CN106882344B - A kind of compensation of undulation measuring device, measurement method and use its ocean platform - Google Patents

A kind of compensation of undulation measuring device, measurement method and use its ocean platform Download PDF

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Publication number
CN106882344B
CN106882344B CN201710081167.9A CN201710081167A CN106882344B CN 106882344 B CN106882344 B CN 106882344B CN 201710081167 A CN201710081167 A CN 201710081167A CN 106882344 B CN106882344 B CN 106882344B
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CN
China
Prior art keywords
compensation
heave
pitching
rolling
measurement plate
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CN201710081167.9A
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Chinese (zh)
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CN106882344A (en
Inventor
吴平平
李光远
陆军
张静波
马振军
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广东精铟海洋工程股份有限公司
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Priority to CN201710081167.9A priority Critical patent/CN106882344B/en
Publication of CN106882344A publication Critical patent/CN106882344A/en
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Publication of CN106882344B publication Critical patent/CN106882344B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/005Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations

Abstract

The invention discloses a kind of compensation of undulation measuring device, measurement 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 between the upper measurement plate and lower measurement plate.Platform displacement measuring unit is set to simulate six degree of freedom platform, six of which linear movement pick-up corresponds to six servoBcylinders of six degree of freedom platform;The compensation drive unit is set, to carry out compensation of undulation to platform displacement measuring unit, to measure six degree of freedom platform six servoBcylinders compensation of undulation amount, convert complicated parallel manipulator programmed algorithm to mechanical sender mechanism, reduce compensation of undulation and measure difficulty.

Description

A kind of compensation of undulation measuring device, measurement method and use its ocean platform

Technical field

The present invention relates to marine transportation implement field more particularly to a kind of compensation of undulation measuring device, measurement methods And use its ocean platform.

Background technology

Due to the influence of stormy waves, the ship of operation on the sea will produce it is irregular wave, this has seriously affected staff Safety when operation at sea.Therefore, often through setting six degree of freedom platform, by adjust the flexible of six servoBcylinders and The rolling, pitching and heave for carrying out real-time compensation upper mounting plate are waved, to make upper mounting plate held stationary.But it is existing to be directed to six freely The compensation of undulation measuring mechanism of degree platform is required to complicated algorithm and goes directly to calculate stroke needed for the compensation of each servoBcylinder, surveys It is big to measure difficulty, measurement cost is high, and compensation precision is not high, needs to continue to optimize algorithm to improve compensation precision.

Invention content

It is an object of the invention to propose that a kind of calculating complicated algorithm is converted into mechanical sender, measure more intuitive accurate Really, measurement cost and difficulty, the high compensation of undulation measuring device of compensation precision are reduced.

It is an object of the invention to propose that a kind of calculating complicated algorithm is converted into mechanical sender, measure more intuitive accurate Really, measurement cost and difficulty, the high compensation of undulation measurement method of compensation precision are reduced.

It is an object of the invention to propose that a kind of calculating complicated algorithm is converted into mechanical sender, measure more intuitive accurate Really, measurement cost and difficulty, the high ocean platform of compensation precision are reduced.

For this purpose, the present invention uses following technical scheme:

A kind of compensation of undulation measuring device, including compensation drive unit and platform displacement measurement unit, the compensation driving 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 rolling compensation driver and pitching compensation driver are mutually perpendicular to, rolling compensation driver drives institute It states drive link to move along the x-axis, drive link is moved along Y-axis described in the pitching compensation driver drives;

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 end of the drive link is equipped with heave drive installation plate, and two heave compensation drivers of setting are installed on described The both ends of drive installation plate are heaved, and the output shaft of the heave compensation driver is connected with the lower face of upper measurement plate, institute Measurement plate in heave compensation driver drives is stated to move along Z axis;

The lower measurement plate is set to the lower section of measurement plate and is mutually parallel with upper measurement plate, in the upper 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 It is connected with upper measurement plate, the lower end of each linear movement pick-up is respectively connected by a lower cardan with lower measurement plate;Institute It states measurement plate to set there are three not in collinear upper hinged support, the two neighboring linear movement pick-up is hinged on same A upper hinged support;The lower measurement plate is set there are three not in collinear lower hinged support, the two neighboring displacement of the lines Sensor is hinged on the same lower hinged support.

