Wave-compensated gangway device and method of controlling the same

Abstract

The application discloses a wave compensation gangway device and a control method thereof. The wave compensation gangway device comprises a simulated sea wave device for simulating sea wave movement and a gangway device located on the simulated sea wave device and moving with the simulated sea wave. The simulated sea wave device comprises an upper platform for placing the gangway device, a lower platform for supporting, a plurality of drive motor assemblies distributed on the lower platform at intervals around a central shaft, and a connecting rod assembly connected with one end of the lower surface of the upper platform and the output shaft of the drive motor assembly and used for driving the upper platform to simulate sea wave movement. The upper platform and the lower platform are coaxially arranged. The application simulates sea wave movement by using the simulated sea wave device, so that the gangway device can adapt to sea wave fluctuation, effectively solves the influence of the sea wave on the gangway, and enables the gangway to keep a relatively stable position under the action of the sea wave, thereby facilitating personnel to perform offshore transfer operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of offshore transfer operation equipment, and particularly relates to a wave-compensated gangway device and a control method thereof. BACKGROUND

[0002] Currently, a gangway is usually installed on a ship to facilitate personnel to perform offshore transfer operation. However, due to the influence of waves on the ship, the relative position between the gangway and the ship body is unstable, so that the gangway cannot be normally used, thereby bringing great inconvenience to personnel entering and exiting the cabin. The wave-compensated gangway device is a bridge connecting the ship and the offshore fixed platform, and is also the necessary marine equipment for offshore engineering operation and deep-sea resource development. The ship on the sea is mainly disturbed in three degrees of freedom of heave, roll and pitch. Therefore, when the wave-compensation technology is applied, feedback and compensation are mainly performed in the above three degrees of freedom. The existing gangway device is usually fixed on one side of the ship, but in the case of large waves, the movement of the ship body will cause the gangway to shake violently, resulting in unstable boarding and disembarking of the gangway, and there is a safety hazard.

[0003] The existing wave-compensated gangway device can cope with relatively severe sea conditions and realize offshore transfer operation. However, during the deployment of the wave-compensated gangway device, the end of the gangway is difficult to quickly dock with the target, and manual slow control is required to approach the docking target. This manual control method is often too cumbersome and it is difficult to accurately dock the target. And during the actual contact, the end of the wave-compensated gangway device often loosens and is not firm with the docking target, which seriously affects the efficiency and safety of offshore transfer operation.

[0004] Therefore, the conventional gangway often cannot be stably parked on the ship side, especially in the case of large waves, which is more prone to dangerous situations.

[0005] Therefore, it is urgent to solve the above problems. SUMMARY

[0006] The first object of the present application is to provide a wave-compensated gangway device which can adapt to sea wave fluctuation, effectively solve the influence of waves on the gangway, and enable the gangway to maintain a relatively stable position under the action of waves, thereby facilitating personnel to perform offshore transfer operation.

[0007] The second object of the present application is to provide a control method of the wave-compensated gangway device.

[0008] Technical solution: To achieve the above object, the application discloses a wave-compensated gangway device, which comprises a simulated sea wave device for simulating sea wave movement and a gangway device located on the simulated sea wave device and moving with the simulated sea wave movement, the simulated sea wave device comprises an upper platform for placing the gangway device, a lower platform for supporting, a plurality of drive motor assemblies spaced apart on the lower platform around a central axis, and a connecting rod assembly connected at one end to the lower surface of the upper platform and at the other end to the output shaft of the drive motor assembly and used for driving the upper platform to simulate sea wave movement, wherein the upper platform and the lower platform are coaxially arranged.

[0009] Preferably, the connecting rod assembly comprises a rotary arm, a ball head rod and a connecting rod connected in sequence, wherein the central axis of the rotary arm is connected to the output shaft of the drive motor assembly, the ball head rod is located at one end of the rotary arm, the lower end of the connecting rod is connected to the ball head rod, and the upper end of the connecting rod is connected to the lower surface of the upper platform.

[0010] Preferably, the upper end of the connecting rod is connected to the upper platform through an upper L-shaped plate, the drive motor assembly is fixed on a C-shaped plate, and the C-shaped plate is connected to the lower platform through a lower L-shaped plate.

