CN219277738U

CN219277738U - Multi-degree-of-freedom active compensation stable boarding device

Info

Publication number: CN219277738U
Application number: CN202320353448.6U
Authority: CN
Inventors: 张�杰; 宋建瓴; 于红民
Original assignee: Beijing Xingguang Kaiming Intelligent Technology Co ltd
Current assignee: Beijing Xingguang Kaiming Intelligent Technology Co ltd
Priority date: 2023-03-01
Filing date: 2023-03-01
Publication date: 2023-06-30
Anticipated expiration: 2033-03-01

Abstract

A multi-freedom-degree active compensation stable boarding device belongs to the technical field of ocean engineering operation and maintenance safety. The four lower hinge supports are arranged on the lower platform in a cross mode by taking the X axis and the Y axis as references, the base of the follow-up support hinge support is fixedly connected with the lower platform at the center position of the Z axis, the four upper hinge supports are arranged around the flange at the upper end of the follow-up support, are correspondingly and uniformly arranged in pairs relative to the X axis and the Y axis, the bottom of the follow-up support is fixedly connected with the upper flange of the follow-up support, the upper flange of the lifting electric cylinder is fixedly connected with the upper flange of the follow-up support, and the pitching electric cylinder is fixedly connected with the upper hinge support and the lower hinge support in the same direction on one side of the Y direction respectively.

Description

Multi-degree-of-freedom active compensation stable boarding device

Technical Field

The utility model relates to a multi-degree-of-freedom active compensation stable boarding device, and belongs to the technical field of ocean engineering operation and maintenance safety.

Background

The defects of the traditional offshore operation and maintenance ship are that: basically, the system does not have an active compensation boarding system, so that the safety of the offshore boarding operation is low under relatively high sea conditions, and even casualties occur, so that the maintenance operation can not be carried out when the ship goes out from sea under high sea conditions.

Disclosure of Invention

The multi-degree-of-freedom active compensation stable boarding system is a real-time active compensation device for the relative motion process under the sea condition of level 4 and below and other dynamic conditions, and is suitable for the fields of marine engineering such as offshore oil gas, offshore wind power, offshore repair, safe boarding of a ship to be ship and offshore military facilities, material replenishment, personnel transportation and maintenance, maritime rescue and the like. In order to overcome the defects of the prior art, the utility model provides a multi-degree-of-freedom active compensation stable boarding device and a use method thereof.

A multi-degree-of-freedom active compensation stable boarding device is characterized in that 4 lower hinge supports are arranged on a lower platform in a cross mode by taking an X axis and a Y axis as reference, a base of a follow-up support hinge support is fixedly connected with the lower platform in the center of a Z axis, 4 upper hinge supports are arranged around a follow-up support upper end flange, are correspondingly and uniformly arranged in pairs relative to the X axis and the Y axis, a follow-up support bottom is fixedly connected with the follow-up support hinge support, an upper end flange of a heave electric cylinder is fixedly connected with the follow-up support upper end flange, a pitching electric cylinder is fixedly connected with an upper hinge support and a lower hinge support respectively on one side in the Y direction, a lower end of a rolling electric cylinder is fixedly connected with the hinge support and the lower hinge support respectively on one side in the same direction in the X direction, a lifting electric cylinder is vertically arranged in the follow-up support in the Z direction, a lifting cylinder and the flange are connected with the follow-up support and the flange, a cylinder rod of the heave electric cylinder is fixedly connected with a fixed disc of a rotary support, namely a driven wheel, the upper platform is fixedly connected with the driven wheel of the rotary support, two damping cylinders are fixedly connected with a mirror image motor and a rotary support seat fixedly connected with a driving wheel of an upper servo motor and a rotary support, namely a rotary servo motor is fixedly meshed with an upper servo motor.

The 4 upper hinge supports 4 are installed in a cross-shaped 90-degree distribution mode by taking an X axis and a Y axis as references, the upper platform consists of a profile frame, a hot galvanizing grid and guardrails, the gangway ladder is connected with the upper platform in a hinged mode, two ends of a gangway ladder pitching cylinder are respectively hinged with the upper platform and the gangway ladder, and a gangway ladder telescopic mechanism is arranged at the bottom of the gangway ladder. The utility model can realize rotary motion around X and Y axes and heave motion along Z axis, and can realize compound motion with three degrees of freedom. The upper platform and the gangway ladder can realize semi-automatic rotation motion around the Z axis, namely, bow motion, pitching motion and telescopic motion along the gangway ladder.

