CN113060250B - A six-degree-of-freedom offshore wave compensation multipurpose boat and its wave compensation method - Google Patents

Abstract

The invention discloses a six-degree-of-freedom marine wave compensation multipurpose boat and a wave compensation method thereof, wherein the wave compensation multipurpose boat comprises a sailing boat body, a deck and a six-degree-of-freedom electric wave compensation system, and the deck is an integral body needing wave compensation; the six-freedom-degree electric wave compensation system is a connecting part of a sailing boat body and a deck and consists of an electric cylinder and other components or auxiliary accessories necessary for electric wave compensation. By measuring the motion attitude values of the rolling, the pitching, the heaving, the swaying, the pitching and the yawing of the ship body and calculating the compensation values of the rolling, the pitching, the heaving, the swaying, the pitching and the yawing according to the inverse solution algorithm of the wave compensation value, the actions of all the servo electric cylinders are controlled, and the six-degree-of-freedom compensation of the upper deck is realized; the invention can compensate the whole deck by waves, reduces the influence of waves on the boat body, controls the six degrees of freedom in groups by the layered wave compensation platform structure and provides more working space for the wave compensation structure.

Description

A six-degree-of-freedom offshore wave compensation multipurpose boat and its wave compensation method

technical field

The invention relates to the field of ship design and manufacture, in particular to a six-degree-of-freedom offshore wave compensation multipurpose boat and a wave compensation method thereof.

Background technique

Most of the marine leisure and entertainment yachts are widely used in small and medium-sized ships, and the impact of the waves on the small and medium-sized ships is more obvious than that of the medium-sized and even large ships, which can easily cause dizziness and inconvenience to the passengers. With the development of wave compensation technology, the marine parallel stable platform has become the main solution to the impact of waves on the ship's personnel and equipment. The hydraulic parallel platform has the advantages of high rigidity, stable structure, strong bearing capacity, high precision and small motion inertia. At present, it is mainly aimed at the application of onboard equipment of medium and large ships, such as wave compensation trestle, wave compensation crane, etc. However, the available space for small and medium-sized ships is limited, and the hydraulic parallel platform has limitations such as complex structure, low precision, slow response, and low stability, and is no longer suitable for commercial multi-purpose yachts.

SUMMARY OF THE INVENTION

Purpose of the invention: In view of the existing problems in the prior art, the present invention provides a 6-DOF marine wave compensation multi-purpose boat, and another purpose of the present invention is to provide a wave compensation method for a 6-DOF marine wave compensation multi-purpose boat.

Technical solution: The six-degree-of-freedom offshore wave compensation multi-purpose boat according to the present invention includes a sailing hull, a deck and a six-degree-of-freedom electric wave compensation system. The basic attributes of the boat, including energy power system, propulsion and steering equipment, control cabin and equipment and other equipment necessary for small boats; the deck is the whole that needs wave compensation; the six-degree-of-freedom electric wave compensation system is The connecting part of the sailing hull and the deck is composed of electric cylinders and other components or auxiliary accessories necessary for electric wave compensation;

The six-degree-of-freedom electric wave compensation system includes a lower platform, a first wave compensation platform, a second wave compensation platform and an upper deck, wherein the surfaces of each wave compensation platform are symmetrical about the longitudinal center axis of the boat. The arrangement of the electric cylinders of the six-degree-of-freedom electric wave compensation system includes vertical cylinders, horizontal cylinders, inclined cylinders and auxiliary bearing cylinders. The vertical cylinder compensates for roll, pitch and heave, and the horizontal cylinder compensates for sway and surge. The inclined cylinder compensates the bowing, and the auxiliary bearing cylinder plays an auxiliary bearing role.

The connection form of each electric cylinder is as follows: the lower end of the vertical cylinder is vertically fixed to the lower platform, and the upper end is fixed to the first wave compensation platform; the lower end of the horizontal cylinder is horizontally fixed to the second wave compensation platform, and the upper end is connected to the lower plane of the upper deck through the slide rail; The lower end of the inclined cylinder is fixed on the lower platform, and the upper end is connected with the lower plane of the second wave compensation platform through the sliding rail; the upper and lower ends of the auxiliary bearing cylinder are respectively vertically fixed on the lower plane of the lower platform and the upper deck.

