496results about "Movement controllers" patented technology

The invention discloses a hierarchical cooperative motion control method for a ship dynamic positioning and wave compensation embarkation system. The method comprises the following steps: acquiring historical motion data of a ship; the historical motion data of the ship are fused, and the current ship posture and speed are obtained; the prediction model generates a predicted value of the disturbance of the ship in the future preset time; extracting to obtain a low-frequency slow drift motion component; the total output force of the thruster is calculated, and the ship dynamic positioning system controls the thruster to work based on the total output force of the thruster so as to compensate the low-frequency slow drift motion component; a Stewart platform in the wave compensation embarkation system controls supporting legs to work based on the target lengths of the supporting legs so as to compensate low-frequency motion left after compensation of the ship dynamic positioning system and high-frequency motion which is not compensated; and residual disturbance after the Stewart platform is compensated is compensated through the gangway ladder. According to the invention, an energy distribution mode that low-frequency disturbance is compensated by a ship dynamic positioning system and high-frequency disturbance is compensated by a wave compensation embarkation system can be realized.

The invention discloses a strong anti-overturning power generation device and method based on wind wave combined capture, and the device comprises a four-column type semi-submersible fan platform and a wind driven generator located above the four-column type semi-submersible fan platform, and the four-column type semi-submersible fan platform comprises hollow columns. The bottom of the hollow stand column is fixedly connected with the bottom of the outer side stand column through a horizontal column, a floating wave energy absorption system is arranged on the outer side of the outer side stand column, and the output end of the floating wave energy absorption system is connected with the input end of a power generator system through a bevel gear power generation system in the hollow stand column. One end of the floating wave energy absorption system is connected with the spring system in the hollow stand column; the core technical problems that an existing device is poor in stability, high in cost, low in efficiency, weak in adaptability and the like are solved.

The invention discloses six-degree-of-freedom wave compensation embarkation equipment suitable for complex sea conditions and a control method of the six-degree-of-freedom wave compensation embarkation equipment. The six-degree-of-freedom wave compensation embarkation equipment comprises a base platform fixed to an operation ship deck; a lower platform of the Stewart parallel mechanism is connected with the base platform, and an upper platform of the Stewart parallel mechanism is connected with the lower platform through six hydraulic cylinders; the embarkation gangway ladder system is mounted on the upper platform; the hydraulic servo driving system is used for driving the six hydraulic cylinders; the intelligent sensing system is used for collecting ship motion data and relative pose data of the target platform; the intelligent control system is electrically connected with the hydraulic servo driving system and the intelligent sensing system; wherein the intelligent control system is configured to execute a compound control algorithm based on a nonlinear extended state observer and nonlinear model predictive control so as to drive the hydraulic servo driving system and compensate ship motion. The embarkation equipment provided by the invention has the advantages of high precision, high stability and strong robustness, and can realize accurate and stable compensation of complex sea conditions.

The invention provides a TMD lockout control method for motion suppression of a semi-submersible platform, and the method comprises the steps: carrying out the frequency domain decomposition of a random wave predicted by a target sea condition, obtaining the energy distribution of each frequency component, obtaining the equivalent amplitude of each frequency component according to the energy distribution, considering the amplitude response of the platform under the action of waves of different frequencies, and achieving the motion suppression of the semi-submersible platform. The method comprises the following steps of: calculating a weight ratio of platform motion response caused by each frequency component under the action of random waves by integrating three types of information, namely amplitude, amplitude response and motion suppression effect, and finally carrying out weighted combination on the locking time corresponding to each frequency component according to the weight ratio, so as to obtain the motion suppression effect of the platform. And the optimal locking control time suitable for the current random wave is obtained. According to the method, a high-complexity non-causal control command does not need to be deduced, control parameters can be updated in real time according to short-term sea condition changes, pitching response of a platform is effectively reduced, and comprehensive optimization control over multi-frequency waves is achieved.

A floating body for an offshore wind turbine includes: one first column; two second columns; two lower hulls connecting the first column to each of the second columns; and a beam member connecting the two lower hulls. The beam member is disposed within a height range between an upper surface and a lower surface of each lower hull.

