Accommodation ladder with wave compensation function and abutting control method thereof

Abstract

The invention belongs to the field of offshore boarding operation, and relates to a gangway ladder with a wave compensation function and an abutting control method thereof, the gangway ladder comprises a fixed gangway ladder, a gangway ladder telescopic control mechanism, a movable gangway ladder, a six-degree-of-freedom compensation platform, a gangway ladder rotation control mechanism, a gangway ladder rotation platform, a gangway ladder pitching control mechanism, a ladder end force sensor, an abutting device and a speed controller; and the speed controller sends the calculated driving instruction to the accommodation ladder telescopic control mechanism to switch the telescopic control mode of the movable accommodation ladder. The automatic compensation device is used in the automatic compensation stage after the accommodation ladder abuts against and makes contact with the accommodation ladder, so that the situation that contact points are possibly disconnected or disengaged due to the fact that the accommodation ladder is not stretched in time is avoided; when wave compensation is carried out, a speed control mode and a force control mode are adopted to cooperate with each other, the two control modes are switched under specific conditions to adapt to different conditions, and safety and stability are high.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore boarding operations, and is a method for controlling the telescopic direction of an offshore boarding gangway ladder after it comes into contact with the gangway ladder, in particular to a gangway ladder with a wave compensation function and a method for controlling the same. Background Art

[0002] There are numerous offshore wind farms scattered across the ocean, each consisting of multiple wind turbine platforms. These farms require regular maintenance, requiring personnel to transfer from maintenance vessels to the platforms.

[0003] During maintenance work on offshore wind turbine platforms, maintenance personnel rely on a combination of a six-degree-of-freedom compensation platform and an offshore gangway to board. During this process, the front end of the offshore gangway must contact the platform being boarded, and the contact force is measured by a force sensor. The current control strategy is a direct force compensation control mode, which controls the force value collected by the force sensor within a preset stable range. However, when the surge of waves causes the ship to quickly move away from the boarding platform, relying solely on a single force control loop may not be enough to quickly and effectively extend the gangway, which will affect the safety of personnel boarding.

[0004] For example, the “wave compensation pier contact force control system and method” disclosed in publication number CN118818954A is a control mode that relies on a single force control loop.

[0005] This type of simple force control mode may cause the gangway ladder to be extended untimely, and the actual contact force between the gangway ladder and the device being supported is less than the safe range, resulting in sliding and disengagement between the gangway ladder and the device being supported. Summary of the Invention

[0006] The object of the present invention is to provide a gangway ladder with wave compensation function and a method for controlling the gangway ladder's contact. The method uses the automatic compensation stage after the gangway ladder contacts the gangway ladder to cope with the independent force control of the extension and retraction of the gangway ladder. When the ship is away from the docking platform due to waves, the gangway ladder is not extended in time, resulting in the contact point losing connection or being disconnected.

[0007] The technical solution is as follows:

[0008] In a first aspect, a gangway with heave compensation comprises a fixed gangway, a gangway extension and retraction control mechanism, and a movable gangway, wherein the gangway extension and retraction control mechanism controls the movable gangway to perform extension and retraction movements; further comprising a six-degree-of-freedom compensation platform for performing six-degree-of-freedom movement, a gangway rotation control mechanism, a gangway rotation platform, a gangway pitch control mechanism for controlling the pitch movement of the fixed gangway, a ladder end force sensor, a supporting device, and a speed controller for controlling the gangway extension and retraction control mechanism;

[0009] The six-degree-of-freedom compensation platform is used to compensate for the rolling, pitching and heaving motions of the ship caused by waves;

[0010] The gangway ladder rotation control mechanism is connected to the gangway ladder rotation platform and the six-degree-of-freedom compensation platform, and the gangway ladder rotation platform is rotatably connected relative to the six-degree-of-freedom compensation platform;

[0011] When the gangway ladder rotating platform rotates, it drives the gangway ladder pitch control mechanism, the upper hinge shaft at the rear end of the gangway ladder, the lower hinge shaft at the rear end of the gangway ladder and the fixed gangway ladder to rotate;