[0011] Further, the number of the drive motor assemblies and the connecting rod assemblies is 6, and the drive motor assemblies and the connecting rod assemblies are arranged one by one in correspondence.

[0012] Further, the installation angles of the upper ends of the connecting rods are 0 degrees, 30 degrees, 120 degrees, 150 degrees, 240 degrees and 270 degrees respectively, and the distances between the installation positions of the upper ends of the connecting rods and the central axis of the upper platform are all r.

[0013] Preferably, the installation angles of the drive motor assemblies are 60 degrees, 90 degrees, 180 degrees, 210 degrees, 300 degrees and 330 degrees respectively, and the distances between the installation positions of the drive motor assemblies and the central axis of the lower platform are all R.

[0014] Further, the drive motor assembly comprises a speed reducer, a control board, an angle sensor, a gear assembly and a drive housing.

[0015] Further, the gangway device comprises a rotating device located at the central position of the upper platform, a rhombic fixing seat connected to the rotating device, an extension device connected to the rhombic fixing seat, and a pitching device connected to the rhombic fixing seat and the extension device at both ends, the rotating device comprises a rotating motor, the extension device comprises an extension motor, and the pitching device comprises a pitching motor.

[0016] Preferably, the simulated sea wave device further comprises a base coordinate sensor and a simulation controller located at the central position of the upper platform.

[0017] The control method of the wave-compensated gangway device comprises the following steps:

[0018] The simulation controller controls the driving motor assembly to drive the rotating arm and the connecting rod to move according to different rotating angles, drives the upper platform to move, realizes the simulation of sea wave movement, and transmits the mechanical vibration generated to the base coordinate sensor at the center position of the upper platform, the base coordinate sensor detects the change of the base coordinate of the gangway device and transmits the data to the upper computer; the upper computer establishes a kinematic model according to the gangway device; the forward and inverse kinematics is solved, and the position relationship among the rotating motor of the rotating device, the telescopic motor of the telescopic device and the pitching motor of the pitching device is solved; the change of the base coordinate of the gangway device is predicted through the time series NARX feedback neural network algorithm, the end coordinate of the gangway device is kept unchanged, the position relationship among the rotating motor, the telescopic motor and the pitching motor is solved, and the rotating motor, the telescopic motor and the pitching motor are controlled through the position relationship.

[0019] Beneficial effects: Compared with the prior art, the present application has the following remarkable advantages:

[0020] (1) The present application simulates sea wave movement by using a simulation sea wave device, so that the gangway device can adapt to sea wave fluctuation, effectively solves the influence of waves on the gangway, and makes the gangway keep a relatively stable position under the action of waves, facilitating personnel transfer operation at sea.

[0021] (2) The present application can convert the joint variables of the gangway device into the pose of the end effector by using the forward kinematics solving method, and the forward kinematics solving of the wave compensation gangway device is the conversion of the joint variables of the gangway device into the pose of the end effector, which is convenient for calculation; through the forward kinematics solving, the end effector pose to be reached can be converted into joint variables, so as to realize the trajectory planning of the gangway device, which can be used to verify the correctness of the control algorithm in the gangway device motion simulation;

[0022] (3) The present application can avoid the collision between the gangway device and obstacles during task execution through inverse kinematics solving; the inverse kinematics solving of the wave compensation gangway device can calculate the joint variables that the gangway device needs to reach according to the pose of the end effector, so as to realize complex trajectory planning; the joint variables of the gangway device can be calculated in real time according to the pose of the end effector, so as to realize real-time control; it is convenient to understand and control the motion of the wave compensation gangway device, so as to improve its stability and adaptability;

