Control method for lateral balanced ship shift by multiple mooring rope take-up units in multi-point mooring system

Abstract

The invention discloses a control method for lateral balanced ship shift by multiple mooring rope take-up units in a multi-point mooring system. According to the control method, two closed-loop control systems are formed in the use process, wherein one is a speed closed-loop control system inside a cable take-up unit and comprises a sub controller, a speed control valve, a hydraulic motor and a speed sensor; when the speed closed-loop control system is in use, the instant cable take-up speed of a mooring rope is fed back into the sub controller through the speed sensor so that a closed loop is formed; the other one is a ship head orientation closed-loop control system outside the cable take-up unit and comprises a ship body data processing unit and a ship body posture measuring system; when the ship head orientation closed-loop control system is in use, an instant orientation angle value is fed back into the ship body posture measuring system through the ship body posture measuring system so that a closed loop is formed; by matching of two closed-loop control systems, the lateral shift of the ship body on the water surface can be realized on the basis that the setting orientation of the ship body is ensured; and a PID (Proportion Integration Differentiation) algorithm is respectively applied to the two closed-loop control systems. With the design, the control method has the advantages of stronger safety, lower operation difficulty, higher work efficiency and higher accuracy.

Description

technical field [0001] The present invention relates to a control method for ship water surface displacement by adopting a multi-point mooring system, in particular to a control method for balancing and laterally moving a ship with multiple cable receiving units in a multi-point mooring system, and is specifically applicable to the basis of ensuring the set direction of the hull On the surface, the water surface lateral displacement of the hull is realized automatically and balanced by multiple cable take-up units. Background technique [0002] The multi-point mooring system is an important part of marine engineering ships, and the cable take-up unit is one of the key equipment of the multi-point mooring system. Range of mobile positioning, so as to facilitate offshore operations. At present, most marine engineering ships use an eight-point mooring system, which is located on the sides of the main hull respectively. During operation, four cable receiving units on one side o...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the defects and problems of low work efficiency, poor safety and difficult operation in the prior art, and provide a multi Control method for balanced lateral movement of ship with multiple take-up units in point mooring system

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