A control method of a multi-degree-of-freedom active compensation stable boarding device comprises the following steps: the micro-mechanical-electromechanical inertial navigation system with high precision and good real-time performance is adopted as a measuring element for ship movement, azimuth angle, roll angle, pitch angle, angular velocity, acceleration, euler angle and quaternion information of the ship are calculated through acceleration and angular velocity information, the measuring precision is ensured through a filter algorithm with proper gain and a PID control algorithm, and the attitude movement parameters are subjected to various compensation strategies of nonlinear compensation, orthogonal compensation and temperature compensation, so that errors are eliminated, and the measuring precision is improved.

The measuring element comprises a multidimensional force sensor arranged at the lap joint of the tail end of the gangway ladder and the tower, and is used for measuring the force value change when the platform is not in place due to motion compensation, and calculating the position and angle input value of the platform which is required to be adjusted in real time according to an intelligent space coordinate transformation algorithm.

Aiming at sea wave spectrum movement, a PID control algorithm solves a finite time open loop optimization problem on line according to the obtained current measurement information at each sampling moment, and acts the first element of the obtained control sequence on a controlled object, and repeats the process at the next sampling moment: and using the new measured value as a future dynamic initial condition of the prediction system at the moment, refreshing the optimization problem and solving again.

The hull motion includes X-axis, Y-axis rotation, heave along Z-axis and three degrees of freedom compound motion.

The ship body motion comprises a semi-automatic rotation motion around a Z axis, a bow motion, a pitching motion and a telescopic motion along the gangway through the upper platform and the gangway.

The ship body motion comprises longitudinal, rolling and heave motions of the longitudinal, rolling and heave electric cylinders and composite motions thereof, and the ship rolling and heave motion signals acquired by the control system and the sensor send out anti-compensation motion instructions to the drivers of the longitudinal, rolling and heave electric cylinders, including longitudinal, rolling and heave motions and composite motions thereof.

And the step of stretching the pitching electric cylinder, the rolling electric cylinder and the heaving electric cylinder is to enable the follow-up support and the heaving electric cylinder to be always vertical to the horizontal plane of the ground coordinate system, enable the upper platform to be always in a horizontal state, and offset the heaving motion of the operation and maintenance ship by the stretching of the heaving electric cylinder to realize the relative horizontal and stable of the upper platform. The maximum stroke of the heave compensation of the system is 1300mm, and the system is automatically pre-lifted to the neutral position and starts automatic heave compensation when being started. The neutral position to the stand and the highest position are 650mm respectively, namely the heave compensation capacity is +/-650 mm.

The utility model has compact structure and small whole occupied space, adopts a serial-parallel connection structure, has good real-time compensation stability and relatively lower cost, meets the requirement of safe and stable boarding under the sea condition of level 4 and below, is particularly suitable for small-sized operation and maintenance vessels (CTVs) on the sea, and can particularly carry out the upgrading and transformation of an intelligent and stable boarding system on the basis of the existing CTV operation and maintenance vessels.

According to the utility model, the electric cylinders, the rolling electric cylinders and the heave electric cylinders are telescopic, and the reverse compensation motion instructions are sent to the driver of the executing element through the control system, the ship rolling and heave motion signals acquired by the sensors and the like, so that the reverse compensation motion comprising longitudinal motion, rolling motion, heave motion and composite motion thereof is realized, the follow-up support and the heave electric cylinders are always kept vertical to the horizontal plane of the ground coordinate system, the upper platform is always kept in a horizontal state, and the relative horizontal and stable of the upper platform are realized by counteracting the heave motion of the operation and maintenance ship through the telescopic expansion of the heave electric cylinders. The maximum stroke of the heave compensation of the system is 1300mm, and the system is automatically pre-lifted to the neutral position and starts automatic heave compensation when being started. The neutral position to the stand and the highest position are 650mm respectively, namely the heave compensation capacity is +/-650 mm.