[0023] (3) The sea wave compensation gangway device of the present application adopts the NARX feedback neural network algorithm to predict the gangway device base coordinates, which can effectively improve the control accuracy and adaptability of the wave compensation gangway device, thereby realizing better stability and reliability; the NARX feedback neural network algorithm can accurately predict the future gangway device base coordinates according to historical base coordinate data, thereby improving the stability and adaptability of the wave compensation gangway device; the NARX feedback neural network algorithm can handle nonlinear problems and is suitable for the complex nonlinear system of the wave compensation gangway device under the action of sea waves; the NARX feedback neural network algorithm can predict and control the motion of the wave compensation gangway device under different environments through continuous learning and adaptation; the NARX feedback neural network algorithm can quickly respond to real-time data and realize real-time control of the gangway motion; the NARX feedback neural network algorithm can apply the prediction results to the optimization control strategy, thereby further improving the stability and adaptability of the wave compensation gangway device. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present application;

[0025] Figure 2 It is a structural schematic diagram of the driving motor assembly in the present application;

[0026] Figure 3 It is a front view of the gangway device in the present application;

[0027] Figure 4 It is a top view of the gangway device in the present application;

[0028] Figure 5 It is a schematic diagram of the installation position of the upper L-shaped plate on the upper platform in the present application;

[0029] Figure 6 It is a schematic diagram of the installation position of the lower L-shaped plate on the lower platform in the present application;

[0030] Figure 7 It is a schematic diagram of the installation position of the rotary sensor in the present application;

[0031] Figure 8 It is a D-H model schematic diagram of the wave compensation gangway in the present application;

[0032] Figure 9 It is a NARX feedback neural network schematic diagram in the present application;

[0033] Figure 10 It is a time series NARX feedback neural network algorithm principle diagram in the present application. DETAILED DESCRIPTION

[0034] The technical solutions of the present application will be further described below in combination with the drawings.

[0035] As Figure 1 shown, the application discloses a wave compensation gangway device, which comprises a simulation sea wave device 100 and a gangway device 200. The simulation sea wave device 100 comprises an upper platform 101, a lower platform 102, an upper L-shaped plate 103, a C-shaped plate 104, a lower L-shaped plate 105, a base coordinate sensor 106, a driving motor assembly 110, a connecting rod assembly 120 and a simulation controller. The gangway device 200 comprises a rotating device 210, a rhombic fixed seat 220, an extension device 230 and a pitching device 240.

[0036] The simulation sea wave device 100 is used for simulating sea wave movement. The connecting rod assembly 120 comprises a rotating arm 121, a ball head rod 122 and a connecting rod 123 which are sequentially connected. Six driving motor assemblies 110 in the simulation sea wave device 100 drive the rotating arm 121 and the connecting rod 123 to move according to different rotating angles, drive the upper platform 101 to move, and simulate sea wave movement. The upper platform 101 and the lower platform 102 are coaxially arranged. The base coordinate sensor 106 is located at the center position of the upper platform 101. The number of the driving motor assemblies 110 and the connecting rod assemblies 120 is six. The driving motor assemblies 110 and the connecting rod assemblies 120 are arranged in one-to-one correspondence. The upper platform 102 is used for fixing the gangway device 200 at the center position of the simulation sea wave device 100. The lower surface of the upper platform 102 is connected with one end surface of six upper L-shaped plates 103. As shown in the figure, the installation position angles of the six upper L-shaped plates 103 are 0 degrees, 30 degrees, 120 degrees, 150 degrees, 240 degrees and 270 degrees. The distance between the six upper L-shaped plates 103 and the central axis of the upper platform 101 is r. The other end surface of the upper L-shaped plate 103 is connected with the upper end of the connecting rod 123. The lower end of the connecting rod 123 is connected with the ball head rod 122. The ball head rod 122 is located at one end of the rotating arm 121. The central axis of the rotating arm 121 is connected with the output shaft of the driving motor assembly 110. The driving motor assembly 110 is fixed on the C-shaped plate 104. The C-shaped plate 104 is connected with one end surface of six lower L-shaped plates 105. The other end surface of the lower L-shaped plate 105 is fixed on the lower platform 102. As shown in the figure, the installation position angles of the six lower L-shaped plates 105 are 60 degrees, 90 degrees, 180 degrees, 210 degrees, 300 degrees and 330 degrees. The distance between the six lower L-shaped plates 105 and the central axis of the lower platform 102 is R. The size of r and R is set according to specific conditions. Figure 5 Figure 6 As

[0037] As Figure 2 shown, the driving motor assembly 110 comprises a speed reduction motor 111, a control board 112, an angle sensor 113, a gear assembly 114 and a driving housing 115.