A wired displacement sensor is installed on each actuator to measure the displacement of the telescopic motion of the actuator. An angle sensor is installed at the lower end connection of the two inclined cylinders to measure the angle change of the inclined cylinder. It is installed at the center of gravity of the lower platform. There is an attitude sensor. The attitude sensor is connected to the motion controller through a signal line. The attitude sensor is used to detect the roll, pitch, heave, sway, surge and yaw values of the sailing hull, and input the detected value to the motion controller. Among them, the first wave compensation platform is equipped with an xy-axis rotation angle sensor, the second wave compensation platform is equipped with a z-axis rotation angle sensor, and the upper deck is equipped with an xy-axis displacement sensor, which are all used as the detection input of the closed-loop control signal of the control system.

Preferably, the number of the vertical cylinders is three, including a first vertical cylinder, a second vertical cylinder and a third vertical cylinder, and the three vertical cylinders are arranged along the circumference at an angle of 120°, and the first vertical cylinder The vertical cylinders are arranged on the central axis of the navigating hull, and the three vertical cylinders are fixedly connected to the lower platform, and are connected to the wave compensation platform through Hooke hinges; the number of the inclined cylinders is two, including the first inclined cylinder And the second inclined cylinder, the angle between the three inclined cylinders and the lower platform surface is 45°, the arrangement position of the two inclined cylinders on the lower platform surface and the center of the lower platform surface are symmetrically distributed, and are connected with the lower platform through pins. The upper end of the inclined cylinder is a spherical hinge, and the spherical hinge and the second wave compensation platform are connected by sliding rails, and the position of the sliding rails is located on the central axis of the sailing hull; the center of the first wave compensation platform and the second wave compensation platform are provided with through holes. , there is a groove on the periphery of the through hole of the wave compensation platform 1, a bearing is installed in the groove, and the wave compensation platform 2 is installed in the groove and can rotate along the circumference; the number of the horizontal cylinders is 4, including the first horizontal cylinder. The cylinder, the second horizontal cylinder, the third horizontal cylinder and the fourth horizontal cylinder, the four horizontal cylinders are distributed along the circumference, and the angle between each other is 90 degrees and arranged horizontally, and the telescopic cylinders of each horizontal cylinder point to the center of the circle, and the end of the telescopic cylinder is A slide rail seat is provided, which is respectively connected with the slide rails arranged on the lower plane of the upper deck; the number of the auxiliary bearing cylinder is 1, the lower end of which is a spherical hinge, which is connected to the center of the lower platform, and the upper end is also a spherical hinge. The through holes of the first wave compensation platform and the second wave compensation platform are connected with the lower plane of the upper deck.

Further, the electric cylinder of the six-degree-of-freedom electric wave compensation system actuator is wrapped with a flexible waterproof cover that does not affect the movement of the electric cylinder.

A sufficient gap is left between the sailing hull and the deck for the six-degree-of-freedom electric wave compensation system to work, and a flexible waterproof material is used to fill the gap to connect it with the sailing hull and the deck.

Further, in order to ensure the structural strength of the six-degree-of-freedom electric wave compensation system and the connecting area of the upper plane and the lower plane of the sailing hull, the sailing hull and deck need to be installed in the local area where the actuator is connected to the sailing hull and deck. For the reinforcement structure design, the structure can be reinforced by local thickening and reinforcing ribs or other structural reinforcement methods.

Further, there is a certain inclination angle between the upper plane of the sailing hull and the lower platform plane of the six-degree-of-freedom electric wave compensation system, and the direction of the inclination angle can take the form of front high and rear low, middle high and low sides, etc. The seawater entering the hull is collected to one side for easy discharge or extraction by means of an extraction device.

Further, the sailing hull is provided with anti-rollover wings near the outer waterline of the hull to weaken or offset the force of the electric cylinder on the sailing hull when the six-degree-of-freedom electric wave compensation system performs compensating actions, preventing sailing. When the hull overturns, the anti-rollover wings can be selected to be arranged in a continuous or segmented manner on the periphery of the hull according to the calculation of the specific ship stability. The angle between the anti-rollover wing and the horizontal plane can be different according to the specific position of the boat body, and in principle, the water movement resistance of the sailing boat body should not be increased.

Further, the leisure multi-purpose boat can be equipped with an anti-rolling gyro at the center of the boat according to specific conditions to cooperate with the work of the six-degree-of-freedom electric wave compensation system.