The following support hinged support is reversely arranged at the lowest part of the multi-degree-of-freedom active compensation stable boarding system, so that the upper platform is a fixed platform, the lower platform is a movable platform (generally arranged at the highest part, the upper platform is a movable platform, and the lower platform is a fixed platform), and the following support hinged support aims to enable the movement rotation center to be as close to the X axis of a ship movement coordinate system, namely the ship swinging shaft (stable center) position as possible, so that compensation of the horizontal position variation formed by swinging cannot be realized. The linear displacement compensation and the swing angular displacement compensation are completed simultaneously, so that the effect of half the effort is achieved.

Drawings

The utility model, together with a further understanding of the many of its attendant advantages, will be best understood by reference to the following detailed description, when considered in conjunction with the accompanying drawings, which are included to provide a further understanding of the utility model, and the accompanying drawings, illustrate and describe the utility model and do not constitute a limitation to the utility model, and wherein:

fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a schematic side view of the structure of the present utility model.

Fig. 3 is a graph of the multi-degree-of-freedom active compensation effect in the rolling ±20° state of the present utility model.

Fig. 4 is a diagram showing the effect of multi-degree-of-freedom active compensation when the operation and maintenance ship of the present utility model is pitching-10 °.

Fig. 5 is a diagram showing the effect of multi-degree-of-freedom active compensation when the operation and maintenance ship of the present utility model pitching by +10°.

Fig. 6 shows the installation position and the X, Y and Z coordinates of the active compensation stable boarding system of the present utility model on a catamaran operation and maintenance vessel.

Fig. 7 is a schematic view of the front deck of the operation and maintenance ship according to the present utility model.

FIG. 8 is a graph showing the effect of multi-degree-of-freedom active compensation when the operation and maintenance ship of the utility model rises to + -650 mm.

The upper platform 1, the pitching electric cylinder 2, the follow-up support 3, the upper hinge support 4 (4 pieces), the lower hinge support 5 (4 pieces), the follow-up support hinge support 6 (1 piece), the lower platform 7, the rolling electric cylinder 8, the damping cylinder 9 (2 pieces), the slewing bearing 10 consists of a movable disc 18, a fixed disc (driven wheel) 20 and an outer gear ring, and the slewing servo motor 11 comprises a driving wheel 19, a gangway ladder 12, a gangway ladder pitching electric cylinder 13, a gangway ladder telescopic mechanism 14, a heave electric cylinder 15, a follow-up support and flange 16, a lifting cylinder and flange 17, a sensor and a control system.

Detailed Description

The utility model will be further described with reference to the drawings and examples.

It will be apparent that many modifications and variations are possible within the scope of the utility model, as will be apparent to those skilled in the art based upon the teachings herein.

The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

It will be understood by those skilled in the art that all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art unless defined otherwise.

In order to facilitate understanding of the embodiments, further explanation will be provided in connection with the following, and the respective embodiments do not constitute limitation of the embodiments.

Example 1: as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8, an intelligent stable boarding system for performing real-time active compensation on swing and heave of a ship body under the action of ocean waves by multiple degrees of freedom of a ship.

The multi-freedom-degree active compensation stable boarding device comprises an upper platform 1, a pitching electric cylinder 2, a follow-up support 3, an upper hinge support 4 (4 pieces), a lower hinge support 5 (4 pieces), a follow-up support hinge support 6 (1 piece), a lower platform 7, a rolling electric cylinder 8, a damping cylinder 9 (2 pieces), a slewing bearing 10, a rotary disc 18, a fixed disc (or called driven wheel) 20 and an outer gear ring of the driven wheel, wherein the slewing servo motor 11 comprises a driving wheel 19, a gangway ladder 12, a gangway ladder pitching electric cylinder 13, a gangway ladder telescopic mechanism 14, a heave electric cylinder 15, a follow-up support and flange 16, a lifting cylinder and flange 17, a sensor, a control system and the like.

The lower platform 7 connected with the front deck of the offshore operation and maintenance ship is mainly formed by welding profile steel structures.

The 4 lower hinge supports 5 are arranged on the lower platform 7 in a cross manner by taking an X axis and a Y axis as reference, the base of the follow-up support hinge support 6 is fixedly connected with the lower platform 7 in the center of the Z axis, the 4 upper hinge supports 4 are arranged around the flange at the upper end of the follow-up support 3, and are correspondingly and uniformly distributed relative to the X axis and the Y axis in pairs, namely the 4 upper hinge supports 4 are arranged in a cross manner by 90 degrees by taking the X axis and the Y axis as reference.

