Journal of Jilin University(Engineering and Technology Edition) ›› 2025, Vol. 55 ›› Issue (9): 2883-2891.doi: 10.13229/j.cnki.jdxbgxb.20240005

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Ship motion measurement and compensation based on parallel platform

Ling-tao HUANG(),Chen-xu LI,Hong-yan ZHANG()   

  1. School of Mechanical and Aerospace Engineering，Jilin University，Changchun 130022，China
  • Received:2024-01-05 Online:2025-09-01 Published:2025-11-14
  • Contact: Hong-yan ZHANG E-mail:hlt@jlu.edu.cn;zhanghy@jlu.edu.cn

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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

CLC Number: 

  • TP29

Fig.1

Schematic diagram of the self stabilizing system framework for waves"

Fig.2

Comparison curves of static experiments using three methods"

Table 1

Comparison of measurement errors using multiple algorithms"

算法平均绝对误差极差
横摇纵摇横摇纵摇
无融合0.430.581.010.89
互补滤波0.142.520.142.90
卡尔曼滤波0.050.150.050.15

Fig.3

Joint motion curve of roll and pitch axes"

Fig.4

Flow chart for calculating ship heave displacement"

Fig.5

Comparison between the acquisition signal of heave acceleration and theoretical signal"

Fig.6

Image of ship heave displacement calculation"

Fig.7

Heave filters and twice integrating amplitude and phase frequency characteristic curves"

Fig.8

Heave signal calculated by the heave filter"

Fig.9

Frequency estimation image based on FFT"

Fig.10

New heave filter calculates the heave signal"

Fig.11

Experimental curve without frequency adaptive link added"

Fig.12

Adaptive filter design scheme"

Fig.13

Experimental curve of adding frequency adaptive link"

Fig.14

Center position of upper parallel platformunder motion excitation"

Table 2

Motion compensation system error"

性能指标横摇/（°）纵摇/（°）升沉/mm
emax0.410.217.04
σe0.080.051.58
MAE0.130.071.87
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