[0038] As Figure 3 and Figure 4 ​As shown, the gangway device 200 is located on the simulated sea wave device 100 and moves with the simulated sea wave, the rotating base 211 of the rotating device 210 is fixed on the center of the simulated sea wave device 100, the rotating motor 212 is installed on the rotating fixed seat 213 of the rotating device 210, the rotating fixed seat 213 is connected with the rhombus fixed seat 220, three rotating sensors 214 are installed on the rotating fixed seat 213, and the installation positions of the three rotating sensors 214 are at angles of 0 degrees, 90 degrees and 270 degrees, as shown in the figure. Figure 7 As shown, the rotating sensor contact stopper 215 is installed on the rhombus fixed seat 220, the rotating motor 212 rotates to drive the rhombus fixed seat 220 to rotate, and the rotating position is determined according to the three rotating sensors and the internal feedback parameters of the rotating motor; the rotating motor is used for driving the rotating platform to rotate along the longitudinal axis, and the rotating angle range is 150° to 210°.

[0039] One end of the telescopic device 230 is installed on the Y-shaped fixed seat 231 and connected with the rhombus fixed seat 220, the telescopic device 230 includes two telescopic bridges, an outer telescopic bridge 232 and an inner telescopic bridge 233, three telescopic sensors 234 are installed on the outer telescopic bridge, the inner telescopic bridge 233 is installed with a telescopic sensor contact stopper 235, the inner telescopic bridge 233 is connected with the cable tank chain 236, the telescopic motor 237 rotates to drive the small belt and pulley to act, the pulley 238 drives the large belt 239 to act, and the inner telescopic bridge 233 is driven to act, and the telescopic position is determined according to the three telescopic sensors and the internal feedback parameters of the telescopic motor.

[0040] The pitching device 240 is installed on the trapezoidal fixed seat 242 and connected with the rhombus fixed seat 220, the pitching motor 243 and the pitching telescopic cylinder 244 are installed on the pitching device base 241, the telescopic rod 245 on the telescopic cylinder is connected with the triangular fixed seat 246 and fixed at the bottom end of the outer telescopic bridge of the telescopic device 230, three telescopic sensors 247 are installed on the telescopic cylinder, the pitching motor 243 rotates to drive the telescopic cylinder 244 to act, and the pitching position is determined according to the three telescopic sensors and the internal feedback parameters of the pitching motor; the pitching motor is used for driving the pitching mechanism, and the pitching angle range is -30° to 30°.

[0041] The control method of the wave compensation gangway device includes the following steps:

[0042] The simulation controller controls the driving motor assembly to drive the rotating arm and the connecting rod to move according to different rotating angles, drives the upper platform to move, realizes the simulation of sea wave movement, and transmits the generated mechanical vibration to the base coordinate sensor at the center position of the upper platform; the upper computer establishes a kinematic model according to the size of the gangway device; the forward and inverse kinematics are solved, and the positional relationship among the rotating motor of the rotating device, the telescopic motor of the telescopic device and the pitching motor of the pitching device is solved; the change of the base coordinates of the gangway device is predicted through the time series NARX feedback neural network algorithm, the end coordinates of the gangway device are kept unchanged, the positional relationship among the rotating motor, the telescopic motor and the pitching motor is solved, and the rotating motor, the telescopic motor and the pitching motor are controlled through the positional relationship.

[0043] The upper computer establishes a kinematic model according to the size of the gangway device, as shown in Figure 8 The purpose of forward kinematics solving is to calculate the position and direction of the wave-compensated gangway end pose relative to the base coordinate system {0}.

