Active heave compensation control system

A wave compensation and control system technology, applied in the direction of electrical program control, comprehensive factory control, etc., can solve the problem that feedback control is difficult to improve compensation accuracy

Inactive Publication Date: 2010-05-26
NAT UNIV OF DEFENSE TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

Due to the strong randomness of sea wave motion, it is difficult to improve the compensation accuracy by pure feedback control

Method used

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  • Active heave compensation control system
  • Active heave compensation control system
  • Active heave compensation control system

Examples

Experimental program
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Effect test

Embodiment Construction

[0019] The active heave compensation control system of the present invention is as figure 1 As shown, it includes a ship motion parameter detection module, a DSP control module and an execution module; wherein the motion parameter detection module includes an acceleration sensor, an inclination sensor, a first rotary encoder, a second rotary encoder and a signal conditioning circuit, and the execution module includes a main, Auxiliary hydraulic servo system and differential planetary transmission hoist; the acceleration sensor and inclination sensor are used to detect the motion parameters of the ship and input to the DSP control module through the signal conditioning circuit; the first rotary encoder and the second rotary encoder respectively detect the main and The motor speed of the auxiliary hydraulic servo system is input to the DSP control module through the signal conditioning circuit to calculate the lowering speed of the heavy object. The DSP control module outputs con...

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Abstract

The invention discloses an active heave compensation control system comprising a ship kinematic parameter detection module, a DSP control module and an execution module, wherein the kinematic parameter detection module comprises an accelerated speed sensor, a dip angle sensor, a first rotary encoder, a second rotary encoder and a signal conditioning circuit; the execution module comprises a main hydrauservo system, a secondary hydrauservo system and a differential planetary drive windlass. The invention has the following characteristics: 1. a feedback control mode is combined with a feed-forward control mode; 2. the active compensation of weight lowering speed is realized by detecting and predicting the ship kinematic parameter; 3. the heeling movement and the trimming movement of the ship are converted into heaving movement by the dip angle sensor to realize the heave compensation in three degrees of freedom, namely, heeling, trimming and heaving; and 4. the differential planetary drive windlass is used to realize speed composition of the feedback control and the feed-forward control.

Description

technical field [0001] The invention belongs to a wave compensation control system for ships replenishing at sea, and in particular provides a three-degree-of-freedom active wave compensation control system. Background technique [0002] When a ship is sailing or operating at sea, the consumed materials need to be continuously replenished at sea. In the case of wind and waves, the undulation of the sea will cause relative motion between the supply ship and the ship being supplied. If conventional marine cranes are used for replenishment at sea, serious accidents may occur due to shocks and collisions. The wave compensation system is proposed for marine replenishment. It compensates the relative movement of the two ships by controlling the actuator, so as to realize the safe hoisting and replenishment of materials. Therefore, the wave compensation system is of great significance and application value to improve the safety, efficiency and reliability of offshore replenishmen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
Inventor 董睿陶利民陈仲生陈循胡永攀徐小军李岳何平
Owner NAT UNIV OF DEFENSE TECH
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