An active rigid-flexible hybrid wave motion compensation device and its control method

Abstract

The present invention relates to the field of marine machinery and equipment, and its purpose is to provide an active rigid-flexible hybrid wave motion compensation device and its control method, which are used for wave compensation in the process of supplying goods. The compensation device includes a hoisting mechanism arranged on a supply ship And the rigid-flexible hybrid compensating mechanism connected with the lifting mechanism at the upper part. The compensation device of the present invention has excellent anti-interference performance, can make the cargo land on the ship more stably and accurately, and effectively protect the safety of the cargo, hull and staff, and the rigid-flexible compensation control has a large working space and more flexibility. Strong, able to respond to changes in a timely manner, and the dynamic control effect is good. The compensation device and the control method provided by the invention solve the problems that the existing active heave compensation device cannot meet the actual application requirements and the compensation effect is poor.

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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