The invention discloses a ship water gauge scale line fitting algorithm, and relates to the technical field of ship water gauge scale calculation, and the method comprises the steps: obtaining a ship water gauge region image through an image collection device to extract a measurement point coordinate, and building a mapping relation between a pixel position and a physical draft; a weighted least square method is adopted to perform nonlinear curve fitting, a weight coefficient is calculated based on a local neighborhood standard deviation, a polynomial order p is dynamically adjusted according to an adjusted decision coefficient, and the decision coefficient is iteratively optimized to improve the balance between amplitude and model complexity. And the system repeatedly corrects model parameters through a dynamic verification mechanism of the residual sum of squares and a preset threshold value, and finally an accurate water gauge scale fitting curve is generated. The method effectively solves the problems that traditional manual observation is prone to environmental interference and large in measurement error, high robustness is kept in a complex water area environment, and reliable data support can be provided for the fields of ship load evaluation, channel safety management and the like.

An assembly adapted for mounting a water engagement device to a marine vessel may include a transom plate, an actuator plate and a clamping assembly. The transom plate may be adapted to be connected to the marine vessel. The actuator plate may include a flange that is disposed under a bottom side of the transom plate. The clamping assembly is configured to engage the transom plate and the actuator plate to connect the actuator plate to the transom plate.

An improved cap rudder and a boat. The cap rudder (1) comprises a rudder shaft (10) and a cap plate (11) fixed to a lower end (104) of the rudder shaft, wherein a rudder shaft sleeve (12) is axially located between the cap plate (11) and an upper end (101) of the rudder shaft, the rudder shaft (10) is radially supported in the rudder shaft sleeve (12) by means of a first bearing, and a pair of coaxially arranged transverse shafts (13) are perpendicular to an axis of the rudder shaft (10), with one end of each transverse shaft (13) being fixed to an outer wall of the rudder shaft sleeve (12), and the other end of each transverse shaft (13) being a bearing connection end (132) connected to a second bearing (133). The transverse shafts of a rudder anchor and the rudder shaft sleeve form a cross-shaped structure, and the rudder shaft sleeve can rotate around the transverse shafts, so that the rudder angle of the cap rudder is changed, thereby realizing the adjustment and control of the trim of a hull.

A method of controlling steering of a marine vessel includes receiving a steering input from an operator-controlled steering input device, determining a desired turn rate for the marine vessel and a desired roll angle for the marine vessel based on the steering input, and controlling a steering angle of at least one trimmable propulsion device based on the desired turn rate and controlling a trim deployment of a pair of trim tabs and / or the trimmable propulsion device based on the desired roll angle so as to steer the marine vessel according to the steering input.

A vessel for transporting cargo by water comprises one or more propulsion devices with at least one air-breathing engine from the one or more propulsion devices disposed entirely above a surface of the water in a high-speed mode of operation. The least one air-breathing engine is configured to bleed airflow into a fluid circuit. The fluid circuit routes the bleed airflow to one or more fluid outlets disposed entirely below the surface of the water in the high-speed mode of operation. At least some of the one or more fluid outlets release the bleed airflow in the high-speed mode of operation generate a boundary layer along at least a portion of a hull of the vessel to reduce a skin friction drag thereof.

A marine eight-degree-of-freedom anti-swing gallery bridge stabilizing system comprises an anti-swing lifting system and a telescopic gallery bridge device arranged on the upper portion of the anti-swing lifting system. The anti-swing lifting device is fixedly connected with a deck of a ship body through a base, and the anti-swing lifting system is composed of a horizontal left-right rotating device arranged on the upper plane of the base, a transverse anti-swing longitudinal anti-swing device arranged on the upper portion of the horizontal left-right rotating device, and a longitudinal anti-swing device arranged on the lower portion of the base. The lifting devices are arranged on the left side and the right side of the transverse anti-swinging and longitudinal anti-swinging device and on the bottom base; the telescopic gallery bridge device is erected on a rolling platform at the upper part of a transverse anti-swinging device and a longitudinal anti-swinging device which are arranged between the left frame and the right frame of the lifting device in a stacked manner; the whole telescopic gallery bridge device can swing left and right, transverse and longitudinal state adjustment can be achieved under the action of the transverse anti-swing and longitudinal anti-swing device, and eight-degree-of-freedom regulation and control of the whole telescopic gallery bridge device can be achieved under the action of the lifting device.