Preferably, further include 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 fragments of the connection corner bracket are equipped with connection through-hole, the connection corner bracket Be placed on that the rolling compensates driver and pitching compensates 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 posture pass Sensor is electrically connected with the motion controller.

Preferably, the rolling compensation driver includes rolling driving motor, rolling shaft coupling, rolling lead screw ontology and cross Reeling stem nut, the rolling driving motor are connected by rolling shaft coupling with rolling feed screw nut;The rolling lead screw ontology It is socketed on rolling feed screw nut, and the rolling lead screw ontology is connected across the connection corner bracket with the top of drive link; The rolling driving motor drives rolling lead screw ontology to move back and forth by rolling shaft coupling.

Preferably, the pitching compensation driver includes pitching driving motor, pitching shaft coupling, pitching lead screw ontology and indulges Reeling stem nut, the pitching driving motor are connected by pitching shaft coupling with pitching feed screw nut;The pitching lead screw ontology It is socketed on pitching feed screw nut, and the pitching lead screw ontology is connected across the connection corner bracket with the top of drive link; The pitching driving motor drives pitching lead screw ontology to move back and forth by pitching shaft coupling.

Preferably, the heave compensation driver includes heave lead screw, heave turbine, heave worm screw and heave driving electricity The top of machine, the heave lead screw is connected with the lower face of upper measurement plate;The heave driving motor is installed on heave driving peace In loading board, the heave worm screw and the output axis connection for heaving driving motor;

The heave Cover For A Turbine is set on heave lead screw, and the external tooth of the heave turbine and the external tooth of heave worm screw are nibbled It closes;The heave driving motor drives heave lead screw to move up and down by heaving turbine;

It is additionally provided with heave connecting plate, the heave lead screw 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 measuring device, including hull, six degree of freedom platform and described The lower measurement plate of compensation of undulation measuring device, the compensation of undulation measuring device is installed on the deck of hull, and the rolling is mended It repays on driver and the wall surface of 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 set to 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 servoBcylinders respectively passes through One upper connection hook hinge is connected with upper mounting plate, and the lower end of each six servoBcylinders under one respectively by connecting Hooke's hinge Chain is connected with lower platform;

The position relationship of six servoBcylinders and six linear movement pick-ups of compensation of undulation measuring device are completely the same;

Six servoBcylinders are electrically connected with the motion controller.

Preferably, the measurement method of the compensation of undulation measuring device, includes the following steps:

Step A, attitude transducer detect the rolling variable quantity, pitching variable quantity and heave variable quantity of the lower measurement plate simultaneously It is sent to motion controller;

Step B, motion controller control the rolling compensation driver according to the rolling variable quantity of the lower measurement plate and transport It moves to carry out rolling real-time compensation to upper measurement plate, then controlling the pitching according to the pitching variable quantity of the lower measurement plate mends Driver movement is repaid to carry out pitching real-time compensation to upper measurement plate, is controlled then according to the heave variable quantity of the lower measurement plate The heave compensation driver movement to upper measurement plate to carry out heave real-time compensation;

Step C, six linear movement pick-ups are detected respectively from the displacement difference between the step A and the step B And it is sent to motion controller;

Step D, motion controller amplifies the displacement difference that six linear movement pick-ups detect in proportion, to obtain State stroke needed for the compensation of six servoBcylinders in six degree of freedom platform, stroke needed for the compensation of each servoBcylinder by with its position The displacement difference for setting identical linear movement pick-up amplifies obtained in proportion;

Step E, stroke needed for compensation of the motion controller according to six servoBcylinders drive six servoBcylinders flexible, from And real-time compensation is carried out to upper mounting plate.

