CN109263825A - A kind of active heave compensation device and method applied to cruiseway measurement - Google Patents
A kind of active heave compensation device and method applied to cruiseway measurement Download PDFInfo
- Publication number
- CN109263825A CN109263825A CN201810884665.1A CN201810884665A CN109263825A CN 109263825 A CN109263825 A CN 109263825A CN 201810884665 A CN201810884665 A CN 201810884665A CN 109263825 A CN109263825 A CN 109263825A
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- China
- Prior art keywords
- turntable
- rolling
- pitching
- motor
- mould group
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B63B39/10—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by damping the waves, e.g. by pouring oil on water
-
- 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
-
- 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
- B63B39/14—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating inclination or duration of roll
Abstract
The present invention relates to a kind of active heave compensation devices applied to cruiseway measurement, it is characterised in that: including mounting bracket assembly, linear mould group, lifting motor, switching holder assembly, turntable holder assembly, Turntable Assemblies, swing motor, limit switch, fixing sleeve, mounting rod and posture instrument；The present invention measures the kinematic parameter for waving and heaving of hull by posture instrument and is converted into digital signal, control system is transferred to be handled, it solves operation by counter and calculates the compensation rate waved and heaved, by treated, signal drives servo motor and the movement of linear mould group, realizes the compensation for waving and heaving direction of compensating platform.Two compensating units carry out power transmission in a manner of being driven, and can accurately and rapidly compensate and be allowed sounding instrument that can safely and efficiently execute Detection task under complicated sea situation by the sounding instrument influenced with heave movement is waved；The present apparatus has the characteristics that compensation range wide, high reliablity, accurate quick, simple and light.
Description
Technical field
The present invention relates to compensation of undulation field more particularly to a kind of active heave compensations applied to cruiseway measurement
Device and method.
Background technique
In regions such as China East China Sea, the Yangtze river basin and river entrances, inland waterway is big with its freight volume, land occupation less,
The advantage that low energy consumption, pollution is small provides strong guarantee for the traffic capacity of this area.Therefore, as inland waterway
Important carrier, the unimpeded of cruiseway be just particularly important.
Navigation channel basic data can be provided for management of river channel department to the subaqueous survey of cruiseway, and as to logical
The foundation of the ship publication navigable dimensions bulletin of boat, provides data reference for the safe passing of ship；Meanwhile the data of measurement
Management of river channel department can be allowed timely and effectively to grasp navigation channel underwater information, thus dredging, the work such as remove obstacles for navigation channel
Accurate data information is provided.With the fining of the enlargement and cruiseway maintenance of inland river navigation ship, to cruiseway
More stringent requirements are proposed for the precision of subaqueous survey.
In cruiseway measurement process, the various supersonic sounding instrument used is rigidly connected on surveying vessel, when
When being influenced by river surface due to factors such as wind, water flow, shippping traffic ship waves, it will cause surveying vessel level and swing between the upper and lower,
Prevent the acoustic beam of measurement from causing the deviation of measurement numerical value, affecting the precision and efficiency of measurement perpendicular to riverbed.Through adjusting
It looks into, lacks the heave compensator platform for cruiseway measurement currently on the market, and be used to surge used in aquatic measurement
Instrument and Attitude compensating platform are external high priced line, and do not meet the measurement request in inland shallow water navigation channel.It therefore, is full
The growing measurement accuracy requirement of sufficient cruiseway, fills up domestic cruiseway measurement compensation of undulation platform blank, beats simultaneously
The monopolization of broken foreign countries' similar products needs to develop a kind of compensation of undulation stable platform apparatus for being suitable for cruiseway measurement, make
The device can eliminate wave effect, meet measurement accuracy, but also with reasonable economy.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of active heave compensation dresses applied to cruiseway measurement
It sets and method, can be realized the rolling to sounding instrument, pitching and heave and carry out real-time compensation, eliminate wave effect, allow sounding instrument
It more steadily safely works and structure is simple, stability is good.