According to the semi-submersible floating platform based on the eddy current damping effect, the multiple buoyancy units and the multiple sets of supporting mechanisms are sequentially and alternately arranged to form an annular space frame structure, and the whole platform has good stability and rigidity. In each buoyancy unit, a heaving plate is mounted at the bottom of the buoy, meanwhile, dampers are innovatively arranged on the edges of the heaving plates, reserved spaces capable of exciting fluid vortexes are formed among the dampers, the buoys and the heaving plates, upwelling water flow of the heaving plates is actively guided through a unique structure, and the effect of generating fluid vortexes is achieved. And a reserved space is utilized to forcibly convert the eddy current into a high-strength and ordered eddy current field. Through the arrangement, the semi-submersible floating platform not only obviously enhances the eddy current dissipation effect and the additional mass effect of the platform to multiply the heaving damping performance, but also forms a synergistic effect with the main heaving plate, so that the vertical movement stability, the storm resistance and the operation safety of the platform in severe sea conditions are effectively improved.

The invention belongs to the field of ship control, and provides a self-adaptive active stabilization method and system for a ship. The ship is configured to be provided with a plurality of water pressing plate executing mechanisms, each water pressing plate executing mechanism comprises a water pressing plate assembly and an executor connected with the water pressing plate assembly, and the method comprises the following steps that ship body attitude information of the ship is obtained; calculating a target moment according to the hull attitude information; generating an execution instruction corresponding to each actuator according to the target torque; and the executor responds to the execution instruction so as to drive the connected water pressing plate assembly to execute water pressing movement. According to the self-adaptive active stabilization method and system for the ship, the ship can be effectively controlled to reduce shaking, and the navigation stability, comfort and safety of the ship are improved.

The invention provides a ship liquid level intelligent monitoring system. The ship liquid level intelligent monitoring system comprises a data acquisition layer, a data processing layer and an application layer, the data acquisition layer comprises an inertial measurement unit and a liquid level measurement unit, the inertial measurement unit is used for measuring ship attitude information, and the liquid level measurement unit is used for acquiring original liquid level information in a liquid tank; the data processing layer comprises a data preprocessing module, an intelligent liquid level correction module, a model training updating module and a local server, the data preprocessing module is used for preprocessing information, and the intelligent liquid level correction module can calculate static liquid level information according to the preprocessed information; the model training and updating module can utilize historical navigation data stored in the local database to train the liquid level dynamic correction model; the application layer is used for receiving and displaying the static liquid level information; according to the invention, the finally output liquid level value is close to the real static liquid level, and the measurement precision and reliability are greatly improved.

The invention belongs to the technical field of ship draft detection, and provides a ship draft real-time detection system which comprises the following steps: establishing a three-dimensional dynamic coordinate system, and updating a water surface reference surface in combination with real-time water level data; calculating water level variation of adjacent frames and compensating a point cloud Z axis; a pure ship body point cloud is separated in combination with a water surface datum plane, ship body reflectivity and a region growing algorithm; fitting a deck plane of the pure ship body point cloud, performing edge detection to extract ship board features, and correcting a side board feature surface; converting the pixel coordinates of the water surface reference surface and superposing the auxiliary lines; positioning a waterline, converting a bow / middle / tail waterline coordinate to a three-dimensional dynamic coordinate system, and calculating an initial draft; the deck Z-axis average coordinate is extracted, and the bow / middle / tail freeboard height is calculated in combination with the water surface datum plane coordinate; the theoretical draft is deduced in combination with the ship type depth, the theoretical draft is compared with the initial draft, the final draft is output, and the ship draft detection precision in the complex water level change environment is improved.