[0012] The ladder end force sensor collects the force signal in the extension and retraction direction of the gangway ladder between the supporting device and the boarded platform after the supporting device is supported, uses the force signal as a feedback signal, and calculates the driving instruction based on the feedback signal and gives it to the gangway ladder extension and retraction control mechanism;

[0013] The speed controller sends the calculated driving instruction to the gangway extension and retraction control mechanism to switch the extension and retraction control mode of the movable gangway, which is divided into force control mode and speed control mode;

[0014] In force control mode, the expected value collected by the pre-set ladder end force sensor is used. As the target value, real-time feedback value of the extension and retraction direction of the gangway is collected ; In the feedback value Greater than the safety range When the gangway extension and retraction control mechanism is maintained in the force control mode;

[0015] In speed control mode, the acceleration value is constant. The speed controller calculates the speed increment and gives the driving instruction to the gangway extension and retraction control mechanism.

[0016] As a further solution of the present invention, it also includes a lower hinge shaft at the rear end of the fixed gangway ladder and an upper hinge shaft at the rear end of the gangway ladder, the lower hinge shaft at the rear end of the fixed gangway ladder connects the fixed gangway ladder and the gangway ladder rotating platform, and the upper hinge shaft at the rear end of the gangway ladder connects the gangway ladder pitch control mechanism and the fixed gangway ladder.

[0017] As a further solution of the present invention, during the mode switching process, a driving instruction switching method with linear weight change is adopted.

[0018] As a further solution of the present invention, the ladder end force sensor is located below the front side of the movable gangway, and the supporting device is located in front of the ladder end force sensor.

[0019] In a second aspect, a method for controlling a gangway ladder with a wave compensation function comprises the following steps:

[0020] After the supporting device contacts the platform being boarded, the force sensor at the ladder end collects the force signal, and the manual operation enters the automatic compensation mode;

[0021] After entering the automatic compensation mode, the six-degree-of-freedom compensation platform compensates for the roll, pitch, and heave motions of the vessel, so that the gangway slewing platform maintains a horizontal and stable state;

[0022] The gangway rotation control mechanism enters the follow-up mode, causing the gangway rotation platform to rotate along with the gangway in the direction of the gangway rotation; the gangway pitch control mechanism also enters the follow-up mode, and the force output by the gangway pitch control mechanism is used to maintain the inertia force of the fixed gangway and the movable gangway when they enter the automatic compensation mode.

[0023] As a further solution of the present invention, a method for controlling the extension and retraction of a movable gangway after the leaning device leans against the gangway comprises the following steps:

[0024] After entering the automatic compensation mode, the force signal collected by the ladder end force sensor is used as the feedback value , assuming that the expected value collected by the ladder end force sensor is After the supporting device contacts the platform being boarded, the ladder end force sensor, the supporting device, and the platform being boarded constitute a mass-damping-spring system:

[0025]

[0026]

[0027] Where, is the inertia coefficient in the admittance control system, is the damping coefficient in the admittance control system, is the stiffness coefficient in the admittance control system, is the displacement increment of the movable gangway, is the speed increment of the gangway, is the acceleration increment of the movable gangway, is the force error signal; calculate the displacement increment of the movable gangway , according to the displacement increment , the displacement controller calculates the driving instruction of the gangway telescopic control mechanism;

[0028] Set feedback value The safety range is , when the feedback value , calculate the displacement increment of the movable gangway ; The displacement controller is based on and the current displacement to calculate the driving instruction of the gangway extension and retraction control mechanism;

[0029] Set feedback value The boundary range value is ; When it appears When the current extension and retraction speed of the gangway is recorded , switch the control of the movable gangway to speed control mode; with a constant acceleration value Real-time calculation of the desired target speed of the moving gangway , , is the system time, when the desired target speed Reaching speed limit When the expected target speed is equal to the upper speed limit ; Speed controller according to the desired target speed and the actual speed of the gangway Calculate the driving command and give it to the gangway extension control mechanism; when the feedback value of the ladder end force sensor Reaching set expectations , switch the extension and retraction control of the movable gangway to the force control mode again.