In order to solve the above technical problems, the technical solution of the present invention is as follows: a kind of applied to the active of cruiseway measurement
Wave compensating device, innovative point are: including mounting bracket assembly, linear mould group, lifting motor, switching holder assembly, turntable seat
Component, Turntable Assemblies, swing motor, limit switch, fixing sleeve, mounting rod and posture instrument；
The mounting bracket assembly is mounted on a level table, and the linear mould group is connected with mounting bracket assembly, linearly
Sliding block is provided in mould group；Described switching holder assembly one end is connected with the sliding block in linear mould group, the other end and turntable holder assembly
It is connected；The top driving sliding block that the lifting motor is mounted on linear mould group drives switching holder assembly and turntable holder assembly along perpendicular
Histogram is to movement；
The turntable holder assembly includes bottom plate and vertical plate, and the bottom plate is connected with switching holder assembly；The vertical plate has one
Pair and be vertically set on bottom plate both sides of the upper end；The Turntable Assemblies include rolling turntable and pitching turntable；The rolling turntable
It is arranged on pitching turntable, pitching turntable is arranged on the vertical plate of turntable holder assembly；
The swing motor includes rolling motor and pitching motor, and the rolling motor and pitching motor are connected to cross
The side of rocking-turn platform and pitching turntable；The rolling turntable rotates under the driving of rolling motor around pitching turntable, described vertical
Rocking-turn platform rotates under the driving of pitching motor around vertical plate；
The fixing sleeve is fixed on rolling turntable upper surface center, and fixing sleeve is socketed on mounting rod；The peace
Dress bar is across turntable holder assembly and Turntable Assemblies and mounting rod upper end is connected to the GPS antenna of sounding instrument, and the lower end of mounting rod connects
Then the energy converter of sounding instrument；The posture instrument is arranged on mounting bracket assembly.
Further, the limit switch includes lifting limit switch, rolling limit switch and three groups of pitching limit switch,
The lifting limit switch is arranged in linear mould group, and rolling limit switch is placed in the inside of pitching turntable, pitching limit switch
It is placed in the inside of the vertical plate in turntable holder assembly.
A kind of measurement method of the active heave compensation device described in claim 1 applied to cruiseway measurement,
Its innovative point is: the specific method is as follows:
S1: the posture instrument as being placed on stabilized platform mounting base measures the movement of the multiple freedom degrees of the ship as caused by wave
Attitude data；
S2: attitude data real-time Transmission will be given to fortune in a manner of agreement serial communication between posture instrument and controller
Movement controller；
S3: motion controller parsing attitude data obtains wherein roll angle α, pitch angular β and heave height h；Setting
Rolling servo motor and pitching servo motor pulse equivalency are μ, and unit is degree/pulse, and lift servo motor pulses are arranged
Equivalent is ω, and unit is millimeter/pulse；Initial time, posture instrument center and rolling turntable center horizontal distance are k；Work as generation
When rolling α angle changes, rolling turntable center point can generate the offset of a vertical direction, and offset distance is k sin α；
It is influenced to make mounting rod not by above-mentioned waving and heave, needs to carry out counter motion benefit to two turntables and linear mould group
It repays；Due to being independent from each other between two turntables and linear mould group, then to rolling turntable Contrary compensation α angle, pitching is turned
Platform Contrary compensation β angle, to linear mould group Contrary compensation h+k sin α distance；Be converted to the change in location of three motors: respectively
For l1=α/μ, l2=β/μ, l3=h+k sin α/ω；
S4: using feedforward closed loop pid algorithm, change in location distance and motor encoder is anti-after finding out the anti-solution of S1-S3
It is fed back to the position come to make comparisons forming position deviation, deviation is amplified and the feedforward for adding velocity and acceleration finally converts
For motor signal instruction, servo-driver rotates to driving motor；
S5: the signals such as access origin, positive and negative limit guarantee that the excess of stroke does not occur in turntable and mould group operation process avoids machinery
Collision；And the functional modules such as exploitation returns to zero in systems, crawl is run, it is ensured that system is safely and smoothly run.
