The Research On Compensation System Of Wave Compensation Platform Based On Multi-sensor

Wave compensation platform system is an equipment built for ships sailing on sea, providing a partial zone where is able to overcome the roll, pitch and heave motions caused by the wave in tough sea condition of the ship, with this, the platform is capable to hold a relatively stable position to the motioning ship. And this system is to improve the reliability, efficiency and utilization rate of offshore production equipments, such as helicopter landing platform on board, the supply of goods even missiles between marines, the paving of submarine cables and pipes, and the deep-sea mining systems, and so on.This research is carried out mainly by model testing in this thesis, and then the real time kinetic data of the entire wave compensation system will be analyzed and processed. The key problems solved including in this paper are, the design of data acquisition scheme of ship movements and the scheme of displacement compensation, the quick process and output signals of multi-channel data of the sensors, the real-time techniques of filtering and integration of the acceleration signals, the multi-sensor redundant data fusion.Firstly, on the basis of former researches, this paper redesigned the data acquisition scheme of simulated motion of the ship, and redesigned the signal interchange system and the processing system. Secondly, in order to obtain the compensate displacement through acceleration signal, the methods of double integration, removal of trend terms and filtering and noise reduction are investigated. And to make sure that the validity of the programming dealing with the multi-transducer data and the reliability of the techniques, a known sinusoidal function is used to check up, and the result shows that it's working. After that, by the ways adopted, the real-time data are processed, and it shows again that the techniques are suitable for the data processing of the wave compensation stable platform. And the schemes of frequency domain filtering and frequency domain integration are applied into the system due to the real-time demands. Thirdly, to make good use of the reluctant information of the multi-sensor, a preliminary study about the reluctant data fusion method is carried out, and combining with the measured data, the multi-sensor data are fused by the weighted average method. Finally, the algorithm is transplanted from MATLAB platform to Visio Basic platform since the former system was built on VB platform. And the tests are carried out to compensate the displacement of the heave and roll motions in real time. The analysis demonstrated that the outcomes are less than expected that the signals between compensative and kinematical could not match up either the phase or amplitude. But there still achieves a certain compensation effect, and it provides a good path to the real-time compensation system.Through the experimental study on the wave compensation system, it proves that the process techniques in frequency domain are more applicable to real-time system than time domain techniques, and it is advisable to be applied to wave compensation stable platform system.