Further, the energy power system can choose to adopt high-power single power or low-power multi-power according to the specific design. The high-power single-power system supplies power for navigation, all equipment on the boat, the six-degree-of-freedom electric wave compensation system, and all equipment on the deck; the low-power multi-power system can supply navigation, all equipment on the boat, and six-degree-of-freedom electric wave compensation. The system and all equipment on the deck are grouped for power supply.

In addition, the design of the multi-purpose boat follows the integrated design, and the deck can also be replaced according to actual specific needs, so as to realize the diversification of the carriers on the deck, so as to meet the actual different functional requirements of the multi-purpose boat.

A wave compensation method based on the six-degree-of-freedom offshore wave compensation multipurpose boat, measures the motion attitude values of the hull's roll, pitch, heave, sway, surge and bow through an attitude sensor, and transmits them in real time For the motion controller, the motion controller calculates the compensation values of roll, pitch, heave, sway, pitch and bow according to the inverse solution algorithm of the wave compensation value, and controls the action of each servo electric cylinder according to the compensation value to realize Compensation of six degrees of freedom on the upper deck, the details are as follows:

Measure the motion attitude values a1, a2, a3, a4, a5, a6 of the hull's roll, pitch, heave, sway, pitch and bow through the attitude sensor, and transmit them to the motion controller in real time;

When a2=a3=a4=a5=a6=0, and a1≠0, and there is rolling motion, the controller controls the main action of the vertical cylinder, and the other cylinders do not move; when a1=a3=a4=a5=a6=0 , and a2≠0, when there is pitch motion, it controls the main action of the vertical cylinder and the auxiliary action of the inclined cylinder; when a1=a2=a4=a5=a6=0, and a3≠0, when there is heave motion, the controller Control the main action of the vertical cylinder, the auxiliary action of the inclined cylinder and the auxiliary bearing cylinder; when a1=a2=a3=a5=a6=0, and a4≠0, and there is a swaying action, the controller controls the horizontal cylinder perpendicular to the hull axis The main action of the arrangement is the auxiliary action of the auxiliary bearing cylinder; when a1=a2=a3=a4=a6=0, and a5≠0, and there is a surge action, the controller controls the main action arranged along the hull axis in the horizontal cylinder, the auxiliary action Auxiliary action of the bearing cylinder; when a1=a2=a3=a4=a5=0, and a6≠0, and there is a yaw motion, the controller controls the main action of the inclined cylinder, and the other cylinders do not move.

Further, when swaying to the left, the horizontal cylinder on the left extends the leftward sway value measured by the attitude sensor, and the horizontal cylinder on the right shortens the leftward sway value measured by the attitude sensor; when swaying to the right, The left sway value measured by the horizontal cylinder shortening attitude sensor located on the left, the left sway value measured by the horizontal cylinder extending attitude sensor located on the right; when swaying forward, the horizontal cylinder extended attitude sensor located at the front end The measured forward surge value, the horizontal cylinder at the rear end shortens the forward surge value measured by the attitude sensor; when the horizontal cylinder at the front end shortens the backward surge value measured by the attitude sensor, the horizontal cylinder at the rear end shortens the backward surge value measured by the attitude sensor Backward surge value measured by the extended attitude sensor.

Further, for the yaw motion, the following contents are included:

Assuming the initial inclined cylinder length L0, the angle α with the lower platform surface, the working inclined cylinder length L1, the included angle β with the lower platform surface, and the bow angle θ, the distance between the bow rotation center and the slide rail seat at the upper end of the initial inclined cylinder is S, and the vertical distance between the upper slide rail seat of the inclined cylinder and the lower platform surface is h;

When there is no roll, no pitch and no heave, L1=(Stanθtanα+h)/tanαcosβ, L0=h/sinα, and the telescopic amount of the inclined cylinder L=L1-L0;

L0＝h/sinα，斜缸伸缩量L＝L1-L0；When there is roll, no pitch and no heave, the roll angle is assumed to be

L0=h/sinα, the telescopic amount of the inclined cylinder L=L1-L0;

When there is pitch but no roll and no heave, assuming that the pitch angle is γ, L1=(Stanθtanα+Stanγ+h)/tanαcosβ, L0=(h+Stanγ)/sinα, the telescopic amount of the inclined cylinder L=L1-L0;

When there is heave but no roll and no pitch, suppose the heave height is h1, L1=(Stanθtanα+h+h1)/tanαcosβ, L0=(h+h1)/sinα, and the telescopic amount of the inclined cylinder is L=L1-L0.