The bottom of the follow-up support 3 is fixedly connected with the upper surface of the follow-up support hinged support 6, and the upper end flange of the heave electric cylinder 15 is fixedly connected with the upper end flange of the follow-up support 3. The pitching electric cylinder 2 is fixedly connected with the upper hinge support 4 and the lower hinge support 5 in the same direction on one side of the Y direction.

The upper end and the lower end of the rolling electric cylinder 8 are respectively fixedly connected with the upper hinged support 4 and the lower hinged support 5 in the same direction on one side in the X direction, the heave electric cylinder 15 is vertically arranged in the follow-up support 3 in the Z direction (the lifting cylinder and the flange 17 are connected with the follow-up support and the flange 16), the cylinder rod of the heave electric cylinder 15 is fixedly connected with the fixed disc (driven wheel) 20 of the slewing bearing 10, and the upper platform 1 is fixedly connected with the movable disc 18 of the slewing bearing 10.

The two damping cylinders 9 are mirror-image mounted on the corresponding upper and lower hinge brackets 4, 5 with respect to the roll and pitch

electric cylinders

8, 2 in the X and Y directions, respectively.

The upper platform 1 mainly comprises a section frame, a hot galvanizing grille and guardrails, wherein the middle frame structure is fixedly connected with a movable disc 18 of the slewing bearing 10, a slewing servo motor 11 is fixedly connected (adjustable) with the upper platform 1, and a driving wheel on the slewing servo motor 11 is fixedly connected with a fixed disc (driven wheel) 20 of the slewing bearing 10, namely an outer gear ring of the driven wheel after an meshing gap is adjusted.

The gangway 12 is connected with the upper platform 1 in a hinged mode, two ends of a gangway pitching cylinder 13 are respectively hinged with the upper platform 1 and the gangway 12, and a gangway telescopic mechanism 14 is arranged at the bottom of the gangway 12.

Example 2: as shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8, the control method of the multi-degree-of-freedom active compensation stable boarding device can realize rotational motion and heave motion along a Z axis around an X axis and a Y axis and can realize compound motion with three degrees of freedom.

The upper platform 1 and the gangway ladder 12 can realize semi-automatic rotation movement around a Z axis, bow movement, pitching movement and telescopic movement along the gangway ladder 12.

A control method of a multi-degree-of-freedom active compensation stable boarding device is characterized in that when a boarding person approaches an offshore boarding target, the boarding person ascends on an upper platform 1 through a gangway ladder 12 (when the end part of the boarding person descends to a deck), the multi-degree-of-freedom active sea wave compensation system is started, and the upper platform 1 is pre-lifted to a neutral position to be ready for real-time compensation.

The pitching electric cylinder 2, the rolling electric cylinder 8 and the heaving electric cylinder 15 (anti-rotation cylinder) send out anti-compensation motion instructions to the driver of the executing element through a control system, ship pitching and heaving motion signals acquired by the sensor and the like, wherein the anti-compensation motion instructions comprise longitudinal motion, rolling motion, heaving motion and compound motion thereof.

Referring to fig. 3 to 5 in detail, the movement of the upper platform 1 and the gangway ladder 12 is semi-automatic, the azimuth angle (rotation range about the Z axis is ± 90 °) is firstly adjusted by manual control through the slewing bearing 10 and the slewing servo motor 11, the elevation angle (pitch range ± 20 ° -15 °) is adjusted through the gangway ladder pitching electric cylinder 13, the target boarding point is quickly approached through the gangway ladder telescopic mechanism 14, the distance between the gangway ladder 12, the gangway ladder telescopic mechanism 14 and the sensing element and the boarding point can be automatically adjusted or kept in contact, the system is in a relatively stable state, and maintenance personnel can safely board and evacuate through the gangway ladder 12.

Example 3: as shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8, other structures are the same as those of embodiment 1, and in the multi-degree-of-freedom active compensation stable boarding device, 4 lower hinge supports 5 are mounted on the lower platform 7 in a cross-shaped manner with an X axis and a Y axis as references, a base of the follow-up support hinge support 6 is fixedly connected with the center of the lower platform 7, and 4 upper hinge supports 4 are mounted around the upper end of the follow-up support 3 in a cross-shaped manner with a X, Y axis as references.