[0030] As a further solution of the present invention, the movable gangway adopts a drive instruction switching method with linear weight change in switching between the speed control mode and the force control mode; the duration of the drive instruction switching setting is , after starting to switch, Indicates the real-time switching moment. It is the driving instruction of the gangway extension and retraction control mechanism in the force control mode. It is the driving instruction of the gangway extension and retraction control mechanism in the speed control mode. When the force control mode is switched to the speed control mode, the driving instruction of the gangway extension and retraction control mechanism for:

[0031] ;

[0032] When the speed control mode is switched to the force control mode, the driving instruction of the gangway telescopic control mechanism for:

[0033] .

[0034] As a further solution of the present invention, after entering the automatic compensation mode, the gangway extension control mechanism switches to the force control mode, and the movable gangway enters the force control mode; in the force control mode, the expected value collected by the preset ladder end force sensor is used. As the target value, real-time feedback value of the extension and retraction direction of the gangway is collected ; In the feedback value Greater than the safety range When the gangway extension and retraction control mechanism is maintained in the force control mode.

[0035] As a further solution of the present invention, the feedback value collected by the ladder end force sensor Less than the set safety range value At this time, the control mode of the movable gangway is switched to the speed control mode, and the extension speed value of the movable gangway is is the initial velocity, with a constant acceleration value For the speed increment, the speed controller calculates the driving command and gives it to the gangway telescopic control mechanism; during the mode switching process, a driving command switching method with linear weight change is adopted.

[0036] As a further solution of the present invention, a method for controlling the extension and retraction of the movable gangway after entering the automatic compensation mode includes the following steps:

[0037] After entering the automatic compensation mode, the gangway extension control mechanism switches to the force control mode; in the force control mode, set the expected value of the ladder end force sensor , set the feedback value of the extension direction of the gangway The safety range is , set the feedback value The boundary range value is , the movable gangway enters the force control mode and operates;

[0038] If: , the movable gangway switches to a constant acceleration value For the speed increment, the speed controller calculates the driving instruction and gives it to the gangway extension and retraction control mechanism, switching the gangway extension and retraction control to the speed control mode;

[0039] If it appears , switch the movable gangway extension and retraction control to force control mode.

[0040] In the application environment of the invention, during the leaning process, contact force stability is the control goal and the basis for safety. The direct force control method has a simple control loop and process, but generally a set of control parameters are pre-adjusted to cope with specific working conditions. The speed control mode itself is also a single control loop with preset control parameters, but it cannot effectively utilize the force sensor information during leaning, and the control goal is not as stable as the force control mode.

[0041] In this invention, force control mode and speed control mode are switched alternately under specific circumstances. The speed control parameters can be adjusted to be more suitable for intense sports modes as an auxiliary function. Then, when the speed of the supporting device away from the supported device decreases, the device is switched back to force control, thereby improving safety. Currently, force control is commonly used in this type of supporting boarding.

[0042] In the present invention, the speed control mode and the force control mode work together to adapt to a more variable external environment and increase redundancy for changes in the external environment. Occasionally, high-speed waves appear in the ocean, pushing the ship and the onboard supporting device away from the supported device at a greater speed. Thus, the original force control parameters cannot adapt to the sudden change in sea conditions. Using the speed control mode, the speed control mode does not add the force sensor acquisition value to the control loop in real time, but the speed control can quickly increase the contact force to within the set range, and then switch back to the force control mode.

[0043] In the present invention, different control modes are switched by setting different ranges of force sensor values, thereby avoiding the disengagement and separation of the supporting device that may be caused by only the force control mode.

[0044] The switch between speed control mode and force control mode uses a linear weighted drive command switching method to avoid motion shock during control mode switching. Different control modes generate different drive commands. Directly switching control modes can cause a step-like phenomenon in the drive command, resulting in shock in the extension and retraction direction of the gangway. This shock can cause people walking on the gangway to walk unsteadily. The linear weighted drive command switching method provides continuous drive command changes during switching, avoiding shock in the extension and retraction direction of the gangway and improving safety for people passing through.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. The present invention provides a six-degree-of-freedom compensation platform, which can perform six-degree-of-freedom motion to compensate for the ship's roll, pitch, and heave motion caused by waves.