Platform displacement measuring unit is arranged to simulate six degree of freedom platform, six of which line in the compensation of undulation measuring device Displacement sensor corresponds to six servoBcylinders of six degree of freedom platform;The compensation drive unit is set, with to platform displacement Measuring unit carry out compensation of undulation, to measure six degree of freedom platform six servoBcylinders compensation of undulation amount, will answer Miscellaneous parallel manipulator programmed algorithm is converted into mechanical sender mechanism, reduces compensation of undulation and measures difficulty.The compensation of undulation measures 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 amplifies output, as six in proportion from the front and back displacement difference of upper measurement plate compensation, then by six displacement differences Stroke needed for the compensation of each servoBcylinder in degree of freedom platform, it is more intuitive accurate to measure, and reduces measurement cost and difficulty, compensation Precision is high.

Description of the drawings

The present invention will be further described for attached drawing, but the content in attached drawing does not constitute any limitation of the invention.

Fig. 1 is the compensation of undulation measuring device structural schematic diagram of the one of embodiment of the present invention;

Fig. 2 is the longitudinal profile structure chart of the one of embodiment of the present invention;

Fig. 3 is the horizontal section structure chart of the one of embodiment of the present invention;

Fig. 4 is the heave compensation driver sectional structure chart of the one of embodiment of the present invention;

Fig. 5 is the six degree of freedom platform structure figure of the one of embodiment of the present 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 driving motor 111;Rolling shaft coupling 112;It is horizontal Reeling bar body 113;Rolling feed screw nut 114;Pitching driving motor 121;Pitching shaft coupling 122;Pitching lead screw ontology 123; Pitching feed screw nut 124;Heave lead screw 131;Heave turbine 132;Heave worm screw 133;Heave driving 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 implementation mode

Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.

The compensation of undulation measuring device of the present embodiment, as shown in Figure 1, including compensation drive unit and platform displacement measurement list Member, the compensation drive unit include rolling compensation driver 11, pitching compensation driver 12, heave compensation driver 13 and drive 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 are 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 21 activity of upper measurement plate is placed on Drive link 14;The bottom end of the drive link 14 is equipped with heave drive installation plate 16, the heave compensation driving of setting two Device 13 is installed on the both ends of the heave drive installation plate 16, and the output shaft of the heave compensation driver 13 and upper measurement The lower face of plate 21 connects, and the heave compensation driver 13 drives upper measurement plate 21 to be moved along Z axis;

The lower measurement plate 22 is set to the lower section of measurement plate 21 and is mutually parallel with upper measurement plate 21, in the upper survey 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 It crosses a upper cardan 24 and upper measurement plate 21 connects, the lower end of each linear movement pick-up 23 is respectively by universal under one Section 25 and the connection of lower measurement plate 22;The upper measurement plate 21 is set there are three not in collinear upper hinged support, two neighboring The linear movement pick-up 23 is hinged on the same upper hinged support;The lower measurement plate 22 is set there are three not collinear Lower hinged support, the two neighboring linear movement pick-up 23 are hinged on the same lower hinged support.

Platform displacement measuring unit is arranged to simulate six degree of freedom platform 4, six of which in the compensation of undulation measuring device Linear movement pick-up 23 corresponds to six servoBcylinders 43 of six degree of freedom platform 4;The compensation drive unit is set, with to flat Platform displacement measurement unit carries out compensation of undulation, is mended to measure the wave of six servoBcylinders 43 of six degree of freedom platform 4 The amount of repaying converts complicated parallel manipulator programmed algorithm to mechanical sender mechanism, reduces compensation of undulation and measures difficulty.The wave Compensation measuring device first passes 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 passes through 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, then it is six displacement differences are same Ratio enlargement exports, stroke needed for the compensation of each servoBcylinder 43 as in six degree of freedom platform 4.