The beneficial effects of the present invention are as follows: 1. The wave compensation system with six degrees of freedom is used to perform wave compensation on the deck as a whole, so as to reduce the influence of waves on this type of leisure boat and improve the comfort of the passengers; 2. Anti-rollover wings The setting reduces or even offsets the influence of the six-degree-of-freedom electric wave compensation system on the boat itself, avoiding the overturning of the hull due to the force generated by the wave compensation action, and improving the stability of the boat; 3. Control the cockpit and deck The separate design of the diversified functional areas and the choice of high-power single power system and low-power multi-power system realize the replaceability of the deck, thus reflecting the functional diversity of the multi-purpose boat; 4. The upper plane of the sailing hull The inclined design and the setting of the drainage structure or pumping device avoid the accumulation of seawater after entering the boat. At the same time, the flexible waterproof cover wrapped outside the electric cylinder improves the reliability of the six-degree-of-freedom electric wave compensation system; 5. The use of The electric layered parallel platform structure controls the six degrees of freedom grouping, which can simplify the control model of the control system and is easy to control; at the same time, compared with the traditional hydraulic parallel platform, the electric parallel platform has a compact structure, fast response, and easy control. Reliable stability, more suitable for miniaturized multi-purpose boats, provides more working space for the wave compensation structure of miniaturized multi-purpose boats, and improves the limit value that can be compensated for each degree of freedom. In addition, the six-degree-of-freedom electric wave compensation system can also be used as a manual attitude adjustment device for the deck when the compensation function is not turned on.

Description of drawings

Fig. 1 is the overall front axle side schematic diagram of the embodiment of the present invention;

FIG. 2 is a schematic side view of the overall rear axle according to an embodiment of the present invention;

3 is a schematic front view of a wave compensation system according to an embodiment of the present invention;

FIG. 4 is an axial schematic diagram of a wave compensation system according to an embodiment of the present invention;

Fig. 5(a) is a schematic diagram of a right side view of the wave compensation system according to an embodiment of the present invention, and Fig. 5(b) is a partial enlarged view of the wave compensation system in Fig. 5(a);

Fig. 6(a) is a schematic view of the rear axle side of the lower platform for wave compensation according to an embodiment of the present invention, and Fig. 6(b) is a schematic top view of Fig. 6(a);

7 is a schematic diagram of a rear axle side of a wave compensation platform according to an embodiment of the present invention;

Fig. 8(a) is a schematic view of the second rear axle of the wave compensation platform according to the embodiment of the present invention, and Fig. 8(b) is a schematic top view of Fig. 8(a);

9 is a schematic diagram of the rear axle side of the wave compensation upper deck according to an embodiment of the present invention;

FIG. 10 is a control principle diagram of a wave compensation method according to an embodiment of the present invention.

Description of reference numbers:

1: Navigation hull; 1-1: Steering equipment; 1-2: Propulsion equipment; 1-3: Anti-rollover wing; 1-4: Equipment compartment; 1-5: Navigation hull upper plane; 2: Wave compensation System; 2-1: Front inclined cylinder; 2-2: Rear inclined cylinder; 2-3: Vertical cylinder one; 2-4: Vertical cylinder two; 2-5: Vertical cylinder three; 2-6: Auxiliary Loading cylinder; 2-7: Front horizontal cylinder; 2-8: Left horizontal cylinder; 2-9: Rear horizontal cylinder; 2-10: Right horizontal cylinder; 2-11: Wave compensation platform one; 2-12: Wave compensation Platform 2; 2-13: Inclined cylinder slide rail; 3: Upper deck; 3-1: Horizontal cylinder slide rail.

Detailed ways

In order to describe in detail the technical content, achieved objects and effects of the present invention, the following descriptions are given with reference to the embodiments and the accompanying drawings.

As shown in Figures 1-3, a miniaturized six-degree-of-freedom offshore wave compensation multi-purpose boat, below is a sailing hull 1 sailing in water, which includes steering equipment 1-1, propulsion equipment 1-2, Anti-rollover wings 1-3 and equipment compartments 1-4, and the upper plane 1-5 of the sailing hull have local structural strengthening and planarization at the installation position of the servo electric cylinder to ensure that the platform under wave compensation has sufficient strength and It is parallel to the sea level; the upper planes 1-5 of the sailing hull are inclined at the front and the rear are low, which is convenient for the collection and processing of seawater that may enter the boat; Nearby, the angle is horizontal. The corresponding angle can be changed according to the actual design calculation, on the premise that the resistance of the sailing hull 1 in the water should not be increased; in the embodiment, the power system adopts a dual power system, which compensates the sailing hull 1 and the six-degree-of-freedom electric wave. The power supply of the system is separated.

