The invention relates to a compensation method based on a sea wave compensation device. The method comprises the steps: building a fixed platform pose prediction model under an action of sea waves anda movable platform pose prediction model after sea wave compensation, and carrying out prediction to acquire a fixed platform prediction pose and a movable platform prediction pose; determining a prediction target pose of the movable platform relative to the fixed platform according to the fixed platform prediction pose and the movable platform prediction pose, and determining an expected position of a drive of compensation device according to the prediction target pose; determining a desired input of the compensation device according to the expected position of the drive of the compensationdevice; and through modeling of fixed platform shaking under the influence of sea waves and modeling of the movable platform under a compensation effect, realizing effective double-feedforward control, and increasing an adjusting capacity of the system. The method is suitable for various different sea wave compensation platforms comprising the sea wave compensation device. And a working space of the compensation system is considered so that a comprehensive compensation capability of the system on large-amplitude sea waves is ensured.

    本发明涉及一种基于海浪补偿装置的补偿方法,包括:建立海浪作用下的定平台位姿预测模型和进行海浪补偿后的动平台位姿预测模型,分别预测得到定平台预测位姿和动平台预测位姿;根据定平台预测位姿和动平台预测位姿确定动平台相对于定平台的预测目标位姿,根据预测目标姿态确定补偿装置的驱动的期望位置;根据补偿装置的驱动的期望位置确定补偿装置的期望输入;通过对海浪影响下的定平台晃动进行建模,以及对补偿作用下的动平台进行建模,实现了有效的双前馈控制,增大了系统的调节能力;适用于包含该类型的海浪补偿装置的各种不同的海浪补偿平台;将补偿系统的工作空间考虑在内,保证了系统对较大幅度海浪的综合补偿能力。


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    Titel :

    Compensation method based on sea wave compensation device


    Weitere Titelangaben:

    一种基于海浪补偿装置的补偿方法


    Beteiligte:
    LI SHAO'AN (Autor:in) / HAN SHIBO (Autor:in) / LUO KEXIN (Autor:in) / LUO WENBAO (Autor:in) / WEI MENGGE (Autor:in) / MA WENLI (Autor:in)

    Erscheinungsdatum :

    2020-11-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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