The existing compensation of undulation measuring mechanism for six degree of freedom platform 4 is required to complicated algorithm and goes directly to calculate respectively Stroke needed for the compensation of a servoBcylinder 43, measurement difficulty is big, and measurement cost is high, and compensation precision is not high, needs to continue to optimize algorithm To improve compensation precision.And the compensation of undulation measuring device 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, to rolling compensation driver 11, pitching compensation driving Device 12 and heave compensation driver 13 respectively compensate upper measurement plate 21, and the position of measurement plate 21 is made to remain unchanged, and Front and back six linear movement pick-ups 23 of compensation are obtained with this, amplification in proportion can measure the six degree of freedom platform 4 of its simulation In each servoBcylinder 43 compensation needed for stroke, convert complicated algorithm calculating to mechanical sender, measure it is more intuitive accurately, Measurement cost and difficulty are reduced, compensation precision is high.Moreover, rolling compensation driver 11 and pitching compensate 12 tandem drive of driver Upper measurement plate 21 is moved in horizontal plane, and compared with being individually separated driving, mobile route becomes straight line by broken line, and mobile route shortens, It adjusts more quick and precisely, improves the compensation precision of roll and pitch.Be arranged two heave compensation drivers 13, and with upper measurement The both ends of plate 21 connect, and two heave compensation drivers 13 cooperate, and enable measurement plate 21 using its central axes as on fulcrum Lower swing improves heave compensation precision with upper measurement plate 21 described in leveling.

Preferably, as shown in Fig. 2, further including attitude transducer 26, connection corner bracket 15 and motion controller 3, the posture 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 fragments of the connection corner bracket 15 are equipped with connection Through-hole, the connection corner bracket 15 are placed on the rolling by the connection through-hole and compensate driver 11 and pitching compensation driver 12 On, the top of the drive link 14 and the connection corner bracket 15 connection;

The rolling compensation driver 11, pitching compensation driver 12, heave compensation driver 13, linear movement pick-up 23 It is electrically connected with the motion controller 3 with attitude transducer 26.

The attitude transducer 26 is used to detect the rolling variable quantity, pitching variable quantity and heave variation of lower measurement plate 22 Amount, the motion controller 3 calculate 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 rolling compensation driver 11,12 and of pitching compensation driver are controlled with this Heave compensation driver 13 obtains the displacement difference of six linear movement pick-ups 23 to carry out compensation of undulation to upper measurement plate 21;From And motion controller 3 only needs to calculate the offset of rolling, pitching and the heave of measurement plate 21, you can pass through 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 the compensation of six servoBcylinders 43 is calculated, is measured 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, position-limiting action is played, compensation precision is improved.

Preferably, as shown in Figure 2 and Figure 3, the rolling compensation driver 11 includes rolling driving motor 111, rolling shaft coupling Device 112, rolling lead screw ontology 113 and rolling feed screw nut 114, the rolling driving motor 111 pass through 112 He of rolling shaft coupling Rolling feed screw nut 114 connects;The rolling lead screw ontology 113 is socketed on rolling feed screw nut 114, and the rolling lead screw Ontology 113 is connected across the connection corner bracket 15 with the top of drive link 14;The rolling driving motor 111 is joined by rolling Axis device 112 drives rolling lead screw ontology 113 to move back and forth.The rolling compensation driver 11 is passed through by rolling driving motor 111 Rolling shaft coupling 112 drives rolling feed screw nut 114 to rotate, and is then converted into the linear movement of rolling lead screw ontology 113, lead screw Step-less adjustment is realized in transmission, it is not easy to it shifts, response quickly;And pass through the positive and negative rotation of rolling driving motor 111, that is, controllable Rolling lead screw ontology 113 processed moves back and forth, to realize that the rolling to upper measurement plate 21 compensates.