As shown in Figures 3-9, the middle part is the six-degree-of-freedom electric wave compensation system 2, including the lower platform, the first wave compensation platform 2-11, the second wave compensation platform 2-12 and the upper deck. The actuator servo electric cylinder of the wave compensation system can be divided into four categories: vertical cylinder, inclined cylinder, horizontal cylinder and auxiliary bearing cylinder. The first vertical cylinders 2-3, the second vertical cylinders 2-4, and the third vertical cylinders 2-5 are arranged along the circumference at an angle of 120°, and the arrangement position of the first vertical cylinders 2-3 is in the heading On the central axis of the hull, three vertical cylinders are fixedly connected to the lower platform, and are connected to the wave compensation platform 1 through Hooke hinges; the first inclined cylinder 2-1 and the second inclined cylinder 2-2 have an angle with the lower platform surface. 45°, the arrangement position of the two inclined cylinders on the lower platform surface is symmetrical with the center of the lower platform surface, and is connected with the lower platform through the pin shaft. Rail connection, the position of the slide rail is located on the central axis of the sailing hull, the wave compensation platform 1 has a through hole in the center, and there is a groove on the periphery of the through hole, the groove is equipped with a bearing, the wave compensation platform 2 is installed in the groove, and Can rotate along the circumference; the first horizontal cylinder 2-7, the second horizontal cylinder 2-8, the third horizontal cylinder 2-9, and the fourth horizontal cylinder 2-10 are distributed along the circumference, and the angle between each other is 90 degrees and arranged horizontally, And the telescopic cylinders of each horizontal cylinder point to the center of the circle, the end of the telescopic cylinder is provided with a slide rail seat, which is respectively connected with the slide rail arranged on the lower plane of the upper deck, and the second center of the wave compensation platform is also provided with a through hole; the lower end of the auxiliary bearing cylinder is a ball. The hinge is connected to the center of the lower platform, and the upper end is also a spherical hinge, which is connected to the lower plane of the upper deck through the through holes of the first wave compensation platform and the second wave compensation platform.

A wired displacement sensor is installed on each servo electric cylinder to measure the displacement of the telescopic motion of the servo electric cylinder. An angle sensor is installed at the lower end pin connection of the two inclined cylinders to measure the angle change of the inclined cylinder. The attitude sensor is installed at the center of gravity of the platform, and the attitude sensor is connected to the motion controller through the signal line. In the value input motion controller, the first wave compensation platform is equipped with an xy-axis rotation angle sensor, the second wave compensation platform is equipped with a z-axis rotation angle sensor, and the upper deck is equipped with an xy-axis displacement sensor, all of which are used as the detection of the closed-loop control signal of the control system. enter.

The details of the wave compensation method are as follows:

(1) Measure the motion attitude values a1, a2, a3, a4, a5, a6 of the hull's roll, pitch, heave, sway, pitch and bow through the attitude sensor, and transmit them to the motion controller in real time, The motion controller calculates the compensation values of roll, pitch, heave, sway, surge and bow according to the inverse solution algorithm of the wave compensation value, and controls the action of each servo electric cylinder according to the compensation value to realize the six freedoms of the upper deck. degree compensation;

(2) When a2=a3=a4=a5=a6=0, and a1≠0, and there is roll motion, the controller controls the main action of the three vertical cylinders, and the other cylinders do not move; when a1=a3=a4=a5 =a6=0, and a2≠0, when there is pitch motion, control the main action of three vertical cylinders and the auxiliary action of two inclined cylinders; when a1=a2=a4=a5=a6=0, and a3≠0, there is During heave motion, the controller controls the main action of three vertical cylinders, two inclined cylinders and an auxiliary load cylinder for auxiliary action; when a1=a2=a3=a5=a6=0, and a4≠0, there is sway action When a1=a2=a3=a4=a6=0, and a5≠0, there is a surge action when a1=a2=a3=a4=a6=0. , the controller controls the two main actions of the four horizontal cylinders arranged along the axis of the hull, and the auxiliary action of the auxiliary bearing cylinder; when a1=a2=a3=a4=a5=0, and a6≠0, when there is a yaw motion, the control The controller controls the main action of the two inclined cylinders, and the other cylinders do not act.