The upper platform 1 mainly comprises a profile frame, a hot galvanizing grid and guardrails, a middle frame structure is fixedly connected with a slewing bearing 10 (a movable disc) and a slewing servo motor 11 through bolts, and is in meshed transmission with a driving wheel arranged at the shaft end of the slewing servo motor 11 and a driven wheel (namely an outer gear ring of a fixed disc) arranged on the slewing bearing 10 (the fixed disc), so that the upper platform 1 performs positive and negative rotation motion around a Z axis, namely bow-and-roll motion (a motion range of +/-90 degrees), and the cylinder barrel and the cylinder rod of the heave cylinder 15 do not generate relative rotation motion when the upper platform rotates due to an anti-rotation mechanism.

The gangway ladder 12 is connected with the upper platform 1 in a hinged mode, two ends of the gangway ladder pitching electric cylinder 13 are respectively hinged with the upper platform 1 and the gangway ladder 12, the expansion and contraction of the gangway ladder pitching electric cylinder 13 can drive the pitching movement of the gangway ladder 12, and a gangway ladder expansion mechanism 14 is arranged at the bottom of the gangway ladder 12.

A control method of a multi-freedom-degree active compensation stable boarding device is characterized in that when a boarding person approaches an offshore boarding target, the boarding person (usually 1-2 persons, 1 person each time when boarding a gangway) ascends to an upper platform 1 through a gangway 12 with the end part lowered to a deck, and a multi-freedom-degree active sea wave compensation system is started.

The pitching electric cylinder 2, the rolling electric cylinder 8 and the heave electric cylinder 15 are telescopic (the pitching electric cylinder 8 and the heave electric cylinder 15 are lifted to a neutral position after being started up), the pitching, the heave and the approaching movement signals (including angular displacement, linear displacement, displacement speed, acceleration, force and the like) acquired by a control system and a sensor (a ship pitching signal sensor can be installed at a position parallel to a deck and an upper platform 1, and an approaching or a sensor is installed at the end part of a gangway ladder) send out a countercompensation movement instruction to a driver of the executing element, so as to realize countercompensation movement including longitudinal movement, rolling movement, heave movement and compound movement thereof, enable a follow-up support 3 and the heave electric cylinder 15 to be always vertical to the ground coordinate system horizontal plane, enable the upper platform 1 to be always kept in a horizontal state, and offset heave movement, distance, angle change and the like by lifting of the heave electric cylinder 15, a pitching cylinder 13 of the gangway ladder (manual control), a telescopic mechanism 14 (semiautomatic control) and the like, so as to realize the relative level and stability of the system.

The control system is respectively connected with the circuit control devices of the gangway ladder pitching electric cylinder 13, the pitching electric cylinder 2, the rolling electric cylinder 8 and the heave electric cylinder 15.

The two damping cylinders 9 are servo mechanisms, play a role in motion damping and auxiliary safety protection, play a role in system fixation when the operation and maintenance ship sails, and play a role in temporary fixation tools when the system is maintained, detached and installed.

The upper platform 1 and the gangway ladder 12 are semi-automatic control, the azimuth angle (rotation around the Z axis) is adjusted by manual control through the rotation of the slewing bearing 10 and the slewing servo motor 11, the elevation angle is adjusted through the extension and retraction of the gangway ladder pitching electric cylinder 13, the gangway ladder is fast-forwarded to approach the target boarding point through the gangway ladder telescopic mechanism 14, the distance between the gangway ladder 12, the gangway ladder telescopic mechanism 14 and the sensing element and the boarding point can be automatically adjusted or kept in contact, the system is in a relatively stable state, and maintenance personnel can safely ascend and withdraw through the gangway ladder 12.

Example 4: as shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8, other structures are the same as the above embodiments, and the multi-degree-of-freedom active compensation stable boarding device is composed of an upper platform 1, a pitching electric cylinder 2, a follow-up support 3, an upper hinge support 4 (4 pieces), a lower hinge support 5 (4 pieces), a follow-up support hinge support 6 (1 piece), a lower platform 7, a rolling electric cylinder 8, a damping cylinder 9, a slewing bearing 10, a slewing servo motor 11, a gangway ladder 12, a gangway ladder pitching electric cylinder 13, a gangway ladder telescopic mechanism 14, a heave electric cylinder 15 and the like.