Preferably, as shown in figure 3, pitching compensation driver 12 includes pitching driving motor 121, pitching shaft coupling 122, pitching lead screw ontology 123 and pitching feed screw nut 124, the pitching driving motor 121 is by pitching shaft coupling 122 and indulges Reeling stem nut 124 connects;The pitching lead screw ontology 123 is socketed on pitching feed screw nut 124, and the pitching lead screw sheet Body 123 is connected across the connection corner bracket 15 with the top of drive link 14;The pitching driving motor 121 passes through pitching shaft coupling Device 122 drives pitching lead screw ontology 123 to move back and forth.The pitching compensation driver 12 is passed through vertical by pitching driving motor 121 Shaking shaft coupling 122 drives pitching feed screw nut 124 to rotate, and is then converted into the linear movement of pitching lead screw ontology 123, and lead screw passes It is dynamic, realize step-less adjustment, it is not easy to it shifts, response quickly;And it is i.e. controllable by the positive and negative rotation of pitching driving motor 121 Pitching lead screw ontology 123 moves back and forth, to realize that the pitching to upper measurement plate 21 compensates.

Preferably, as shown in Figure 2, Figure 4 shows, the heave compensation driver 13 include heave lead screw 131, heave turbine 132, Worm screw 133 and heave driving motor 134 are heaved, the top of the heave lead screw 131 is connected with the lower face of upper measurement plate 21;Institute It states heave driving motor 134 to be installed in heave drive installation plate 16, the heave worm screw 133 and heave driving motor 134 Export axis connection;The heave turbine 132 is sheathed on heave lead screw 131, and the external tooth of the heave turbine 132 and heave snail The outer tooth engagement of bar 133;The heave driving motor 134 drives heave lead screw 131 to move up and down by heaving turbine 132;Also Equipped with heave connecting plate 135, the heave lead screw 131 of two heave compensation drivers 13 is installed on heave connecting plate 135 Both ends.The driving of the heave driving motor 134 heave turbine 132 rotates, and then drives the liter engaged with the heave turbine 132 Heavy turbine 132 rotates, and the heave turbine 132 acts also as feed screw nut to drive heave lead screw 131 to move up and down.Described in two The heave lead screw 131 of heave compensation driver 13 is installed on the both ends of heave connecting plate 135, and the heave connecting plate 135 plays Position-limiting action limits the heave amplitude of two heave lead screws 131, prevents two heave lead screws 131 and heave drive installation plate 16 Separation improves safety in utilization.

Preferably, as shown in figure 5, including hull, six degree of freedom platform 4 and the compensation of undulation measuring device, the wave The lower measurement plate 22 of wave compensation measuring device is installed on the deck of hull, and the rolling compensation driver 11 and pitching compensation are driven Dynamic device 12 is distinguished on the wall surface of 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 set to 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 servoBcylinders 43 is respectively by one It connects hook hinge 44 and upper mounting plate 41 connects, the lower end of each six servoBcylinders 43 under one respectively by connecting Hooke's hinge Chain 45 and lower platform 42 connect;Six displacements of the lines biography of the position relationship and compensation of undulation measuring device of six servoBcylinders 43 Sensor 23 is completely the same;Six servoBcylinders 43 are electrically connected with the motion controller 3.

The ocean platform is arranged the compensation of undulation measuring device and simulates the six degree of freedom platform 4, six displacements of the lines Sensor 23 corresponds to six servoBcylinders 43 of six degree of freedom platform 4, 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, to realize to upper mounting plate 41 Compensation of undulation, make 41 held stationary of upper mounting plate, convert complicated parallel manipulator programmed algorithm to 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 Build some functional compartments for needing held stationary.The rolling compensation driver 11 and pitching compensation driver 12 distinguish fixed hull Wall surface on, and lower measurement plate 22 is installed on the deck of hull, to keep upper measurement plate 21 and lower measurement plate 22 relatively independent, Lower measurement plate 22 reflects that the situation of rocking of hull, 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 heave compensation driver 13 heaves upper measurement plate 21 Real-time compensation, to make 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 measurement method of the compensation of undulation measuring device, includes the following steps:

Step A, attitude transducer 26 detect the rolling variable quantity, pitching variable quantity and heave variation of the lower measurement plate 22 It measures and is sent to motion controller 3;

Step B, motion controller 3 control the rolling according to the rolling variable quantity of the lower measurement plate 22 and compensate driver Then 11 movements control institute to carry out rolling real-time compensation to upper measurement plate 21 according to the pitching variable quantity of the lower measurement plate 22 The pitching compensation movement of driver 12 is stated to carry out pitching real-time compensation to upper measurement plate 21, then according to the lower measurement plate 22 It heaves variable quantity and controls the movement of heave compensation driver 13 to carry out heave real-time compensation to upper measurement plate 21;

Step C, six linear movement pick-ups 23 are detected respectively from the displacement between the step A and the step B Difference is simultaneously sent to motion controller 3;

Step D, motion controller 3 amplifies the displacement difference that six linear movement pick-ups 23 detect in proportion, to obtain Stroke needed for the compensation of six servoBcylinders 43 in the six degree of freedom platform 4 is obtained, each row needed for the compensation of the servoBcylinder 43 Journey is amplified in proportion by the displacement difference of linear movement pick-up identical with its position 23 to be obtained;

Step E, stroke needed for compensation of the motion controller 3 according to six servoBcylinders 43 drive six servoBcylinders 43 to stretch Contracting, to carry out real-time compensation to upper mounting plate 41.

The measurement method first passes through the rolling that attitude transducer 26 detects the lower measurement plate 22 being connect with deck in ship structure Variable quantity, pitching variable quantity and heave variable quantity, to which motion controller 3 can respectively drive rolling benefit according to these three variable quantities It repays driver 11, pitching compensation driver 12 and heave compensation driver 13 and rolling, pitching and heave is carried out to upper measurement plate 21 Real-time compensation, then by six linear movement pick-ups 23 of platform displacement measuring unit detection from upper measurement plate 21 benefit Front and back 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, to make upper mounting plate 41 under severe sea situation also can held stationary, complicated algorithm is calculated and is turned Mechanical sender is turned to, it is more intuitive accurate to measure, and reduces measurement cost and difficulty, compensation precision is high.

The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's Principle, and it cannot be construed to limiting the scope of the invention in any way.Based on the explanation herein, the technology of this field Personnel would not require any inventive effort the other specific implementation modes that can associate the present invention, these modes are fallen within Within protection scope of the present invention.

Claims (7)