The telescopic value of each servo electric cylinder is mainly due to the attitude sensor installed at the center of gravity of the lower platform to measure the attitude of the sailing hull, and transmit the measured data to the motion controller, which is based on the inverse solution algorithm of wave compensation, Calculate the compensation values for roll, pitch, heave, sway, surge, and yaw.

Since the wave compensation structure in the embodiment adopts a layered structure, there are some differences in the wave compensation inverse solution algorithm, and the difference is reflected in the sway and yaw.

In the present invention, the compensation for lateral and surge is completed by the second wave compensation platform, and the roll, pitch, heave and yaw are completed by the first wave compensation platform and two inclined cylinders, so the compensation of the lateral and surge motion is independent of the lateral and pitch, the heave and the yaw. Motion compensation for heave and yaw, that is, when swaying to the left, the leftward sway value measured by the extension attitude sensor of the second horizontal cylinder 2-8 (left horizontal cylinder), and the leftward swaying value of the fourth horizontal cylinder 2-10 (right horizontal cylinder) cylinder) to shorten the leftward sway value measured by the attitude sensor; when swaying to the right, the second horizontal cylinder 2-8 (left horizontal cylinder) shortens the leftward sway value measured by the attitude sensor, and the fourth horizontal cylinder 2-10 ( The leftward sway value measured by the right horizontal cylinder) extension attitude sensor; when swaying forward, the forward sway value measured by the extension attitude sensor of the first horizontal cylinder 2-7 (front horizontal cylinder), the third horizontal cylinder 2-9 (rear horizontal cylinder) shortens the forward surge value measured by the attitude sensor; when swinging backwards, the first horizontal cylinder 2-7 (front horizontal cylinder) shortens the backward surge value measured by the attitude sensor, and the third The value of backward surge measured by the extension attitude sensor of horizontal cylinder 2-9 (rear horizontal cylinder).

则此时

L0＝h/sinα，斜缸伸缩量L＝L1-L0；有纵摇无横摇无升沉时，假设纵摇角为γ，则此时L1＝(Stanθtanα+Stanγ+h)/tanαcosβ，L0＝(h+Stanγ)/sinα，斜缸伸缩量L＝L1-L0；有升沉无横摇无纵摇时，假设升沉高度为h1，则此时L1＝(Stanθtanα+h+h1)/tanαcosβ，L0＝(h+h1)/sinα，斜缸伸缩量L＝L1-L0。The calculation of the telescopic compensation value of the servo electric cylinder during bowing is related to whether there is roll, pitch and heave motion. When there is no roll, no pitch and no heave, assuming the initial inclined cylinder length L0, the angle α with the lower platform surface, the working inclined cylinder length L1, the included angle β with the lower platform surface, and the bow angle is θ, the bow rotates The distance between the center and the upper end slide seat of the initial inclined cylinder is S, and the vertical distance between the upper end slide rail seat of the inclined cylinder and the lower platform surface is h, then L1=(Stanθtanα+h)/tanαcosβ, L0=h/sinα, the slope Cylinder telescopic amount L=L1-L0; when there is roll, no pitch and no heave, the roll angle is assumed to be

then at this time

L0=h/sinα, the telescopic amount of the inclined cylinder L=L1-L0; when there is pitch, no roll, and no heave, assuming that the pitch angle is γ, then L1=(Stanθtanα+Stanγ+h)/tanαcosβ, L0 =(h+Stanγ)/sinα, the telescopic amount of the inclined cylinder L=L1-L0; when there is heave but no roll and no pitch, assuming that the heave height is h1, then L1=(Stanθtanα+h+h1)/ tanαcosβ, L0=(h+h1)/sinα, the expansion and contraction amount of the inclined cylinder L=L1-L0.

