A Heave Compensation Method for Marine Cranes Based on Heave Motion Prediction of Suspended Objects

Abstract

The invention relates to deck lifting equipment, and belongs to the field of offshore operation and maritime affair guarantee in ocean engineering. A heaving compensation method comprises a measuring device, a forecasting device, a control device and a hydraulic driving device. A hydraulic winch in the hydraulic driving device is mounted on a crane upper car; a drum of the hydraulic winch is wound with a lifting rope; and the lifting rope is connected with a hanger through a fixed pulley fixed at the top end of a lifting arm. The measuring device obtains the heaving displacement of the hanger by the coordinate change according to measured values of all sensors; the forecasting device adopts an autoregression and extreme learning machine combined forecasting model to forecast the heaving displacement of the hanger; and the control device performs the compensation operation for an input handle signal, a heaving displacement forecasted value and a length change quantity of the lifting rope, and outputs a control signal to the hydraulic driving device so as to control the heaving motion of the hanger. The heaving compensation method can effectively solve the lag problem of the measuring device and the hydraulic driving device in the compensation control, and prominently improve the heaving compensation precision.

Description

technical field [0001] The invention relates to a heave compensation method for a marine crane, in particular to an active heave compensation method for a marine crane. The marine crane also includes a crane used to be installed on a floating body, and belongs to the field of marine operations and maritime security of marine engineering. Background technique [0002] With the continuous development of modern marine resources, marine cranes are indispensable tools in the fields of offshore replenishment, ocean drilling, deep-sea exploration, salvage, and rescue. Marine cranes with a heave compensation system can compensate and correct fluctuations caused by sea surface fluctuations, and can provide safe, accurate and efficient crane operations under severe weather conditions (below Class 5 sea conditions), which can prevent shutdowns caused by severe weather period to a minimum. [0003] Cranes according to the state of the art are able to partially compensate for the additi...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a heave compensation method for marine cranes based on the heave motion prediction of suspended objects, so as to solve the problems of lagging and low compensation accuracy in crane heave compensation

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