| When a ship conducts supplies operations at sea,due to ocean winds and waves the ship will have six degrees of freedom motion.The compensation technique,which compensates the relative motion of two ships,enables smooth lifting of goods and cargos.In the process of wave compensation,we must understand the motion state of a ship,so as to control the movement of the goods effectively through the control system.Therefore,it is important to carry out the research of the detection of the six degrees of freedom wave compensation to improve the overall performance of the active wave compensation system.The main research contents are summarized as follows:1.With emphasis on the problem of poor detection accuracy of an active heave compensation system,incomplete detection,and the advantages and disadvantages of inertial sensors and laser sensors,this paper proposes a new detection method of six degrees of freedom,and designs a relatively complete wave compensation measurement system the six degrees of freedom.2.In order to ensure the accuracy of the whole detection system,the system uses two inertial sensors(IMU)and three laser sensors.Based on the prototype structure of the active wave compensation principle,this paper designs a sensor installation scheme.This paper introduces the principle and basic performance of each sensor,and select the required sensor according to the requirement of the system performance.3.In order to achieve the real-time detection of the relative motion of a ship’s six degrees of freedom,this paper designs a detection system for motion signals.The motion signal detection system includes loading the relative local coordinate system of the attitude angle signal,loading the relative attitude and relative sling angle signal,and loading the relative displacement signal of the relative spreaders.The paper also completes the software designs of signal acquisition for each sensor.The experiment verifies the correctness and reliability of the designed real-time detection system.In conclusion,this paper studies the key technologies of active wave compensation detection system.It proposes a new method of relative motion detection of a ship’s six degrees of freedom,and carries out the experimental verification by the principle of wave compensation.The accuracy of the detection system,response time,anti-jamming and other performance indicators have met basic requirements.The experimental results show that the detection system is effective and practical. |