[0047] 2. This invention utilizes a coordinated speed control mode and a force control mode for heave compensation. These two control modes are switched in specific situations to adapt to different circumstances. Force control and speed control are switched alternately in specific situations, allowing the speed control parameters to be adjusted to better suit intense motion modes as an auxiliary. When the environment causes the support device to move away and the speed to drop, the system switches back to force control, thereby improving safety and stability.

[0048] 3. The present invention is used in the automatic compensation stage after the gangway ladder contacts the top to avoid the situation where "during the independent force control process of the gangway ladder extension and retraction, when the ship is away from the docking platform due to waves, the gangway ladder is not extended in time, resulting in the contact point losing connection or disengagement." BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic structural diagram of the gangway with wave compensation function according to the present invention. DETAILED DESCRIPTION

[0050] The present invention is described in detail below with reference to specific embodiments. The embodiments described below are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention. Example 1

[0051] like Figure 1 As shown, the gangway with heave compensation function includes:

[0052] Six-degree-of-freedom compensation platform 100 , gangway ladder rotation control mechanism 201 , gangway ladder rotation platform 202 , gangway ladder pitch control mechanism 203 , fixed gangway ladder 301 , gangway ladder telescopic control mechanism 302 , movable gangway ladder 303 , ladder end force sensor 304 , and supporting device 305 .

[0053] The six-degree-of-freedom compensation platform 100 can perform six-degree-of-freedom motion to compensate for the rolling, pitching, and heaving motions of the ship caused by waves.

[0054] The gangway rotation control mechanism 201 connects the gangway rotation platform 202 and the six-degree-of-freedom compensation platform 100, and the gangway rotation platform 202 can rotate relative to the six-degree-of-freedom compensation platform 100. The lower hinge shaft 205 at the rear end of the fixed gangway connects the fixed gangway 301 and the gangway rotation platform 202, and the upper hinge shaft 204 at the rear end of the gangway connects the gangway pitch control mechanism 203 and the fixed gangway 301. When the gangway rotation platform 202 rotates, it can drive the gangway pitch control mechanism 203, the upper hinge shaft 204 at the rear end of the gangway, the lower hinge shaft 205 at the rear end of the gangway, and the fixed gangway 301 to rotate. The gangway pitch control mechanism 203 can control the pitch movement of the fixed gangway 301. The fixed gangway 301 is fixedly connected to the gangway telescopic control mechanism 302, and the movable gangway 303 is connected to the fixed gangway 301 and the gangway telescopic control mechanism 302. The gangway extension and retraction control mechanism 302 can control the movable gangway 303 to perform extension and retraction. The ladder end force sensor 304 is located below the front of the movable gangway 303. The supporting device 305 is located in front of the ladder end force sensor 304. The supporting device 305 is used to support the boarding platform 401 during boarding.

[0055] Based on the ladder end force sensor 304, the force signal of the extension and retraction direction of the gangway ladder between the rear supporting device 305 and the boarded platform 401 is collected, and the force signal is used as a feedback signal. According to the feedback signal, the driving instruction is calculated and given to the gangway ladder extension and retraction control mechanism 302.

[0056] The gangway ladder with wave compensation function leaning control method is as follows:

[0057] After the supporting device 305 contacts the docked platform 401, the ladder end force sensor 304 collects the force signal, and the manual operation enters the automatic compensation mode. After entering the automatic compensation mode, the six-degree-of-freedom compensation platform 100 compensates for the roll, pitch, and heave of the ship, so that the gangway rotating platform 202 maintains a horizontal and stable state without tilting. The gangway rotation control mechanism 201 enters the follow-up mode, so that the gangway rotating platform 202 can rotate in the direction of the gangway rotation following the gangway. The gangway pitch control mechanism 203 also enters the follow-up mode and outputs a fixed force value, which is the inertial force to maintain the fixed gangway 301 and the movable gangway 303 when entering the automatic compensation mode.