Claims (9)

1. a six-degree-of-freedom sea wave compensation multi-purpose boat, is characterized in that: comprise sailing hull, deck and six-degree-of-freedom electric wave compensation system; The sailing hull is the part for sailing on the water surface; the deck is the whole that needs wave compensation; the six-degree-of-freedom electric wave compensation system is the connecting part between the sailing hull and the deck, including actuators, lower platforms, and wave compensation. The first platform, the second wave compensation platform and the upper deck, wherein the first wave compensation platform and the second wave compensation platform are symmetrical about the longitudinal center axis of the boat; The actuator includes a vertical cylinder, a horizontal cylinder, an inclined cylinder and an auxiliary bearing cylinder, wherein the vertical cylinder compensates for roll, pitch and heave, the horizontal cylinder compensates for sway and surge, the inclined cylinder compensates for bowing, and the auxiliary bearing The cylinder plays an auxiliary bearing role; the lower end of the vertical cylinder is fixed on the lower platform, and the upper end is fixed on the first wave compensation platform; the lower end of the horizontal cylinder is horizontally fixed on the second wave compensation platform, and the upper end is connected with the lower plane of the upper deck through the slide rail; The lower end of the inclined cylinder is fixed on the lower platform, and the upper end is connected with the lower plane of the second wave compensation platform through the sliding rail; the upper and lower ends of the auxiliary bearing cylinder are respectively vertically fixed on the lower platform and the lower plane of the upper deck; A wired displacement sensor is installed on each actuator to measure the displacement of the telescopic motion of the actuator. An angle sensor is installed at the lower end connection of the two inclined cylinders to measure the angle change of the inclined cylinder. It is installed at the center of gravity of the lower platform. There is an attitude sensor. The attitude sensor is connected to the motion controller through a signal line. The attitude sensor is used to detect the roll, pitch, heave, sway, surge and yaw values of the sailing hull, and input the detected value to the motion controller. Among them, the first wave compensation platform is equipped with an xy-axis rotation angle sensor, the second wave compensation platform is equipped with a z-axis rotation angle sensor, and the upper deck is equipped with an xy-axis displacement sensor, all of which are used as the detection input of the closed-loop control signal of the control system; The number of the vertical cylinders is three, including a first vertical cylinder, a second vertical cylinder and a third vertical cylinder. The three vertical cylinders are arranged along the circumference at an angle of 120°, and the first vertical cylinder The arrangement position is located on the central axis of the heading hull, and the three vertical cylinders are fixedly connected to the lower platform, and are connected to the wave compensation platform through Hooke hinges; The number of the inclined cylinders is 2, including the first inclined cylinder and the second inclined cylinder. The angle between the three inclined cylinders and the lower platform surface is 45°, and the arrangement position of the two inclined cylinders on the lower platform surface is the center of the lower platform surface. It is symmetrically distributed, and is connected with the lower platform through pin shafts. The upper ends of the two inclined cylinders are spherical hinges. The spherical hinges and the second wave compensation platform are connected by sliding rails, and the sliding rails are arranged on the central axis of the sailing hull; The center of the first wave compensation platform and the second wave compensation platform are provided with through holes, wherein, the outer periphery of the through hole of the first wave compensation platform is provided with a groove, a bearing is installed in the groove, and the second wave compensation platform is installed in the groove, and can rotate in a circle; The number of the horizontal cylinders is 4, including the first horizontal cylinder, the second horizontal cylinder, the third horizontal cylinder and the fourth horizontal cylinder. The telescopic cylinders of each horizontal cylinder point to the center of the circle, and the end of the telescopic cylinder is provided with a slide rail seat, which is respectively connected with the slide rails arranged on the lower plane of the upper deck; The number of the auxiliary bearing cylinder is 1, the lower end of which is a spherical hinge, which is connected to the center of the lower platform, and the upper end is also a spherical hinge. Make a connection. 2 . The 6-DOF offshore wave compensation multipurpose boat according to claim 1 , wherein the actuator of the 6-DOF electric wave compensation system is externally wrapped with a flexible waterproof cover. 3 . 