Lifting method and lifting system for six-degree-of-freedom active type wave compensation

Abstract

The invention discloses a lifting method and a lifting system for six-degree-of-freedom active type wave compensation. The lifting method is characterized in that eight sets of servo systems and a binocular vision detection system are arranged on lifting equipment of a supply ship, each servo system consists of a steel wire rope traction lifting tool system driven by a servo motor, and the binocular vision detection system comprises two cameras; every two of eight steel wire ropes in the lifting tool system are respectively tied to the four corners of a load, and the two cameras are used for respectively detecting, and forming negative feedback according to the relative positions and relative attitudes of the supply ship and the supplied ship in the supply process, and the current speed and position parameters of the steel wire ropes, and the negative feedback is input into the control parameters of the steel wire ropes; the servo motors are used for controlling the rotation speeds and directions of the steel wire ropes according to the control parameters, the six-degree-of-freedom movement of the load corresponding to a base is uniform with the six-degree-of-freedom movement of the supplied ship corresponding to the base, and the purpose of six-degree-of-freedom relative movement compensation is realized. The lifting method has the advantage that the anti-swinging characteristic is better.

Description

technical field [0001] The invention belongs to a wave-compensating crane for ships replenishing at sea, in particular to a six-degree-of-freedom active wave-compensating hoisting method and a hoisting system. Background technique [0002] With the development of my country's economy, ocean development and deep blue navy construction continue to deepen, sea replenishment is an important tactical and technical measure to improve the combat effectiveness of the navy, and an important guarantee technology for the navy to move from "yellow water" to "blue water". The maritime replenishment methods in various countries in the world include horizontal replenishment, vertical replenishment, vertical replenishment and side-by-side replenishment. Lateral replenishment means that the supply ship and the receiving ship form a horizontal team. While maintaining the same direction and speed, the supply ship implements material replenishment to the receiving ship through the horizontal re...

AI Technical Summary

Problems solved by technology

Most of the existing heave compensation systems only have a single function such as heave motion compensation or swing suppression, and cannot realize six degrees of freedom relative motion compensation and swing suppression at the same time

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