The pitching electric cylinder 2 is fixedly connected with the upper hinge support 4 and the lower hinge support 5 in the same direction on one side of the Y direction. The upper and lower ends of the rolling electric cylinder 8 are respectively fixedly connected with the upper hinge support 4 and the lower hinge support 5 in the same direction on one side in the X direction, the heave electric cylinder 15 is vertically arranged in the follow-up support 3 in the Z direction (a cylinder barrel flange is connected with the follow-up support flange), and a cylinder rod is fixedly connected with the slewing bearing 10 (a fixed disc).

electric cylinders

8, 2 in the X and Y directions, respectively.

The upper platform 1 mainly comprises a profile frame, a hot galvanizing grid and guardrails, wherein the middle frame structure is fixedly connected with a slewing bearing 10 (a movable disc) and a slewing servo motor 11 through bolts, and is fixedly connected with a driving wheel through the shaft end of the slewing servo motor 11 and drives a driven wheel (namely an outer gear ring of the fixed disc) of the slewing bearing 10 (the fixed disc), so that the upper platform 1 performs + -rotation motion around a Z axis, namely bow-rolling motion (a motion range + -90 degrees).

The gangway 12 is connected with the upper platform 1 in a hinged mode, two ends of a gangway pitching cylinder 13 are respectively hinged with the upper platform 1 and the gangway 12, the pitching movement of the gangway 12 can be driven by the expansion and contraction of the gangway pitching cylinder 13, and a gangway telescopic mechanism 14 is arranged at the bottom of the gangway 12.

When the shipborne multi-freedom-degree active compensation stable boarding system is close to an offshore boarding target, boarding personnel (usually 1-2 persons) ascend to the boarding platform 1 through a gangway ladder 12 with the end part lowered to a deck and prepare for boarding, and the multi-freedom-degree active sea wave compensation system is started.

A control method of a multi-freedom-degree active compensation stable boarding device comprises the steps of enabling a pitching electric cylinder 2, a rolling electric cylinder 8 and a heave electric cylinder 15 to stretch out and draw back, sending out a reverse compensation motion command to a driver of an executing element through a control system, ship rolling and heave motion signals collected by a sensor and the like, realizing the reverse compensation motion comprising longitudinal motion, rolling motion, heave motion and compound motion of the motions, enabling a follow-up support 3 and the heave electric cylinder to be always vertical to the horizontal plane of a ground coordinate system, enabling an upper platform 1 to be always kept in a horizontal state, and enabling the expansion and contraction of the heave electric cylinder 15 to counteract the heave motion of an operation and maintenance ship to realize the relative horizontal and stable of the upper platform. The maximum stroke of the system heave is 1300mm, the system is automatically pre-raised to a neutral position when being started, and the neutral position to the stand position and the highest position are 650mm respectively, namely the heave compensation capacity is +/-650 mm.

The follow-up support hinged support 6 is reversely and conventionally arranged at the lowest part of the multi-degree-of-freedom active compensation stable boarding system, so that the upper platform 1 is a fixed platform, the lower platform is a movable platform (generally arranged at the highest part, the upper platform is a movable platform, and the lower platform is a fixed platform), and the purpose is to enable the movement rotation center of the follow-up support hinged support to be as close to the X-axis (ship roll axis) position of a ship movement coordinate system as possible, so that the compensation of the horizontal position variation formed by swing cannot be realized. The linear displacement compensation and the swing angular displacement compensation are completed simultaneously, so that the effect of half effort is achieved (see fig. 3 to 5).

As shown in fig. 3, the multi-degree-of-freedom active compensation effect diagram in the rolling ±20° state is shown.

As shown in fig. 4, the multi-degree-of-freedom active compensation effect diagram is shown when the operation and maintenance ship pitching-10 degrees.

As shown in fig. 5, the multi-degree-of-freedom active compensation effect diagram is shown when the operation and maintenance ship pitching by 10 degrees.

