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A platform for research: civil engineering, architecture and urbanism
Active wave compensation control system for articulated four-degree-of-freedom embarkation trestle and control method thereof
The invention discloses an active wave compensation control system for an articulated four-degree-of-freedom embarkation trestle and a control method thereof. The active wave compensation control system comprises an attitude sensor, an active wave compensation device, a flow valve, a motion cylinder/motor and a position feedback device, the active wave compensation device comprises an attitude adjusting unit connected with the attitude sensor, the attitude adjusting unit is connected with an active motion compensation unit, the active motion compensation unit is connected with an inverse motion solver, and the inverse motion solver is connected with an adjuster. The adjuster is connected with a pitching joint, a rotary joint, a rolling joint and a telescopic joint on the articulated four-degree-of-freedom embarkation trestle. The system can compensate the wave motion of a ship in real time, so that the tail end position of the trestle is always kept stable relative to the ground.
本发明公开了一种铰接式四自由度登乘栈桥用的主动波浪补偿控制系统及其控制方法，该系统包括姿态传感器、主动波浪补偿装置、流量阀、运动缸/马达和位置反馈器件；所述主动波浪补偿装置包括与姿态传感器连接的姿态调整单元，所述姿态调整单元连接主动运动补偿单元，主动运动补偿单元连接逆运动求解器，逆运动求解器连接调节器，调节器分别与铰接式四自由度登乘栈桥上的俯仰关节、回转关节、橫摇关节、伸缩关节连接。该系统能实时补偿船舶的波浪运动，使栈桥末端位置相对于大地始终保持稳定。
Active wave compensation control system for articulated four-degree-of-freedom embarkation trestle and control method thereof
The invention discloses an active wave compensation control system for an articulated four-degree-of-freedom embarkation trestle and a control method thereof. The active wave compensation control system comprises an attitude sensor, an active wave compensation device, a flow valve, a motion cylinder/motor and a position feedback device, the active wave compensation device comprises an attitude adjusting unit connected with the attitude sensor, the attitude adjusting unit is connected with an active motion compensation unit, the active motion compensation unit is connected with an inverse motion solver, and the inverse motion solver is connected with an adjuster. The adjuster is connected with a pitching joint, a rotary joint, a rolling joint and a telescopic joint on the articulated four-degree-of-freedom embarkation trestle. The system can compensate the wave motion of a ship in real time, so that the tail end position of the trestle is always kept stable relative to the ground.
本发明公开了一种铰接式四自由度登乘栈桥用的主动波浪补偿控制系统及其控制方法，该系统包括姿态传感器、主动波浪补偿装置、流量阀、运动缸/马达和位置反馈器件；所述主动波浪补偿装置包括与姿态传感器连接的姿态调整单元，所述姿态调整单元连接主动运动补偿单元，主动运动补偿单元连接逆运动求解器，逆运动求解器连接调节器，调节器分别与铰接式四自由度登乘栈桥上的俯仰关节、回转关节、橫摇关节、伸缩关节连接。该系统能实时补偿船舶的波浪运动，使栈桥末端位置相对于大地始终保持稳定。
Active wave compensation control system for articulated four-degree-of-freedom embarkation trestle and control method thereof
一种铰接式四自由度登乘栈桥用的主动波浪补偿控制系统及其控制方法
ZHENG WENBIN (author) / GONG HAIHUA (author) / MA JI (author) / LIU GANG (author)
2021-02-26
Patent
Electronic Resource
Chinese
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