3. The six-degree-of-freedom offshore wave compensation multi-purpose boat according to claim 1, wherein a space for the six-degree-of-freedom electric wave compensation system is left between the sailing hull and the deck, and a flexible waterproof material is used. Fill the gap to connect it with the sailing hull and deck. 4 . The multi-purpose boat with six degrees of freedom for offshore wave compensation according to claim 1 , wherein the actuator is an electric cylinder, and the structure is strengthened in the local area where the electric cylinder is installed and connected to the sailing hull and deck. 5 . 5. The 6-DOF offshore wave compensation multipurpose boat according to claim 1, characterized in that: there is an inclination angle between the upper plane of the sailing boat hull and the lower platform plane of the 6-DOF electric wave compensation system, so The inclination angle is in the form of high front and low back, or high in the middle and low on both sides. 6. The six-degree-of-freedom offshore wave compensation multi-purpose boat according to claim 1, wherein the sailing hull is provided with an anti-rollover wing near the waterline of the outer hull, and the anti-rollover wing is based on the ship For stability calculation, use continuous arrangement or segmented arrangement on the periphery of the hull. 7. A wave compensation method based on the six-degree-of-freedom sea wave compensation multi-purpose boat according to any one of claims 1-6, characterized in that the roll, pitch, heave, and sway of the hull are measured by an attitude sensor , and the motion attitude values of surge and bow are transmitted to the motion controller in real time. Compensation value, control the action of each servo electric cylinder according to the compensation value to realize the six-degree-of-freedom compensation of the upper deck, which includes the following contents: Measure the motion attitude values a1, a2, a3, a4, a5, a6 of the hull's roll, pitch, heave, sway, surge and yaw through the attitude sensor; When a2=a3=a4=a5=a6=0, and a1≠0, and there is roll motion, the motion controller controls the vertical cylinder action, and other cylinders do not move; when a1=a3=a4=a5=a6=0 , and a2≠0, when there is pitch motion, the motion controller controls the main action of the vertical cylinder and the auxiliary action of the two inclined cylinders; when a1=a2=a4=a5=a6=0, and a3≠0, there is heave When moving, the controller controls the main action of the vertical cylinder, the auxiliary action of the inclined cylinder and the auxiliary bearing cylinder; when a1=a2=a3=a5=a6=0, and a4≠0, and there is a swaying action, the controller controls the vertical cylinder. The main action of the horizontal cylinder arranged along the hull axis is the auxiliary action of the auxiliary bearing cylinder; when a1=a2=a3=a4=a6=0, and a5≠0, and there is a surge action, the controller controls the main action of the horizontal cylinder arranged along the hull axis. When a1=a2=a3=a4=a5=0, and a6≠0, and there is a yaw motion, the controller controls the main action of the inclined cylinder, and the other cylinders do not move. 8 . The wave compensation method according to claim 7 , wherein when swaying to the left, the horizontal cylinder on the left side extends the sway value measured by the attitude sensor, and the horizontal cylinder on the right side shortens the attitude sensor. 9 . The measured leftward sway value; when swaying to the right, the leftward sway value measured by the attitude sensor of the horizontal cylinder on the left side shortens, and the leftward sway value measured by the horizontal cylinder on the right side extends the attitude sensor; During forward surge, the forward surge value measured by the horizontal cylinder at the front end extends the attitude sensor, and the forward surge value measured by the horizontal cylinder at the rear end shortens the attitude sensor; when swinging backward, the horizontal cylinder at the front end shortens the attitude The rearward surge value measured by the sensor, the rearward surge value measured by the horizontal cylinder extension attitude sensor located at the rear end. 9. The wave compensation method according to claim 7, wherein, for the yaw motion, the method comprises the following: Assuming the initial inclined cylinder length L0, the angle α with the lower platform surface, the working inclined cylinder length L1, the included angle β with the lower platform surface, and the bow angle θ, the distance between the bow rotation center and the slide rail seat at the upper end of the initial inclined cylinder is S, and the vertical distance between the upper slide rail seat of the inclined cylinder and the lower platform surface is h; When there is no roll, no pitch and no heave, L1=(Stanθtanα+h)/tanαcosβ, L0=h/sinα, and the telescopic amount of the inclined cylinder is L=L1-L0; When there is roll, no pitch, and no heave, assuming that the roll angle is φ, L1=(Stanθcosφtanα+h)/tanαcosβ, L0=h/sinα, the telescopic amount of the inclined cylinder is L=L1-L0; When there is pitch, no roll, and no heave, assuming that the pitch angle is γ, L1=(Stanθtanα+Stanγ+h)/tanαcosβ, L0=(h+ Stanγ)/sinα, the telescopic amount of the inclined cylinder L=L1-L0; When there is heave but no roll and no pitch, the heave height is assumed to be h1, L1=(Stanθtanα+h+h1)/tanαcosβ, L0=(h+h1)/sinα, and the telescopic amount of the inclined cylinder L=L1-L0.

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