Example 5: as shown in fig. 1, 2, 3, 4, 5, 6 and 7, a control method of a multi-degree-of-freedom active compensation stable boarding device comprises the following steps: the micro-mechanical-electromechanical inertial navigation system with high precision and good real-time performance is adopted as a measuring element for ship movement, azimuth angle, roll angle, pitch angle, angular velocity, acceleration, euler angle and quaternion information of the ship are calculated through acceleration and angular velocity information, the measuring precision is ensured through a filter and an algorithm with proper gain, and the attitude movement parameters can greatly eliminate errors and improve the measuring precision through the application of various compensation strategies such as nonlinear compensation, orthogonal compensation, temperature compensation and the like.

The multi-dimensional force sensor is arranged at the abutting position (boarding point) of the tail end of the gangway ladder and the tower, and is used for measuring the force value change when the platform is not in place due to motion compensation, and calculating the position and angle input value of the platform which is required to be adjusted in real time according to the intelligent space coordinate transformation algorithm.

And (3) for the sea wave spectrum movement, adopting a PID control algorithm, solving a finite time open-loop optimization problem on line according to the obtained current measurement information at each sampling moment, and acting the first element of the obtained control sequence on the controlled object. At the next sampling instant, the above process is repeated: and using the new measured value as a future dynamic initial condition of the prediction system at the moment, refreshing the optimization problem and solving again.

The electric cylinder 2, the rolling electric cylinder 8 and the heave electric cylinder 15 stretch, and the ship rolling and heave motion signals acquired by the control system and the sensor send out a countercompensation motion instruction to the driver of the executing element, so that countercompensation motions including longitudinal motion, rolling motion, heave motion and compound motions thereof are realized, the follow-up support 3 and the heave electric cylinder 15 are always kept perpendicular to the horizontal plane of the ground coordinate system, the upper platform 1 is always kept in a horizontal state, and the relative horizontal and stable of the upper platform are realized by counteracting the heave motion of the operation and maintenance ship through the stretch of the heave electric cylinder 15. The maximum stroke of the system heave is 1300mm, the system is automatically pre-raised to a neutral position when being started, and the neutral position to the stand position and the highest position are 650mm respectively, namely the heave compensation capacity is +/-650 mm.

In addition, the following support hinge support 6 is reversely and conventionally arranged at the lowest part of the multi-degree-of-freedom active compensation stable boarding system, so that the upper platform 1 is a fixed platform, the lower platform is a movable platform (generally arranged at the highest part, the upper platform is a movable platform, and the lower platform is a fixed platform), and the purpose is to enable the movement rotation center of the following support hinge support to be as close to the X axis of the ship body movement coordinate system, namely the ship body swinging axis (stable center) position as possible, so that the compensation of the horizontal position variation formed by swinging cannot be realized. The linear displacement compensation and the swing angular displacement compensation are completed simultaneously, so that the effect of half effort is achieved (see fig. 3 to 5).

While the embodiments of the present utility model have been described in detail, it will be apparent to those skilled in the art that many modifications can be made without departing substantially from the spirit and scope of the utility model. Accordingly, such modifications are also entirely within the scope of the present utility model.

Claims

1. A multi-degree-of-freedom active compensation stable boarding device is characterized in that 4 lower hinge supports are arranged on a lower platform in a cross mode by taking an X axis and a Y axis as reference, a base of a follow-up support hinge support is fixedly connected with the lower platform in the center of the Z axis, 4 upper hinge supports are arranged around a flange at the upper end of the follow-up support, the base of the follow-up support is fixedly connected with the upper surface of the follow-up support hinge support in a corresponding and uniformly distributed mode relative to the X axis and the Y axis, a flange at the upper end of a heave electric cylinder is fixedly connected with a flange at the upper end of the follow-up support, a hinge support and a lower hinge support are respectively fixedly connected on one side in the Y direction, an upper end and a lower hinge support of a roll electric cylinder are respectively fixedly connected with the hinge support in the same direction on one side in the X direction, a lower hinge support is respectively fixedly connected with a lower hinge support in the Z direction, a lifting cylinder and a flange are vertically arranged in the follow-up support, a cylinder rod of the heave electric cylinder is fixedly connected with a fixed disc of a rotary support, namely a driven wheel, an upper platform is fixedly connected with a movable disc of the rotary support hinge support, two damping cylinders are respectively connected with a rotary servo motor in the X direction, a corresponding motor is fixedly connected with an upper hinge support seat of a rotary servo motor, and a rotary support is fixedly meshed with an upper rotary servo motor.