1. a kind of compensation of undulation measuring device, 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 connect 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 moves along the x-axis, and drive link is moved along Y-axis described in the pitching compensation driver drives;
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 end of the drive link is equipped with heave drive installation plate, and two heave compensation drivers of setting are installed on the heave The both ends of drive installation plate, and the output shaft of the heave compensation driver is connected with the lower face of upper measurement plate, the liter Measurement plate is moved along Z axis in heavy compensation driver drives;
The lower measurement plate is set to the lower section of measurement plate and is mutually parallel with upper measurement plate, in the upper measurement plate and lower survey 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 connects, and the lower end of each linear movement pick-up is respectively connected by a lower cardan with lower measurement plate;On described Measurement plate is set there are three not in collinear upper hinged support, and the two neighboring linear movement pick-up is hinged on same Hinged support;The lower measurement plate is set there are three not in collinear lower hinged support, the two neighboring displacement of the lines sensing Device is hinged on the same lower hinged support.
2. compensation of undulation measuring device according to claim 1, it is characterised in that:Further 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 fragments of the connection corner bracket are equipped 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 Connect corner bracket connection;
The rolling compensation driver, pitching compensation driver, heave compensation driver, linear movement pick-up and attitude transducer It is electrically connected with the motion controller.
3. compensation of undulation measuring device according to claim 1, it is characterised in that:The rolling compensation driver includes cross Driving motor, rolling shaft coupling, rolling lead screw ontology and rolling feed screw nut are shaken, the rolling driving motor passes through rolling shaft coupling Device is connected with rolling feed screw nut;The rolling lead screw ontology is socketed on rolling feed screw nut, and the rolling lead screw ontology It is connected with the top of drive link across the connection corner bracket;The rolling driving motor drives rolling silk by rolling shaft coupling Bar body moves back and forth.
4. compensation of undulation measuring device according to claim 1, it is characterised in that:The pitching compensation driver includes vertical Driving motor, pitching shaft coupling, pitching lead screw ontology and pitching feed screw nut are shaken, the pitching driving motor passes through pitching shaft coupling Device is connected with pitching feed screw nut;The pitching lead screw ontology is socketed on pitching feed screw nut, and the pitching lead screw ontology It is connected with the top of drive link across the connection corner bracket;The pitching driving motor drives pitching silk by pitching shaft coupling Bar body moves back and forth.
5. compensation of undulation measuring device according to claim 1, it is characterised in that:The heave compensation driver includes rising Heavy lead screw, heave turbine, heave worm screw and heave driving motor, the top of the heave lead screw and the lower face of upper measurement plate connect It connects;The heave driving motor is installed in heave drive installation plate, the heave worm screw and the output shaft for heaving driving motor Connection;
The heave Cover For A Turbine is set on heave lead screw, and the outer tooth engagement of the external tooth and heave worm screw of the heave turbine;Institute It states heave driving motor and drives heave lead screw to move up and down by heaving turbine;
It is additionally provided with heave connecting plate, the heave lead screw of two heave compensation drivers is installed on the both ends of heave connecting plate.
6. using the ocean platform of the compensation of undulation measuring device described in claim 2, it is characterised in that:Certainly including hull, six By degree platform and the compensation of undulation measuring device, the lower measurement plate of the compensation of undulation measuring device is installed on the deck of hull On, on the wall surface 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 set to 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 servoBcylinders respectively passes through one Upper connection hook hinge is connected with upper mounting plate, the lower ends of each six servoBcylinders respectively by connected under one hook hinge and Lower platform connects;
The position relationship of six servoBcylinders and six linear movement pick-ups of the compensation of undulation measuring device are completely the same;
Six servoBcylinders are electrically connected with the motion controller.
7. the measurement method of the ocean platform according to claim 6 using compensation of undulation measuring device, which is characterized in that Include the following steps:
Step A, attitude transducer detect rolling variable quantity, pitching variable quantity and the heave variable quantity of the lower measurement plate and send To motion controller;
Step B, motion controller according to the rolling variable quantity of the lower measurement plate control rolling compensation driver movement with Rolling real-time compensation is carried out to upper measurement plate, then controlling the pitching compensation according to the pitching variable quantity of the lower measurement plate drives Dynamic device movement to upper measurement plate to carry out pitching real-time compensation, described in the heave variable quantity control then according to the lower measurement plate Heave compensation driver is moved to carry out heave real-time compensation to upper measurement plate;
Step C, six linear movement pick-ups detect concurrent from the displacement difference between the step A and the step B respectively Give motion controller;
Step D, motion controller amplify the displacement difference that six linear movement pick-ups detect in proportion, to obtain described six Stroke needed for the compensation of six servoBcylinders in degree of freedom platform, stroke needed for the compensation of each servoBcylinder by with its position phase The displacement difference of same linear movement pick-up is amplified in proportion to be obtained;
Step E, stroke needed for compensation of the motion controller according to six servoBcylinders drives six servoBcylinders flexible, to right Upper mounting plate carries out real-time compensation.
CN201710081167.9A 2017-02-15 2017-02-15 A kind of compensation of undulation measuring device, measurement method and use its ocean platform CN106882344B (en)

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