The present invention has the advantages that
1) present invention measures the kinematic parameter for waving and heaving of hull by posture instrument and is converted into digital signal,
It is transferred to control system to be handled, solves operation by counter and calculate the compensation rate waved and heaved, signal drives by treated
Dynamic servo motor and the movement of linear mould group, realize the compensation for waving and heaving direction of compensating platform.Two compensating units are to pass
Dynamic mode carries out power transmission, can accurately and rapidly compensate by the sounding instrument influenced with heave movement is waved, and allows depth measurement
Instrument can safely and efficiently execute Detection task under complicated sea situation；The present apparatus has compensation range wide, high reliablity, accurate
Quickly, the features such as simple and light.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a kind of three-dimensional structure diagram of active heave compensation device applied to cruiseway measurement of the invention.
Fig. 2 is that a kind of another angle of active heave compensation device applied to cruiseway measurement of the invention is three-dimensional
Structure chart.
Fig. 3 is a kind of turntable holder assembly of active heave compensation device applied to cruiseway measurement of the invention
Figure.
Fig. 4 be a kind of active heave compensation device applied to cruiseway measurement of the invention turntable holder assembly and
Turntable installation diagram.
Fig. 5 is a kind of control principle drawing of active heave compensation device applied to cruiseway measurement of the invention.
Specific embodiment
The following examples can make professional and technical personnel that the present invention be more fully understood, but therefore not send out this
It is bright to be limited among the embodiment described range.
A kind of active heave compensation device applied to cruiseway measurement as shown in Figures 1 to 4, including mounting base
Component 1, linear mould group 2, lifting motor 3, switching holder assembly 4, turntable holder assembly 5, Turntable Assemblies 6, swing motor 7, limit are opened
Close 8, fixing sleeve 9, mounting rod 10 and posture instrument 11.
Mounting bracket assembly 1 is mounted on a level table, and the linear mould group 2 is connected with mounting bracket assembly 1, linear mould
Sliding block 21 is provided in group 2；Described switching 4 one end of holder assembly is connected with the sliding block 21 in linear mould group 2, the other end and turntable seat
Component 5 is connected；The top driving sliding block 21 that the lifting motor 3 is mounted on linear mould group 2 drives switching holder assembly 4 and turntable seat
Component 5 moves along vertical direction.
Turntable holder assembly 5 includes bottom plate 51 and vertical plate 52, and the bottom plate 51 is connected with switching holder assembly 4；The vertical plate 52
With a pair and it is vertically set on 51 both sides of the upper end of bottom plate；The Turntable Assemblies 6 include rolling turntable 61 and pitching turntable 62；
The rolling turntable 61 is arranged on pitching turntable 62, and pitching turntable 62 is arranged on the vertical plate of turntable holder assembly 6.
Swing motor 7 includes rolling motor 71 and pitching motor 72, and the rolling motor 71 and pitching motor 72 connect respectively
It connects in the side of rolling turntable 61 and pitching turntable 62；The rolling turntable 61 turns under the driving of rolling motor 71 around pitching
Platform 62 rotates, and the pitching turntable 62 rotates under the driving of pitching motor 72 around vertical plate 52.
Fixing sleeve 9 is fixed on the 61 upper surface center of rolling turntable, and fixing sleeve is socketed on mounting rod 10；The peace
Dress bar 10 is across turntable holder assembly 5 and Turntable Assemblies 6 and 10 upper end of mounting rod is connected to the GPS antenna of sounding instrument, mounting rod 10
Lower end be connected to the energy converter of sounding instrument；The posture instrument 11 is arranged on mounting bracket assembly 1.
Limit switch 8 includes lifting limit switch, rolling limit switch and three groups of pitching limit switch, the lifting limit
Switch is arranged in linear mould group 2, and rolling limit switch is placed in the inside of pitching turntable 62, and pitching limit switch is placed in turntable seat
The inside of vertical plate 52 in component 5.