[0044] The specific steps of forward kinematics solving are:

[0045] Firstly, the motion joints of the wave-compensated gangway prototype are analyzed and simplified, as shown in Figure 8 The joint coordinate system of the gangway prototype is established by means of D-H method;

[0046] Secondly, according to the right-hand rule and the establishment rule of D-H matrix, the D-H parameter table is formulated, and each transformation matrix is calculated;

[0047] According to the size drawing of the gangway prototype, the joint coordinate system of the serial mechanism and the right-hand rule, the D-H parameters of the gangway are determined, as shown in Table 1

[0048] D-H parameter table

[0049] i a i-1 ]]> i-1 ]]> ​ d i-1 ]]> i ]]> ​ 1 0 0 L1 [theta1] 2 0 π / 2 0 [theta2] 3 0 0 Delta [theta]3 4 0 -π / 2 D3 0 5 0 0 L4 0

[0050] Forward and inverse kinematics solving is performed:

[0051]

[0052] Wherein cosθ1 is abbreviated as c1, and sinθ1 is abbreviated as s1; it is simplified as:

[0053] T01=[c1,-s1,0,0;s1,c1,0,0;0,0,1,L1;0,0,0,1];

[0054]

[0055] Wherein θ2=270°, and it is simplified as:

[0056] T12=[0,1,0,0;0,0,-1,0;-1,0,0,0;0,0,0,1];

[0057]

[0058] Where cosθ3 is abbreviated as c3, sinθ3 is abbreviated as s3, delta=Δ=25, simplified to:

[0059] T23=[c3,-s3,0,0; s3,c3,0,0; 0,0,1,25; 0,0,0,1];

[0060]

[0061] Where θ4=0°, simplifies to:

[0062] T34=[1,0,0,0;0,0,1,D3;0,-1,0,0;0,0,0,1];

[0063]

[0064] Where θ5=0°, simplifies to:

[0065] T45=[1,0,0,0;0,1,0,0;0,0,1,L4;0,0,0,1];

[0066]

[0067] Depend on:

[0068] T05 = T01 * T12 * T23 * T34 * T45 =

[0069] [c1*s3,-s1,c1*c3,25*s1+D3*c1*c3+L4*c1*c3]

[0070] [s1*s3,c1,c3*s1,D3*c3*s1-25*c1+L4*c3*s1]

[0071] [-c3,0,s3, L1+D3*s3+L4*s3]

[0072] [0,0,0, 1 ]

[0073] have to:

[0074] Px = 25*s1 + D3*c1*c3 + L4*c1*c3

[0075] Py = D3*c3*s1 - 25*c1 + L4*c3*s1

[0076] Pz = L1 + D3 * s3 + L4 * s3

[0077] Where: L1 = 600, D3 = 1440, solve the end coordinates of the gangway device:

[0078] P X = 25 s1 + 1440 c1 c3 + L4 c1 c3

[0079] P Y = 1440 c3 s1 - 25 c1 + L4 c3 s1

[0080] P Z = 600 + 1440 s3 + L4 s3

[0081] The purpose of inverse kinematics is to solve the variables of each joint of the wave-compensated gangway according to the wave-compensated gangway end pose. The variables of each joint are solved, so as to control it, so that the wave-compensated gangway end pose remains unchanged.

[0082] Wherein the specific steps of inverse kinematics solving are:

[0083] From the above, the wave-compensated gangway end pose is solved:

[0084] T05 = [c1 s3, -s1, c1 c3, Px; s1 s3, c1, c3 s1, Py; -c3, 0, s3, Pz; 0, 0, 0, 1]

[0085] The inverse matrix T 01F , T 12F , T 23F of T01, T12 and T23 is solved.

[0086]

[0087]

[0088]

[0089] From

[0090] T 23F ×T 12F ×T 01F ×T05 = T34 × T45

[0091] We get:

[0092]

[0093]

[0094] Inverse kinematics formula:

[0095] L1*c3 - Pz*c3 + Px*c1*s3 + Py*s1*s3 = 0

[0096] Pz*s3 - L1*s3 + Px*c1*c3 + Py*c3*s1 = D3 + L4

[0097] Px*s1 - Py*c1 - 25 = 0

[0098] Solve θ1, θ3, L4 according to the above formula

[0099]

[0100]

[0101] Pz*sin(θ3) - L1*sin(θ3) + Px*cos(θ1)*cos(θ3) + Py*cos(θ3)*sin(θ1) - D3 = L4

[0102] θ1 is the rotation angle of the rotary motor; θ3 is the pitch angle of the pitch motor; L4 is the extension distance of the extension motor. L1 = 600, D3 = 1440 are the structural dimensions.

