed on the deck of hull, and the top that the upper mounting plate 41 is arranged at lower platform 42 is simultaneously parallel with lower platform 42；Described
Six servoBcylinders 43 are connected between upper mounting plate 41 and lower platform 42, the upper end of each six servoBcylinder 43 is respectively by one
Connection hook hinge 44 and upper mounting plate 41 are connected, and the lower end of each six servoBcylinder 43 under one respectively by connecting Hooke's hinge
Chain 45 and lower platform 42 are connected；The position relationship of six servoBcylinders 43 and six displacements of the lines of compensation of undulation measurement apparatus are passed
Sensor 23 is completely the same；Six servoBcylinders 43 are electrically connected with the motion controller 3.
The ocean platform sets the compensation of undulation measurement apparatus and simulates the six degree of freedom platform 4, six displacements of the lines
Six servoBcylinders 43 of the corresponding six degree of freedom platform 4 of sensor 23, the displacement that six linear movement pick-ups 23 are measured
Amount is amplified in proportion, stroke needed for the compensation of each servoBcylinder 43 as in six degree of freedom platform 4, so as to realize to upper mounting plate 41
Compensation of undulation, make the held stationary of upper mounting plate 41, complicated parallel manipulator programmed algorithm is converted into mechanical sender mechanism, reduce
Compensation of undulation measures difficulty.The six degree of freedom platform 4 some can need the equipment of held stationary or take in the installation of upper mounting plate 41
Building some needs the functional compartments of held stationary.The rolling compensation driver 11 and the pitching compensation difference fixed hull of driver 12
Wall on, and lower measurement plate 22 is installed on the deck of hull so that upper measurement plate 21 and lower measurement plate 22 are relatively independent,
Lower measurement plate 22 reflects the situation of rocking of hull, and the rolling compensation driver 11 and pitching compensate driver 12 respectively to upper survey
Template 21 carries out rolling real-Time Compensation and pitching real-Time Compensation, and the upper measurement plate 21 of heave compensation driver 13 pairs is heaved
Real-Time Compensation, so that the held stationary in severe sea situation of upper measurement plate 21, six linear movement pick-ups 23 are in upper measurement plate
21 and lower measurement plate 22 relatively move during displacement also change therewith, then detect its simulation six watch
Take stroke needed for the compensation of cylinder 43.
Preferably, the measuring method of described compensation of undulation measurement apparatus, comprises the following steps：
Step A, attitude transducer 26 detects rolling variable quantity, pitching variable quantity and the heave change of the lower measurement plate 22
Measure and be sent to motion controller 3；
Step B, motion controller 3 controls the rolling compensation driver according to the rolling variable quantity of the lower measurement plate 22
11 motions carry out rolling real-Time Compensation with to upper measurement plate 21, then the pitching variable quantity control institute according to the lower measurement plate 22
State pitching compensation driver 12 to move and carry out pitching real-Time Compensation with to upper measurement plate 21, then according to the lower measurement plate 22
Heave variable quantity controls the heave compensation driver 13 to move and carries out heave real-Time Compensation with to upper measurement plate 21；
Step C, six linear movement pick-ups 23 are detected from the displacement between the step A and the step B respectively
Differ from and be sent to motion controller 3；
Step D, motion controller 3 amplifies the displacement difference that six linear movement pick-ups 23 are detected in proportion, so as to obtain
Obtain stroke, row needed for the compensation of each servoBcylinder 43 needed for six compensation of servoBcylinder 43 in the six degree of freedom platform 4
Journey is amplified and is obtained in proportion by the displacement difference with its position identical linear movement pick-up 23；
Step E, the stroke according to needed for six compensation of servoBcylinder 43 of the motion controller 3 drives six servoBcylinders 43 to stretch
Contracting, so as to carry out real-Time Compensation to upper mounting plate 41.
The measuring method first passes through the rolling that attitude transducer 26 detects the lower measurement plate 22 being connected with deck in ship structure
Variable quantity, pitching variable quantity and heave variable quantity, so that motion controller 3 can respectively drive rolling to mend according to these three variable quantities
Repaying driver 11, pitching compensation driver 12 and the upper measurement plate 21 of heave compensation driver 13 pairs carries out rolling, pitching and heave
Real-Time Compensation, then detected by six linear movement pick-ups 23 of platform displacement measuring unit and mended from upper measurement plate 21
Front and rear displacement difference is repaid, then six displacement differences are amplified into output, as each servoBcylinder in six degree of freedom platform 4 in proportion
Stroke needed for 43 compensation so that upper mounting plate 41 under severe sea situation also can held stationary, complicated algorithm is calculated and is turned
Mechanical sender is turned to, measurement is more directly perceived accurate, reduces measurement cost and difficulty, and compensation precision is high.
Know-why of the invention is described above in association with specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and can not by any way be construed to limiting the scope of the invention.Based on explanation herein, the technology of this area
Personnel associate other specific embodiments of the invention by would not require any inventive effort, these modes fall within
Within protection scope of the present invention.