The invention discloses a hydrofoil with an adjustable attack angle for an electric control type boat and a control system, relates to the technical field of attack angle control, is used for solving the hidden danger of grounding caused by insufficient underwater distance and limited lift force compensation during navigation in a shallow water area, and comprises a working condition judgment module, a backstepping fitting module, a risk grade judgment module and an attack angle execution module, the modules are in signal connection; the working condition judgment module obtains a water depth value, a draught value and a water leaving height value through a sensor, calculates a bottom gap and compares the bottom gap with a safe minimum gap, and judges shallow water working condition triggering; the backstepping fitting module calculates the actual lift force by combining the gravity, the buoyancy and the vertical acceleration of the boat body when the shallow water working condition is triggered, and fits the shallow water corrected lift force slope; the risk grade judgment module calculates the residual available lifting force and the lifting force required by lifting, and sets a risk flag bit through a dual-condition criterion; and the attack angle execution module adjusts the attack angle according to the risk flag bit to realize closed-loop control.

The electric hydrofoil according to the invention comprises an assistance system to assist its control with a passive warning mode of operation and / or with an active corrective mode of operation. The system thus created is very useful for beginners in this sport and provides easier and safer operation of the electric hydrofoil.

The invention provides a device for ice load measurement and ice-induced vibration suppression and an ocean structure. The device for ice load measurement and ice-induced vibration suppression is characterized by comprising a fixed strut beam structure (2) which is arranged on the outer surface of an upright or nearly upright ocean structure and is axially parallel to the ocean structure, and a steel plate (1) covering the range of a tidal range zone is arranged on the outer side of the strut beam structure (2) in a sleeving mode. And a stress measuring device (3) is mounted on the inner side of the strut beam structure (2). The fixed strut beams and the steel plates are installed on the outer surface of the ocean structure, the contact form of sea ice and the structure is changed, the crushing mechanism of the sea ice is disturbed, the energy of the sea ice is absorbed, the vibration amplitude is reduced, meanwhile, real-time monitoring of the ice load is achieved, frequency locking vibration is eliminated, and the safety and stability of the structure are ensured.

Methods and systems are provided for nautical stationkeeping of free-floating objects. In one example, a method includes adjusting translational motion of a body freely floating in water by rotating the body. The translational motion may be adjusted, for instance, to maintain the body within a geographic area. In certain examples, the adjustment of the translational motion may be realized via a Magnus effect induced by rotating the body. The body may be configured as, for example, a free-floating object such as a wave engine.

The present application relates to a floating support foundation, a wind turbine, and a control method. The floating support foundation includes: a floating main body including n floating columns spaced apart around a first axis and connecting bodies connecting every adjacent two of the floating columns, n≥3, the n floating columns including one first floating column and n-1 second floating columns, and the first floating column being used for supporting the tower; stabilization devices, each of the second floating columns being connected to a respective one of the stabilization devices, the stabilization device including a drive assembly, a first impeller, and a base connected to the second floating column, the base having an inner cavity, and a first opening and a second opening communicating with the inner cavity, the first opening, the inner cavity, and the second opening forming a flow channel for the seawater, the first impeller being disposed in the inner cavity, the drive assembly driving the first impeller to rotate and causing the seawater to flow within the flow channel, so as to adjust the second floating column connected to the stabilization device to float upward or sink downward. The present application has a simple structure and relatively low cost.

The embodiment of the invention discloses a ship bilge keel system and a ship. The bilge keel system comprises a bilge keel cabin, a bilge keel body, a hydraulic automatic control unit, a hydraulic jack set, a connecting toggle plate, a rotating shaft and a sealing limiting unit. The bilge keel cabin is arranged at the joint of a ship bottom plate and a broadside, a bilge keel body is of a triangular prism-shaped structure defined by three rows of coamings and is provided with a first limiting connecting piece and a second limiting connecting piece, and the broadside coaming is in an arc shape along a broadside outer plate and corresponds to an opening of the bilge keel in shape. One side of the side coaming is hinged to a bilge keel opening through a rotary hinge, and the hydraulic automatic control unit can control the hydraulic jack set to stretch out and draw back so as to drive the bilge keel body to rotate along the rotary hinge through the rotary shaft, so that the first limiting connecting piece or the second limiting connecting piece is in matched sealing connection with the sealing limiting unit. The retractable design of the bilge keel is achieved, and the sailing resistance is reduced by recovering the bilge keel.