[0058] The extension and retraction control of the movable gangway 303 after the leaning device 305 leans against the gangway 303 is carried out in the following manner:

[0059] After entering the automatic compensation mode, the force signal collected by the ladder end force sensor 304 is used as the feedback value , assuming that the expected value collected by the ladder end force sensor 304 is After the supporting device 305 contacts the landing platform 401, the ladder end force sensor 304, the supporting device 305, and the landing platform 401 can be regarded as a mass-damping-spring system. The expression is:

[0060]

[0061]

[0062] Where, is the inertia coefficient in the admittance control system, is the damping coefficient in the admittance control system, is the stiffness coefficient in the admittance control system. is the displacement increment of the movable gangway 303, is the speed increment of the movable gangway 303, is the acceleration increment of the movable gangway 303. is the force error signal. The admittance control is based on the feedback value and Calculate the displacement increment of the movable gangway 303 According to the displacement increment , the displacement controller calculates the driving instruction of the gangway telescopic control mechanism 302.

[0063] Set feedback value The safety range is , when the feedback value , according to the admittance control algorithm and Calculate the displacement increment of the movable gangway 303 The displacement controller is based on The driving instruction of the gangway telescopic control mechanism 302 is calculated based on the current displacement.

[0064] Set feedback value The boundary range value is Ships in the water will experience swaying and swaying due to the action of waves. Due to the combined effect of swaying and swaying, the six-degree-of-freedom compensation platform 100 will move away from the docked platform 401. If the speed of moving away is too fast, the supporting device 305 will start to move away from the docked platform 401, indicating that the collected value of the ladder end force sensor 304 satisfies the following relationship: .

[0065] When it appears , the system records the current extension and retraction speed value of the movable gangway 303 , switch the control of the movable gangway 303 to the speed control mode. With a constant acceleration value Calculate the desired target speed of the movable gangway 304 in real time ,in, is the system time, when the desired target speed Reaching speed limit When the expected target speed is equal to the upper speed limit The speed controller is based on the desired target speed. and the actual speed of the movable gangway 303 The calculated driving instruction is given to the gangway extension control mechanism 302. When the feedback value of the ladder end force sensor 304 Reaching the expected value set by the system When the system switches the extension and retraction control of the movable gangway 303 to the force control mode again.

[0066] The movable gangway 303 adopts a linear weight change driving instruction switching method in the switching between the speed control mode and the force control mode. The duration of the driving instruction switching setting is , after starting to switch, Indicates the real-time switching moment. is the driving instruction of the gangway extension and retraction control mechanism 302 in the force control mode, is the driving instruction of the gangway telescopic control mechanism 302 in the speed control mode. When the force control mode is switched to the speed control mode, the driving instruction of the gangway telescopic control mechanism 302 is for:

[0067]

[0068] When the speed control mode is switched to the force control mode, the driving instruction of the gangway extension and retraction control mechanism 302 for:

[0069] .

[0070] After the system enters the automatic compensation mode, the gangway extension control mechanism 302 switches to the force control mode, and the movable gangway 303 enters the force control mode. In the force control mode, the system uses the expected value collected by the pre-set ladder end force sensor 304. As the target value, real-time feedback value of the extension and retraction direction of the gangway is collected . In the feedback value Greater than the safety range When , the gangway extension and retraction control mechanism 302 remains in the force control mode.

[0071] When the six-degree-of-freedom compensation platform 100 moves away from the landing platform 401 too quickly, the feedback value collected by the ladder end force sensor 304 is Will be less than the set safety range value At this time, the system automatically switches the control mode of the movable gangway 303 to the speed control mode, and the current extension speed of the gangway 303 (the extension speed value of the movable gangway 303) is used to control the movement of the gangway 303. ) is the initial velocity, with a constant acceleration value The speed controller calculates the speed increment and sends the driving instruction to the gangway telescopic control mechanism 302. During the mode switching process, a driving instruction switching method with linear weight change is adopted. During the mode switching, the driving instruction will not change suddenly due to the switching of the controller.

[0072] The control mode of the movable gangway 303 is switched and judged based on the collected value of the ladder end force sensor 304, so as to avoid the phenomenon of the supporting device 305 being disengaged and separated after contacting the docked platform 401 in the force control mode when the wave speed is relatively large and the six-degree-of-freedom compensation platform 100 is far away from the docked platform 401.