A kind of measurement method of the active heave compensation device described in claim 1 applied to cruiseway measurement,
The specific method is as follows:
S1: the posture instrument as being placed on stabilized platform mounting base measures the movement of the multiple freedom degrees of the ship as caused by wave
Attitude data；
S2: attitude data real-time Transmission will be given to fortune in a manner of agreement serial communication between posture instrument and controller
Movement controller；
S3: motion controller parsing attitude data obtains wherein roll angle α, pitch angular β and heave height h；Setting
Rolling servo motor and pitching servo motor pulse equivalency are μ, and unit is degree/pulse, and lift servo motor pulses are arranged
Equivalent is ω, and unit is millimeter/pulse；Initial time, posture instrument center and rolling turntable center horizontal distance are k；Work as generation
When rolling α angle changes, rolling turntable center point can generate the offset of a vertical direction, and offset distance is k sin α；
It is influenced to make mounting rod not by above-mentioned waving and heave, needs to carry out counter motion benefit to two turntables and linear mould group
It repays；Due to being independent from each other between two turntables and linear mould group, then to rolling turntable Contrary compensation α angle, pitching is turned
Platform Contrary compensation β angle, to linear mould group Contrary compensation h+k sin α distance；Be converted to the change in location of three motors: respectively
For l1=α/μ, l2=β/μ, l3=h+k sin α/ω；
S4: using feedforward closed loop pid algorithm, change in location distance and motor encoder is anti-after finding out the anti-solution of S1-S3
It is fed back to the position come to make comparisons forming position deviation, deviation is amplified and the feedforward for adding velocity and acceleration finally converts
For motor signal instruction, servo-driver rotates to driving motor；
S5: the signals such as access origin, positive and negative limit guarantee that the excess of stroke does not occur in turntable and mould group operation process avoids machinery
Collision；And the functional modules such as exploitation returns to zero in systems, crawl is run, it is ensured that system is safely and smoothly run.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, above-described embodiment and explanation
It is merely illustrated the principles of the invention described in book, without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
It is defined by the appending claims and its equivalent thereof.
Claims (3)
1. a kind of active heave compensation device applied to cruiseway measurement, it is characterised in that: including mounting bracket assembly, line
Property mould group, lifting motor, switching holder assembly, turntable holder assembly, Turntable Assemblies, swing motor, limit switch, fixing sleeve, installation
Bar and posture instrument；
The mounting bracket assembly is mounted on a level table, and the linear mould group is connected with mounting bracket assembly, linear mould group
On be provided with sliding block；Described switching holder assembly one end is connected with the sliding block in linear mould group, and the other end is connected with turntable holder assembly；
The top driving sliding block that the lifting motor is mounted on linear mould group drives switching holder assembly and turntable holder assembly along vertical side
To movement；
The turntable holder assembly includes bottom plate and vertical plate, and the bottom plate is connected with switching holder assembly；The vertical plate have it is a pair of and
It is vertically set on bottom plate both sides of the upper end；The Turntable Assemblies include rolling turntable and pitching turntable；The rolling turntable setting
On pitching turntable, pitching turntable is arranged on the vertical plate of turntable holder assembly；
The swing motor includes rolling motor and pitching motor, and the rolling motor and pitching motor are connected to rolling and turn
The side of platform and pitching turntable；The rolling turntable rotates under the driving of rolling motor around pitching turntable, and the pitching turns
Platform rotates under the driving of pitching motor around vertical plate；
The fixing sleeve is fixed on rolling turntable upper surface center, and fixing sleeve is socketed on mounting rod；The mounting rod
Across turntable holder assembly and Turntable Assemblies and mounting rod upper end is connected to the GPS antenna of sounding instrument, and the lower end of mounting rod is connected to
The energy converter of sounding instrument；The posture instrument is arranged on mounting bracket assembly.
2. a kind of active heave compensation device applied to cruiseway measurement according to claim 1, feature exist
In: the limit switch includes lifting limit switch, rolling limit switch and three groups of pitching limit switch, and the lifting limit is opened
It closes and is arranged in linear mould group, rolling limit switch is placed in the inside of pitching turntable, and pitching limit switch is placed in turntable holder assembly
In vertical plate inside.