The present invention relates to a floating structure (10, 20, 30, 40, 50, 51) for a semi-submersible wind turbine platform (100), the floating structure (10) comprising a first buoyant stabilizing column (1), a second buoyant stabilizing column (2) and a third buoyant stabilizing column (3) extending substantially vertically, and a first elongated submersible pontoon structure (11), a second elongated submersible pontoon structure (12) and a third elongated submersible pontoon structure (13) extending substantially horizontally, the floating structure (10) having a generally triangular shape in a horizontal plane, the first pontoon structure (14) and the second pontoon structure (15) extending substantially horizontally. The present invention relates to a floating structure (10, 20, 30, 40, 50, 51) in which the first pontoon structure (11), the second pontoon structure (12) and the third pontoon structure (13) form sides of a triangle, the pontoon structures (11-13) extend between the columns (1-3) at their lower parts (1c, 2c, 3c) to connect the columns (1-3), and the third pontoon structure (13) is arranged such that an upper surface (13a) of the third pontoon structure is located at a horizontally lower level than the respective upper surfaces (11a, 12a) of the first pontoon structure (11) and the second pontoon structure (12). The present invention also relates to a method for loading a set of floating structures of the above type onto a semi-submersible cargo-carrying vessel and to a vessel for transporting a set of floating structures of the above type.

The present invention discloses a floating wind turbine foundation and wind turbine equipment. The floating wind turbine foundation includes at least one floating body unit, which includes an annular floating body and a sway reduction plate assembly. The sway reduction plate assembly includes at least two sway reduction plates arranged vertically. The sway reduction plates are provided with a plurality of first flow-disrupting holes. The first flow-disrupting holes penetrate the sway reduction plates along their thickness. The first flow-disrupting holes of two adjacent sway reduction plates are vertically staggered. The topmost sway reduction plate is connected to the annular floating body. The upper surface of the topmost sway reduction plate and the inner peripheral wall of the annular floating body enclose a receiving groove. The present invention can effectively reduce the shaking and heaving amplitude of the wind turbine foundation, improve the stability of the wind turbine foundation, and improve the anti-overturning effect.

The utility model belongs to ship equipment technical field discloses a kind of wave compression device and boat. Wave compression device includes hinged six-bar mechanism, spoiler piece and rotary drive part, rotary drive part drives spoiler piece rotation by hinged six-bar mechanism, to make spoiler piece have the working position of extension into water. The utility model is driven by first connecting rod continuous rotation, by the hinged transmission of fourth connecting rod and spoiler piece, the swing angle of spoiler piece is naturally limited by the rotation range of first connecting rod, without setting rigid stroke end, allowing rotary drive part continuous rotation, without reversing, avoid the "overshoot phenomenon" of traditional reciprocating motion, eliminate the vibration, wear and tear and control deviation problem caused by overshoot fundamentally.

The invention relates to a ship water gauge measurement method, a ship water gauge measurement system and a medium, and the method comprises the steps: collecting a video of a ship entering a port water area, and carrying out the target ship recognition detection of the ship video, so as to obtain a target ship cutting image frame sequence entering a preset region; performing water gauge area positioning detection on each frame of image in the target ship cutting image frame sequence to obtain a water gauge area image of the corresponding frame, and performing multi-target element synchronous detection on each water gauge area image to obtain a multi-target element detection result of the corresponding water gauge area image; and performing fusion processing on the multi-target element detection result of each water gauge area image to obtain a ship water gauge measurement result of the corresponding target ship, and finally processing all the obtained ship water gauge measurement results to obtain a current ship water gauge measurement result of the target ship. In this way, automatic and continuous measurement of the water gauge of the ship driving into the port water area is achieved, and the ship water gauge measurement precision and accuracy are improved.

