Multi-degree-of-freedom active damping mechanism control method, system, and damping mechanism

A multi-degree-of-freedom active damping mechanism control method, comprising steps of:

• step S1:
• acquiring information about a road segment in front of a carrier in real time via a visual sensor, wherein the carrier comprises a vehicle or a vessel;
• step S2:
• processing the information about the road segment to obtain a time-domain signal curve of the road segment ahead;
• step S3:
• acquiring predicted vibration information about the carrier according to a predictive model and the time-domain signal curve;
• and
• step S4:
• sending a control instruction in advance to perform active damping according to the predicted vibration information;
• wherein the method is applied to a multi-degree-of-freedom active damping mechanism, wherein an upper platform coordinate system of the multi-degree-of-freedom active damping mechanism relatively moves in three degrees-of-freedom in roll, pitch, and vertical directions with respect to an inertial coordinate system, comprising:
• correcting a load moment of inertia of the multi-degree-of-freedom active damping mechanism in pitch and roll damping directions according to an adaptive control algorithm with a preset adaptation rate to obtain a corrected load moment of inertia;
• calculating an electric cylinder output force in a skyhook active damping control algorithm adopted by the multi-degree-of-freedom active damping mechanism in a vertical damping direction;
• and
• comprehensively controlling the multi-degree-of-freedom active damping mechanism to perform active damping according to the corrected load moment of inertia and the electric cylinder output force.