[0073] For the movable gangway 303 after the system enters the automatic compensation mode, the extension and retraction control flow chart is as follows:

[0074] After the system enters the automatic compensation mode, the gangway extension control mechanism 302 switches to the force control mode; in the force control mode, the system sets the expected value of the ladder end force sensor 304 , set the feedback value of the extension direction of the gangway The safety range is , set the feedback value The boundary range value is , the movable gangway 303 enters the force control mode and operates.

[0075] If: , the movable gangway 303 is switched to a constant acceleration value For the speed increment, the speed controller calculates a driving instruction and gives it to the gangway extension and retraction control mechanism 302, that is, the system switches the gangway extension and retraction control to the speed control mode;

[0076] If it appears When the movable gangway 303 is extended and retracted, the control mode of the movable gangway 303 is switched to the force control mode.

[0077] In addition, it should be understood that those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A gangway with a wave compensation function, comprising a fixed gangway, a gangway telescopic control mechanism, and a movable gangway, wherein the gangway telescopic control mechanism controls the movable gangway to perform telescopic movement, and is characterized in that: It also includes a six-degree-of-freedom compensation platform for six-degree-of-freedom motion, a gangway ladder rotation control mechanism, a gangway ladder rotation platform, a gangway ladder pitch control mechanism for controlling the pitch motion of the fixed gangway ladder, a ladder end force sensor, a supporting device, and a speed controller for controlling the gangway ladder extension and retraction control mechanism; The six-degree-of-freedom compensation platform is used to compensate for the rolling, pitching and heaving motions of the ship caused by waves; The gangway ladder rotation control mechanism is connected to the gangway ladder rotation platform and the six-degree-of-freedom compensation platform, and the gangway ladder rotation platform is rotatably connected relative to the six-degree-of-freedom compensation platform; When the gangway ladder revolving platform rotates, it drives the gangway ladder pitch control mechanism, the upper hinge shaft at the rear end of the gangway ladder, the lower hinge shaft at the rear end of the gangway ladder and the fixed gangway ladder to rotate; The ladder end force sensor collects the force signal in the extension and retraction direction of the gangway ladder between the supporting device and the boarded platform after the supporting device is supported, uses the force signal as a feedback signal, and calculates the driving instruction based on the feedback signal and gives it to the gangway ladder extension and retraction control mechanism; The speed controller sends the calculated driving instruction to the gangway extension and retraction control mechanism to switch the extension and retraction control mode of the movable gangway, which is divided into force control mode and speed control mode; In force control mode, the expected value collected by the pre-set ladder end force sensor is used. As the target value, real-time feedback value of the extension and retraction direction of the gangway is collected ; In the feedback value Greater than the safety range When the gangway extension and retraction control mechanism is maintained in the force control mode; In speed control mode, the acceleration value is constant. The speed controller calculates the speed increment and gives the driving instruction to the gangway extension and retraction control mechanism.

2. The gangway with wave compensation function according to claim 1, characterized in that: It also includes a lower hinge shaft at the rear end of the fixed gangway ladder and an upper hinge shaft at the rear end of the gangway ladder. The lower hinge shaft at the rear end of the fixed gangway ladder connects the fixed gangway ladder and the gangway ladder rotating platform, and the upper hinge shaft at the rear end of the gangway ladder connects the gangway ladder pitch control mechanism and the fixed gangway ladder.

3. The gangway ladder with wave compensation function and the leaning control method thereof according to claim 1, characterized in that: During the mode switching process, a drive instruction switching method with linear weight change is adopted.

4. The gangway ladder with wave compensation function and the leaning control method thereof according to claim 1, characterized in that: The ladder end force sensor is located below the front side of the movable gangway, and the supporting device is located in front of the ladder end force sensor.

5. A method for controlling a gangway with a wave compensation function according to any one of claims 1 to 4, characterized in that: The following steps are involved: After the supporting device contacts the platform being boarded, the force sensor at the ladder end collects the force signal, and the manual operation enters the automatic compensation mode; After entering the automatic compensation mode, the six-degree-of-freedom compensation platform compensates for the roll, pitch, and heave motions of the vessel, so that the gangway slewing platform maintains a horizontal and stable state; The gangway rotation control mechanism enters the follow-up mode, causing the gangway rotation platform to rotate along with the gangway in the direction of the gangway rotation; the gangway pitch control mechanism also enters the follow-up mode, and the force output by the gangway pitch control mechanism is used to maintain the inertia force of the fixed gangway and the movable gangway when they enter the automatic compensation mode.