A system for controlling a marine vessel comprises an input device for inputting an operator command, a sensor which senses and signals an engine function variable or a vessel dynamic variable, and a first structural element and a second structural element. The first structural element and the second structural element each control speed or direction of motion of the marine vessel, and the first structural element and the second structural element each affect the marine vessel dynamic variable. There is a controller which receives the operator command and the engine function variable or the vessel dynamic variable. The controller moves the first structural element and the second structural element based on the engine function variable or the vessel dynamic variable, after receiving the single operator command.

A vessel for transporting cargo by water comprises one or more propulsion devices with at least one air-breathing engine from the one or more propulsion devices disposed entirely above a surface of the water in a high-speed mode of operation. The least one air-breathing engine is configured to bleed airflow into a fluid circuit. The fluid circuit routes the bleed airflow to one or more fluid outlets disposed entirely below the surface of the water in the high-speed mode of operation. At least some of the one or more fluid outlets release the bleed airflow in the high-speed mode of operation generate a boundary layer along at least a portion of a hull of the vessel to reduce a skin friction drag thereof.

The invention provides a parallel hydraulic interconnection damping catamaran which comprises an upper cabin, a hydraulic interconnection suspension and a floating body which are sequentially arranged from top to bottom, and the whole structure is symmetrically distributed in the front view and is trapezoidal in the left view. The hydraulic interconnection suspension forms two side waists of a trapezoid, the upper cabin body is connected with the transverse rocker arm through the hydraulic cylinder set, the front transverse rocker arm is hinged to the longitudinal rocker arm through the radial spherical plain bearing, the longitudinal rocker arm is hinged to the floating body through the radial spherical plain bearing, and the rear transverse rocker arm is directly connected with the floating body. The front hydraulic cylinder set and the rear hydraulic cylinder set stretch out and draw back to achieve pitching motion, the left hydraulic cylinder set and the right hydraulic cylinder set stretch out and draw back alternately to drive the floating bodies on the two sides to move in a staggered mode, heeling of the ship body is achieved, and therefore three-freedom-degree vibration reduction compensation of heaving, pitching and heeling is jointly completed. Through the eight-cylinder interconnected hydraulic loop design and the special connection pair layout, wave multi-degree-of-freedom impact is effectively decoupled, the seakeeping and stability of the ship are remarkably improved, and the device is suitable for special rescue scenes such as shallow water areas and complex channels.

A recreational sport boat includes a hull, having starboard and port sides and a transom, and a pair of wake-modifying devices positioned aft of the transom. One of the wake-modifying devices is positioned on a port side of the boat's centerline and another of the wake-modifying devices is positioned on a starboard side of the boat's centerline. Each wake-modifying device includes a plate-like member and at least one downturned surface at a trailing portion of the plate-like member. Each wake-modifying device is pivotable between a non-deployed position and a deployed position about a pivot axis that is horizontal or inclined no more than about 35° from horizontal. When a wake-modifying device is in the deployed position, the downturned surface is lower than it is in the non-deployed position so as to be able to modify the boat's wake.

This invention discloses a semi-submersible offshore platform with movable wave-breaking plates, belonging to the field of floating wind turbine turbulence. It comprises multiple platform components connected by trusses. Each platform component includes a column with a vertically oriented axis. Several movable wave-breaking plates are provided on the outer wall of the column, spirally distributed around the column's axis. Each movable wave-breaking plate includes an anti-roll plate fixed to the column's peripheral wall. A hinge is located at the lower end of the anti-roll plate; one side of the hinge is fixedly connected to the anti-roll plate, and the other side is connected to an arc-shaped cover plate. The hinge's rotation axis is horizontally oriented. The side of the arc-shaped cover plate facing the column's outer wall bulges upwards, allowing it to rotate around the hinge's axis under buoyancy. This invention can reduce vortex-induced motion and decrease platform oscillation.