At the exhibition site, we share an active wave-compensated boarding bridge composed of Two units 6DOF motion platforms.

The boarding bridge adopts self-adaptive active compensation, the final product can cope with four-level sea conditions (wave height of 2.5 meters), the step length of 8m-30m, can be freely customized, for the transfer of personnel and materials on board, sea rescue and other scenarios to build a safe and comfortable safety channel.

Self-balancing platforms are widely used in shipping, disaster relief and other fields. Their response speed and control accuracy will directly affect property and life safety. Therefore, many scholars have conducted relevant research over the years. Among them, the six-degree-of-freedom self-balancing platform is widely used because of its advantages of multiple degrees of freedom, high rigidity, high precision, strong load-bearing capacity and modular production.

Most of the existing self-balancing platforms are based on pulse control or CAN bus to achieve communication, and the control algorithm is implemented using PID. There are problems such as slow response speed and low control accuracy, which are difficult to meet the current high requirements for shipping quality. EtherCAT has attracted widespread attention in the field of industrial control fieldbus with its strong data transmission capability, high technical maturity and low development cost. It has become a globally recognized standard and is increasingly widely used.

Based on the six-degree-of-freedom self-balancing platform, our company uses the EtherCAT bus to read the gyroscope data installed on the upper platform into the TwinCAT master station in real time, and uses the self-disturbance rejection control strategy platform for precise control. The experimental platform was experimentally verified, and the results proved the effectiveness of Stewart platform control.