6. A gangway ladder leaning control method with wave compensation function according to claim 5, characterized in that: The method for controlling the extension and retraction of the movable gangway after the supporting device is supported comprises the following steps: After entering the automatic compensation mode, the force signal collected by the ladder end force sensor is used as the feedback value , assuming that the expected value collected by the ladder end force sensor is After the supporting device contacts the platform being boarded, the ladder end force sensor, the supporting device, and the platform being boarded constitute a mass-damping-spring system: ； ； Where, is the inertia coefficient in the admittance control system, is the damping coefficient in the admittance control system, is the stiffness coefficient in the admittance control system, is the displacement increment of the movable gangway, is the speed increment of the gangway, is the acceleration increment of the movable gangway, is the force error signal; calculate the displacement increment of the movable gangway , according to the displacement increment , the displacement controller calculates the driving instruction of the gangway telescopic control mechanism; Set feedback value The safety range is , when the feedback value , calculate the displacement increment of the movable gangway ; The displacement controller is based on and the current displacement to calculate the driving instruction of the gangway extension and retraction control mechanism; Set feedback value The boundary range value is ; When it appears When the current extension and retraction speed of the gangway is recorded , switch the control of the movable gangway to speed control mode; with a constant acceleration value Real-time calculation of the desired target speed of the moving gangway , , is the system time, when the desired target speed Reaching speed limit When the expected target speed is equal to the upper speed limit ; Speed controller according to the desired target speed and the actual speed of the gangway Calculate the driving command and give it to the gangway extension control mechanism; when the feedback value of the ladder end force sensor Reaching set expectations , switch the extension and retraction control of the movable gangway to the force control mode again.

7. The method for controlling a gangway ladder with a wave compensation function according to claim 5, characterized in that: The movable gangway adopts a linear weight change driving instruction switching method in the switching between the speed control mode and the force control mode; the duration of the driving instruction switching setting is , after starting to switch, Indicates the real-time switching moment. It is the driving instruction of the gangway extension and retraction control mechanism in the force control mode. It is the driving instruction of the gangway extension and retraction control mechanism in the speed control mode. When the force control mode is switched to the speed control mode, the driving instruction of the gangway extension and retraction control mechanism for: ； When the speed control mode is switched to the force control mode, the driving instruction of the gangway telescopic control mechanism for: 。 8. The method for controlling a gangway ladder with a wave compensation function according to claim 7, characterized in that: After entering the automatic compensation mode, the gangway extension and retraction control mechanism switches to the force control mode, and the movable gangway enters the force control mode; In force control mode, the expected value collected by the pre-set ladder end force sensor is used As the target value, real-time feedback value of the extension and retraction direction of the gangway is collected ; In the feedback value Greater than the safety range When the gangway extension and retraction control mechanism is maintained in the force control mode.

9. The method for controlling a gangway ladder with a wave compensation function according to claim 7, characterized in that: The feedback value collected by the ladder end force sensor Less than the set safety range value At this time, the control mode of the movable gangway is switched to the speed control mode, and the extension speed value of the movable gangway is is the initial velocity, with a constant acceleration value For the speed increment, the speed controller calculates the driving command and gives it to the gangway telescopic control mechanism; during the mode switching process, a driving command switching method with linear weight change is adopted.

10. The method for controlling a gangway ladder with a wave compensation function according to claim 6, characterized in that: After the movable gangway enters the automatic compensation mode, the extension and retraction control method thereof includes the following steps: After entering the automatic compensation mode, the gangway extension control mechanism switches to the force control mode; in the force control mode, set the expected value of the ladder end force sensor , set the feedback value of the extension direction of the gangway The safety range is , set the feedback value The boundary range value is , the movable gangway enters the force control mode and operates; If: , the movable gangway switches to a constant acceleration value For the speed increment, the speed controller calculates the driving instruction and gives it to the gangway extension and retraction control mechanism, switching the gangway extension and retraction control to the speed control mode; If it appears , switch the movable gangway extension and retraction control to force control mode.

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