[0103] Generally, the actual end coordinates are converted based on the earth U:

[0104] X = [1, 0, 0, 0; 0, c x1 , -s x1 , 0; 0, s x1 , c x1 , 0; 0, 0, 0, 1];

[0105] Y = [c y2 , 0, s y2 , 0; 0, 1, 0, 0; -s y2 , 0, c y2 , 0; 0, 0, 0, 1];

[0106] Z = [c z3 , -s z3 , 0, 0; s z3 , c z3 , 0, 0; 0, 0, 1, 0; 0, 0, 0, 1];

[0107] U = [1, 0, 0, x0; 0, 1, 0, 0; 0, 0, 1, 0; 0, 0, 0, 1];

[0108] V = [1, 0, 0, 0; 0, 1, 0, y0; 0, 0, 1, 0; 0, 0, 0, 1];

[0109] W = [1, 0, 0, 0; 0, 1, 0, 0; 0, 0, 1, z0; 0, 0, 0, 1];

[0110] R = X * Y * Z * U * V * W;

[0111] U0= R * T05

[0112] U0=

[0113] [c1*c y2 *c z3 *s3-c y2 *s1*s3*s z3 -c3*s y2 ,-c1*c y2 *s z3 -c y2 *c z3 *s1,s3*s y2 -c3*c y2 *s1*s z3 +c1*c3*c y2 *c z3 ,P z *s y2 +s y2 *z0+P x *c y2 *c z3 -P y *c y2 *s z3 +c y2 *c z3 *x0-c y2 *s z3 *y0]

[0114] [c1*s3*(c x1 *s z3 +c z3 *s x1 *s y2 )+s1*s3*(c x1 *c z3 -s x1 *s y2 *s z3 )+c3*c y2 *s x1 ,c1*(c x1 *c z3 -s x1 *s y2 * sz3 )-s1*(c x1 *s z3 +c z3 *s x1 *s y2), c1*c3*(c x1 *s z3 +c z3 *s x1 *s y2 )+c3*s1*(c x1 *c z3 -s x1 *s y2 *s z3 )-c y2 *s3*s x1 ,x0*(c x1 *s z3 +c z3 *s x1 *s y2 )+y0*(c x1 *c z3 -s x1 *s y2 *s z3 )+P x *(c x1 *s z3 +c z3 *s x1 *s y2 )+P y *(c x1 *c z3 -s x1 *s y2 *s z3 )-P z *c y2 *s x1 -c y2 *s x1 *z0]

[0115] [c1*s3*(s x1 *s z3 -c x1 *c z3 *s y2 )+s1*s3*(c z3 *s x1 +c x1 *s y2 *s z3 )-c3*c x1 *c y2 ,c1*(c z3 *s x1 +c x1 *s y2 *s z3 )-s1*(s x1 *s z3 -c x1 *c z3 *sy2 ), c1*c3*(s x1 * s z3 - c x1 * c z3 * s y2 + c3*s1*(c z3 * s x1 + c x1 * s y2 * s z3 + c x1 * c y2 * s3,x0*(s x1 * s z3 - c x1 * c z3 * s y2 + y0*(c z3 * s x1 + c x1 * s y2 * s z3 + P x *(s x1 * s z3 - c x1 * c z3 * s y2 + P y *(c z3 * s x1 + c x1 * s y2 * s z3 + P z * c x1 * c y2 + c x1 * c y2 * z0]

[0116] [0, 0, 0, 1]

[0117] P X1 = P Z * s y2 + s y2 * z0 + P x * c y2 * c z3 - P Y * c y2 * s z3 + c y2 * c z3 * x0 - c y2 * s z3 * y0

[0118] P Y1 = x0*(c x1 * s z3 + c z3s x1 s y2 )+y0*(c x1 c z3 -s x1 s y2 s z3 )+P X *(c x1 s z3 +c z3 s x1 s y2 )+

[0119] P Y *(c x1 c z3 -s x1 s y2 s z3 )-P Z c y2 s x1 -c y2 s x1 *z0

[0120] P Z1 = x0*(s x1 s z3 -c x1 c z3 s y2 )+y0*(c z3 s x1 +c x1 s y2 s z3 )+P X *(s x1 s z3 -c x1 c z3 s y2 )+

