COMPENSATION METHOD FOR TWO-DEGREES-OF-FREEDOM WAVE COMPENSATION SYSTEM BASED ON SEA-SKY LINE DETECTION

摘要

A compensation method for a two-degrees-of-freedom wave compensation system based on sea-sky line detection, comprising the following steps: the construction of a compensation system, the collection of an image, the calculation of telescopic amounts of compensation hydraulic cylinders, primary compensation and secondary compensation. The compensation method involves a horizontal attitude angle of a ship body being calculated according to a sea-sky line image collected by a CCD industrial camera, the horizontal attitude angle is transmitted to an industrial control machine, and the industrial control machine performs an inverse solution to obtain telescopic amounts of four compensation hydraulic cylinders (10); a calculated compensation value is converted from a digital signal into an analog signal by a D/A converter, the analog signal is transmitted to an electrolyte server valve through a server amplifier, and the server valve controls the telescopic movement of the four compensation hydraulic cylinders (10) according to the processed analog signal, so as to realize real-time compensation for the rolling and pitching of an operation apparatus on a movable platform (3); and closed-loop control is performed by means of the difference between a measured value and a calculated valve, so as to further enhance the stability of the compensation system.