Crane device with multi-degree-of-freedom active wave compensation function and compensation method

Abstract

The invention discloses a crane device and a compensation method with a multi-degree-of-freedom active wave compensation function in the field of marine ships. The lower part is a circular static platform fixed on the deck; The moving platform is fixedly connected to the crane. Six servo cylinders are connected between the circular static platform and the circular moving platform. Each of the six servo cylinders is connected to a corresponding electro-hydraulic servo valve. The electro-hydraulic servo valves are serially connected in series Connect the power amplifier and D/A module to the motion controller, and the attitude sensor is installed in the center of the circular static platform; the attitude sensor transmits the measured roll, pitch and heave values ​​of the ship caused by wind and waves to the motion control The motion controller first obtains the motion values ​​of the six servo cylinders, and then obtains the wave compensation value opposite to the motion value. The six electro-hydraulic servo valves output the corresponding flow and pressure according to the wave compensation value to control the corresponding six Servo cylinders telescopic and sway to compensate for roll, pitch and heave.

Description

technical field [0001] The invention belongs to the field of marine ships, in particular to a device for installing a crane on a ship platform. Background technique [0002] The crane on the ship platform is used for sea replenishment. Due to the influence of wind and waves, the ship for sea replenishment will swing irregularly with the waves, which seriously affects the efficiency of sea replenishment. Therefore, wave compensation must be performed on the offshore replenishment device to improve the working efficiency of the offshore replenishment. Wave compensation is divided into two types: active compensation and passive compensation. The passive compensation system is composed of a follower device and an actuator. The parameters of this replenishment system are generally set through experience. Once determined, they cannot follow the external state during the replenishment operation. It is difficult to adapt to the complex and changeable environment, which affects the ...

AI Technical Summary

Problems solved by technology

According to the relative motion signal of the ship platform detected by the sensor, the controller generates a driving signal with the same magnitude and opposite direction, so as to control the actuator to realize real-time compensation. In the existing active heave compensation device, the load-bearing capacity of the heave com

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