[0121] P Y *(c z3 s x1 +c x1 s y2 s z3 )+P Z c x1 c y2 +c x1 c y2 *z0

[0122] x1 is the angle about the x-axis (predicted by the time series NARX feedback neural network);

[0123] y2 is the angle about the y-axis (predicted by the time series NARX feedback neural network);

[0124] z3 is the angle around the z-axis (predicted by the time series NARX feedback neural network);

[0125] x0y0 z0 base coordinates (predicted by the time series NARX feedback neural network);

[0126] cosine of c1o1, s1o1;

[0127] cosine of c2o2, s2o2;

[0128] cosine of c3o3, s3o3;

[0129] P X , P Y , P Z end coordinates;

[0130] P X1 , P Y1 , P Z1 (based on the earth U conversion to actual end coordinates);

[0131] The specific steps for predicting the change in coordinates of the gangway device base coordinates {0} by the time series NARX feedback neural network algorithm are as follows:

[0132] Predict the change in coordinates of the gangway device base coordinates {0} by the neural network algorithm;

[0133] As shown in Figure 9 , the base coordinates {0} of the wave-compensated gangway are predicted based on the time series NARX feedback neural network. The exogenous input nonlinear autoregressive network (NARX) is a recurrent dynamic network, and its feedback connection contains several layers of the network. The NARX model is based on the linear ARX model, which is usually used for time series modeling.

[0134] The base coordinates {0} are important in the wave-compensated gangway system, and the wave motion is predicted by simulating the motion of the simulated sea wave device, which ultimately affects the center of the upper platform of the simulated sea wave device as the base coordinates {0}. By sampling the coordinates of the center of the upper platform of the simulated sea wave device (6 quantities, 3 displacements, and 3 angles), the wave-compensated gangway base coordinates {0} are obtained, and finally the wave-compensated gangway end coordinates are obtained. Then, based on the time series NARX feedback neural network, the input layer has 6 inputs (wave-compensated gangway base coordinates {0}), and the output layer also has 6 outputs. According to experience, the hidden layer is 10 layers, and the output hidden layer is 6 layers.

[0135] As shown in Figure 10As shown, wave motion is simulated using a wave simulation device. The host computer acquires the center coordinates of the upper platform of the simulated wave device through a base coordinate sensor. The wave-compensated gangway base coordinates {0} are obtained through processing. The data is then loaded into a NARX feedback neural network. The feedback delay and hidden layer structure of the NARX feedback neural network are set. An open-loop NARX neural network is created. Time series data is created using the Prepareds method. The network is configured with 70% training set, 15% validation set, and 15% test set. The network is trained and tested. A closed-loop neural network is then created. Time series data is created again using the Prepareds method. Closed-loop test data is acquired. A one-step advance prediction neural network is created. Time series data is created again using the Prepareds method. One-step advance prediction data is acquired. The data is processed to obtain the one-step advance prediction base coordinates {0}, three coordinates x1 / y2 / z3, and three angles x0 / y0 / z0. The coordinates P at the end are calculated. X P Y P Z Through P X P Y P z The value of θ1 is used to solve for the rotation angle of the rotary motor; θ 3P L4 represents the pitch angle of the pitch motor; L5 represents the telescopic distance of the telescopic motor.

[0136] Keep the coordinates of the end of the gangway device 200 unchanged, according to P X P Y P z The values ​​are calculated to determine θ1 as the rotation angle of the rotary motor, θ3 as the pitch angle of the pitch motor, and L4 as the telescopic distance of the telescopic motor. These parameters are then transmitted to the controller, which controls the rotary motor to execute the θ1 angle, the telescopic motor to execute the L4 distance, and the pitch motor to execute the θ3 angle.

