基于并联平台的船舶运动测量及补偿

doi:10.13229/j.cnki.jdxbgxb.20240005

摘要/Abstract

摘要：

针对船舶在海浪作用下的多自由度复合运动补偿问题，提出了一种基于并联平台模拟海浪的船舶运动测量及补偿算法，包含姿态解算算法及升沉位移解算算法。首先，搭建一个由2个六自由度并联平台串联的船舶运动补偿实验平台；其次，基于惯性测量单元，采用卡尔曼滤波姿态解算算法对船舶模拟运动的横摇、纵摇姿态进行解算；再次，设计升沉位移解算算法，该算法具有高通滤波、相位补偿及海浪频率自适应的特性；最后，进行船舶运动补偿实验。实验结果表明，上置并联平台能够有效抑制海浪对船舶运动的影响，显著提高船舶作业的平稳性。实验验证了本文所提算法的合理性及有效性，为真实船舶运动补偿研究提供一种有效方法。

关键词: 自动化技术及设备, 卡尔曼滤波, 高通滤波, 相位补偿, 自适应

Abstract:

Aiming at the problem of multi-degree-of-freedom composite motion compensation of ships under the action of sea waves， a ship motion measurement and compensation algorithm based on a parallel platform to simulate sea waves was proposed，which includes an attitude calculation algorithm and a heave displacement calculation algorithm. First， a ship motion compensation experimental platform composed of two six-degree-of-freedom parallel platforms in series was built. Secondly， based on the inertial measurement unit， a Kalman filter attitude calculation algorithm was used to calculate the roll and pitch attitudes of the simulated ship motion. Thirdly，a heave displacement calculation algorithm was designed， featuring high-pass filtering， phase compensation， and sea wave frequency adaptability. Finally， ship motion compensation experiments were conducted. The experiments results showed that the upper parallel platform can effectively suppress the impact of sea waves on the ship's motion， significantly improving the stability of ship operations. The experiments validated the rationality and effectiveness of the proposed algorithm in this paper， providing an effective method for real ship motion compensation research.

Key words: automation technology and equipment, Kalman filtering, high-pass filtering, phase compensation, self-adaption

中图分类号:

TP29

黄玲涛,李晨旭,张红彦. 基于并联平台的船舶运动测量及补偿[J]. 吉林大学学报(工学版), 2025, 55(9): 2883-2891.

Ling-tao HUANG,Chen-xu LI,Hong-yan ZHANG. Ship motion measurement and compensation based on parallel platform[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(9): 2883-2891.

图/表 16

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表2

运动补偿系统误差"

性能指标	横摇/（°）	纵摇/（°）	升沉/mm
$e m a x$	0.41	0.21	7.04
$σ e$	0.08	0.05	1.58
MAE	0.13	0.07	1.87

表2

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算法	平均绝对误差		极差
算法	横摇	纵摇	横摇	纵摇
无融合	0.43	0.58	1.01	0.89
互补滤波	0.14	2.52	0.14	2.90
卡尔曼滤波	0.05	0.15	0.05	0.15