Active rigid and flexible mixed wave motion compensation device and control method thereof

Abstract

The invention relates to the field of marine mechanical equipment, and provides an active rigid and flexible mixed wave motion compensation device and a control method thereof; the compensation deviceis used for wave compensation in the goods feeding process; and the compensation device comprises a lifting mechanism arranged on a feeding ship, and a rigid and flexible mixing compensation mechanism whose upper part is connected with the lifting mechanism. The compensation device achieves excellent interference resistance, can place goods on a ship more stably and precisely, effectively protects the safety of the goods, a ship body and workers, adopts rigid and flexible mixed compensation control, is large in working space and higher in flexibility, can deal with the change to timely respond, and achieves good dynamic control effect. The compensation device and the control method thereof solve the problems of incapability of meeting actual application demands and weak compensation effect in a traditional active wave compensation device.

Description

technical field [0001] The invention relates to the technical field of marine mechanical equipment, in particular to an active rigid-flexible mixed wave motion compensation device and a control method thereof. Background technique [0002] The marine environment is complex and changeable. When ships and other offshore floating working platforms are in parallel for replenishment, due to factors such as the tonnage, scale, and line shape of the supply ship and the receiving ship, and the relative positions of the two ships on the waves, the two ships will be tied together. The action of waves between them will mainly produce relative motion in three degrees of freedom of heave, roll, and pitch, and this relative motion will intensify with the escalation of sea conditions, which will easily cause the cargo hoisted by the hoist to slip and deviate from the normal landing. In severe cases, it may even collide with the superstructure or the hull of the deck, causing unnecessary ac...

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Problems solved by technology

[0008] For this reason, the technical problem to be solved by the present invention is that the active heave compensation device in the prior art has complex structure, high construction and control costs, and poor compensation effect, and a simple structure design, low cost, and stability is provided. Active rigid-flexible hybrid wave motion compensator and control method thereof which are better, more precise, more convenient for dynamic control, and better in compensation effect

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