[0137] The preferred embodiments of the present invention have been described in detail above, but the design concept of the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solution of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A control method for a wave-compensated gangway device, characterized in that, The wave-compensated gangway device includes a simulated wave device (100) for simulating wave motion and a gangway device (200) located on the simulated wave device and moving with the simulated waves. The simulated wave device (100) includes an upper platform (101) for placing the gangway device, a lower platform (102) for support, a plurality of drive motor assemblies (110) spaced around a central axis on the lower platform, and a linkage assembly (120) connected at one end to the lower surface of the upper platform and at the other end to the output shaft of the drive motor assembly for driving the upper platform to simulate wave motion. The upper platform (101) and the lower platform (102) are coaxially arranged. The gangway device (200) includes a rotating device (210) located at the center of the upper platform, a diamond-shaped fixed seat (220) connected to the rotating device, and a telescopic device (230) connected to the diamond-shaped fixed seat. The device includes a pitching device (240) connected to a rhomboid fixed base and a telescopic device at both ends, a rotary device (210) including a rotary motor (212), a telescopic device (230) including a telescopic motor (237), and a pitching device (240) including a pitching motor (243). The simulated wave device (100) also includes a base coordinate sensor (106) and a simulation controller located at the center of the upper platform. The linkage assembly (120) includes a rotary arm (121), a ball joint (122), and a connecting rod (123) connected in sequence. The central axis of the rotary arm (121) is connected to the output shaft of the drive motor assembly (110). The ball joint (122) is located at one end of the rotary arm (121). The lower end of the connecting rod (123) is connected to the ball joint (122), and the upper end of the connecting rod (123) is connected to the lower surface of the upper platform (101). The control method includes the following steps: The analog controller controls the drive motor assembly to rotate at different angles, driving the slewing arm and connecting rod to move the upper platform, simulating wave motion. The generated mechanical vibrations are transmitted to a base coordinate sensor at the center of the upper platform. The base coordinate sensor detects changes in the gangway's base coordinates and transmits the data to a host computer. The host computer establishes a kinematic model of the gangway and performs forward and inverse kinematics solutions. The forward kinematics solution calculates the position and orientation of the wave-compensated gangway end relative to the base coordinates, while the inverse kinematics solution calculates the wave compensation based on the wave-compensated gangway end pose. The variables of each joint of the gangway are used to solve for the positional relationships between the gangway and the slewing motor of the slewing device, the telescopic motor of the telescopic device, and the pitch motor of the pitch device. The changes in the base coordinates of the gangway device are predicted by the time series NARX feedback neural network algorithm, keeping the coordinates of the end of the gangway device constant, and the positional relationships between the gangway and the slewing motor, telescopic motor, and pitch motor are solved. The actions of the slewing motor, telescopic motor, and pitch motor are controlled by the positional relationships. That is, the slewing angle of the slewing motor, the pitch angle of the pitch motor, and the telescopic distance of the telescopic motor are solved by the value of the coordinates of the end of the gangway device.

2. The control method for a wave-compensating gangway device according to claim 1, characterized in that, The upper end of the connecting rod (123) is connected to the upper platform (101) through the upper L-shaped plate (103), and the drive motor assembly (110) is fixed on the C-shaped plate (104), which is connected to the lower platform (102) through the lower L-shaped plate (105).

3. The control method for a wave-compensating gangway device according to claim 1, characterized in that, The number of drive motor assemblies (110) and linkage assemblies (120) is 6, and the drive motor assemblies (110) and linkage assemblies (120) are arranged in a one-to-one correspondence.

4. The control method for a wave-compensating gangway device according to claim 3, characterized in that, The upper end of the connecting rod (123) is installed at angles of 0 degrees, 30 degrees, 120 degrees, 150 degrees, 240 degrees and 270 degrees respectively, and the distance between the upper end of the connecting rod (123) and the central axis of the upper platform (101) is r.

5. The control method for a wave-compensating gangway device according to claim 3, characterized in that, The installation angles of the drive motor assembly (110) are 60 degrees, 90 degrees, 180 degrees, 210 degrees, 300 degrees and 330 degrees, respectively, wherein the distance between the installation position of the drive motor assembly (110) and the central axis of the lower platform (102) is R.

6. The control method for a wave-compensating gangway device according to claim 1, characterized in that: The drive motor assembly (110) includes a geared motor (111), a control board (112), an angle sensor (113), a gear assembly (114), and a drive housing (115).

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