Claims (7)
1. a kind of compensation of undulation measurement apparatus, it is characterised in that：It is described including compensation drive unit and platform displacement measurement unit
Compensation drive unit includes rolling compensation driver, pitching compensation driver, heave compensation driver and drive link；
The output shaft of the rolling compensation driver and the output shaft of pitching compensation driver are connected with the top of drive link,
And the rolling compensation driver and pitching compensation driver are mutually perpendicular to, and are driven described in the rolling compensation driver drives
Connecting rod is moved along the x-axis, and drive link described in the pitching compensation driver drives is moved along Y-axis；
The platform displacement measuring unit includes upper measurement plate and lower measurement plate, and the upper measurement plate activity is placed on drive link；
The bottom of the drive link is provided with heave drive installation plate, sets two heave compensation drivers and is installed on the heave
The two ends of drive installation plate, and the heave compensation driver output shaft and upper measurement plate lower surface connection, the liter
Measurement plate is moved along Z axis in heavy compensation driver drives；
The lower measurement plate is arranged at the lower section of measurement plate and is parallel to each other with upper measurement plate, measurement plate and lower survey on described
Connect six linear movement pick-ups between template, the upper end of each linear movement pick-up is respectively by a upper cardan and upper
Measurement plate is connected, and the lower end of each linear movement pick-up is respectively connected by a lower cardan and lower measurement plate；On described
Measurement plate is provided with three not hinged supports on collinear, and the two neighboring linear movement pick-up is hinged on same
Hinged support；The lower measurement plate is provided with three not in collinear lower hinged support, the two neighboring displacement of the lines sensing
Device is hinged on same lower hinged support.
2. compensation of undulation measurement apparatus according to claim 1, it is characterised in that：Also include attitude transducer, joint angle
Frame and motion controller, the attitude transducer and motion controller are installed in lower measurement plate；
The connection corner bracket is right angle frame, and two bursts of the connection corner bracket are provided with connection through hole, and the connection corner bracket passes through
The connection through hole is placed on rolling compensation driver and pitching compensation driver, the top of the drive link and described
Connection corner bracket connection；
The rolling compensation driver, pitching compensation driver, heave compensation driver, linear movement pick-up and attitude transducer
Electrically connected with the motion controller.
3. compensation of undulation measurement apparatus according to claim 1, it is characterised in that：The rolling compensation driver includes horizontal stroke
Motor, rolling shaft coupling, rolling screw mandrel body and rolling feed screw nut are shaken, the rolling motor passes through rolling shaft coupling
Device and rolling feed screw nut connect；The rolling screw mandrel body is socketed on rolling feed screw nut, and the rolling screw mandrel body
Through the top connection of the connection corner bracket and drive link；The rolling motor drives rolling silk by rolling shaft coupling
Bar body is moved back and forth.
4. compensation of undulation measurement apparatus according to claim 1, it is characterised in that：The pitching compensation driver includes vertical
Motor, pitching shaft coupling, pitching screw mandrel body and pitching feed screw nut are shaken, the pitching motor passes through pitching shaft coupling
Device and pitching feed screw nut connect；The pitching screw mandrel body is socketed on pitching feed screw nut, and the pitching screw mandrel body
Through the top connection of the connection corner bracket and drive link；The pitching motor drives pitching silk by pitching shaft coupling
Bar body is moved back and forth.
5. compensation of undulation measurement apparatus according to claim 1, it is characterised in that：The heave compensation driver includes rising
Heavy screw mandrel, heave turbine, heave worm screw and heave motor, the top of the heave screw mandrel and the lower surface of upper measurement plate connect
Connect；The heave motor is installed on heave drive installation plate, the output shaft of the heave worm screw and heave motor
Connection；
The heave Cover For A Turbine is located on heave screw mandrel, and the external tooth of the heave turbine and the external tooth of heave worm screw are engaged；Institute
State heave motor and drive heave screw mandrel to move up and down by heaving turbine；
Heave connecting plate is additionally provided with, the heave screw mandrel of two heave compensation drivers is installed on the two ends of heave connecting plate.
6. usage right requires the ocean platform of the compensation of undulation measurement apparatus described in 2, it is characterised in that：Including hull, six certainly
By degree platform and the compensation of undulation measurement apparatus, the lower measurement plate of the compensation of undulation measurement apparatus is installed on the deck of hull
On, on the wall of the rolling compensation driver and pitching compensation driver difference fixed hull；
The six degree of freedom platform includes upper mounting plate and lower platform, and the lower platform is installed on the deck of hull, described flat
The top that platform is arranged at lower platform is simultaneously parallel with lower platform；
Six servoBcylinders are connected between the upper mounting plate and lower platform, the upper end of each six servoBcylinder respectively passes through one
Upper connection hook hinge and upper mounting plate connection, the lower end of each six servoBcylinder respectively by connected under one hook hinge and
Lower platform is connected；
The position relationship of six servoBcylinders and six linear movement pick-ups of the compensation of undulation measurement apparatus are completely the same；
Six servoBcylinders are electrically connected with the motion controller.
7. the measuring method of compensation of undulation measurement apparatus according to claim 6, it is characterised in that comprise the following steps：
Step A, attitude transducer detects rolling variable quantity, pitching variable quantity and the heave variable quantity of the lower measurement plate and sends
To motion controller；
Step B, motion controller according to the rolling variable quantity of the lower measurement plate control rolling compensation driver motion with
Rolling real-Time Compensation is carried out to upper measurement plate, then the pitching variable quantity according to the lower measurement plate controls the pitching compensation to drive
Dynamic device motion carries out pitching real-Time Compensation with to upper measurement plate, and the heave variable quantity control then according to the lower measurement plate is described
The motion of heave compensation driver carries out heave real-Time Compensation with to upper measurement plate；
Step C, six linear movement pick-ups detect that the displacement difference certainly between the step A and the step B is concurrent respectively
Give motion controller；
Step D, motion controller amplifies the displacement difference that six linear movement pick-ups are detected in proportion, so as to obtain described six
Stroke needed for six compensation of servoBcylinder in free degree platform, stroke needed for the compensation of each servoBcylinder by with its position phase
With the displacement difference of linear movement pick-up amplify obtained in proportion；
Step E, motion controller stroke according to needed for six compensation of servoBcylinder drives six servoBcylinders to stretch, so that right
Upper mounting plate carries out real-Time Compensation.
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