3. a kind of measurement method of the active heave compensation device described in claim 1 applied to cruiseway measurement,
Be characterized in that: the specific method is as follows:
S1: the posture instrument as being placed on stabilized platform mounting base measures the athletic posture of the multiple freedom degrees of the ship as caused by wave
Data；
S2: attitude data real-time Transmission will be given to movement control in a manner of agreement serial communication between posture instrument and controller
Device processed；
S3: motion controller parsing attitude data obtains wherein roll angle α, pitch angular β and heave height h；Rolling is set
Servo motor and pitching servo motor pulse equivalency are μ, and unit is degree/pulse, and lift servo motor pulses equivalent is arranged
For ω, unit is millimeter/pulse；Initial time, posture instrument center and rolling turntable center horizontal distance are k；As generation rolling α
When angle changes, rolling turntable center point can generate the offset of a vertical direction, and offset distance is k sin α；In order to make
Mounting rod is not influenced by above-mentioned waving and heave, and needs to carry out inverse motion compensation to two turntables and linear mould group；By
It is independent from each other between two turntables and linear mould group, then it is reversed to pitching turntable to rolling turntable Contrary compensation α angle
β angle is compensated, to linear mould group Contrary compensation h+k sin α distance；It is converted to the change in location of three motors: being respectively l1=
=α/μ l2=β/μ l3==h+ksin α/ω；
S4: after finding out the anti-solution of S1-S3, using feedforward closed loop pid algorithm, change in location distance is fed back to motor encoder
The position come is made comparisons forming position deviation, amplifies to deviation and the feedforward for adding velocity and acceleration is eventually converted into electricity
Machine signal instruction, servo-driver rotate to driving motor；
S5: the signals such as access origin, positive and negative limit guarantee that the excess of stroke does not occur in turntable and mould group operation process avoids machinery from touching
It hits；And the functional modules such as exploitation returns to zero in systems, crawl is run, it is ensured that system is safely and smoothly run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810884665.1A CN109263825A (en) | 2018-08-06 | 2018-08-06 | A kind of active heave compensation device and method applied to cruiseway measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810884665.1A CN109263825A (en) | 2018-08-06 | 2018-08-06 | A kind of active heave compensation device and method applied to cruiseway measurement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109263825A true CN109263825A (en) | 2019-01-25 |
Family
ID=65153143
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810884665.1A Pending CN109263825A (en) | 2018-08-06 | 2018-08-06 | A kind of active heave compensation device and method applied to cruiseway measurement |
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| CN (1) | CN109263825A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110608755A (en) * | 2019-09-23 | 2019-12-24 | 重庆华渝电气集团有限公司 | Heave measurement performance detection device and method for inertial navigation equipment |
| CN111605674A (en) * | 2020-05-22 | 2020-09-01 | 中国船舶重工集团公司第七0四研究所 | Three-degree-of-freedom swing compensation device applied to inland waterway measurement system |
| CN112660309A (en) * | 2020-12-24 | 2021-04-16 | 中科芯未来微电子科技成都有限公司 | Self-balancing sleeping-aid bed for ship |
| CN116592853A (en) * | 2023-05-26 | 2023-08-15 | 江苏瀚蓝信息科技有限公司 | Depth detector for underwater topography measurement |
| CN116674701A (en) * | 2023-04-26 | 2023-09-01 | 上海新纪元机器人有限公司 | Anti-roll and anti-corona seat and control method and system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110608755A (en) * | 2019-09-23 | 2019-12-24 | 重庆华渝电气集团有限公司 | Heave measurement performance detection device and method for inertial navigation equipment |
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| CN116674701A (en) * | 2023-04-26 | 2023-09-01 | 上海新纪元机器人有限公司 | Anti-roll and anti-corona seat and control method and system thereof |
| CN116592853A (en) * | 2023-05-26 | 2023-08-15 | 江苏瀚蓝信息科技有限公司 | Depth detector for underwater topography measurement |
| CN116592853B (en) * | 2023-05-26 | 2023-10-13 | 江苏瀚蓝信息科技有限公司 | Depth detector for underwater topography measurement |
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Application publication date: 20190125 |