A gangway with wave compensation function and a butting control method thereof

Abstract

This invention pertains to the field of maritime berthing operations and relates to a gangway with wave compensation function and its berthing control method. It includes a fixed gangway, a gangway extension / retraction control mechanism, a movable gangway, a six-degree-of-freedom compensation platform, a gangway rotation control mechanism, a gangway rotation platform, a gangway pitch control mechanism, a gangway end force sensor, a berthing device, and a speed controller. The speed controller sends calculated drive commands to the gangway extension / retraction control mechanism to switch the extension / retraction control mode of the movable gangway. This invention is used in the automatic compensation stage after the gangway berths, to avoid potential loss of connection or detachment of the contact point due to untimely gangway extension. During wave compensation, a speed control mode and a force control mode work together, switching between the two control methods under specific circumstances to adapt to different situations, resulting in high safety and stability.

Description

Technical Field

[0001] This invention relates to the field of marine berthing operation technology, and specifically to a method for controlling the extension and retraction direction of a marine berthing gangway after contact via a top-bumping method. It is a gangway with wave compensation function and its top-bumping control method. Background Technology

[0002] Numerous offshore wind farms are scattered across the ocean, each containing multiple wind turbine platforms. These farms require regular maintenance, necessitating the transfer of maintenance personnel from the maintenance vessel to the platforms to perform their work.

[0003] In maintenance operations of offshore wind power platforms, maintenance personnel need to use a combination of a six-degree-of-freedom compensated platform and a marine gangway to board the platform. During this process, the front end of the marine gangway must contact the platform being boarded, and force sensors measure the magnitude of the contact force. The current control strategy is a direct force compensation control mode, which controls the force value collected by the force sensors within a preset stable range. However, when wave surges cause the vessel to rapidly move away from the boarding platform, relying solely on a single force control loop may be insufficient to allow the gangway to extend quickly and effectively, which could affect the safety of personnel boarding.

[0004] For example, the "Wave Compensation Trestle 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 result in the gangway not extending in time, and the actual contact force between the gangway and the device being pushed is less than the safe range, causing the gangway and the device being pushed to slip and separate. Summary of the Invention

[0006] The purpose of this invention is to provide a gangway with wave compensation function and its top-bearing control method. This method is used in the automatic compensation stage after the gangway top-bearing contact to deal with the situation where the gangway extension and retraction are controlled by individual forces. When the ship moves away from the berthing platform due to waves, the gangway may not extend in time, which may cause the contact point to lose connection or detach.

[0007] The technical solution is as follows:

[0008] Firstly, a gangway with wave compensation function includes 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; it also includes a six-degree-of-freedom compensation platform for performing six-degree-of-freedom motion, a gangway rotation control mechanism, a gangway rotation platform, a gangway pitch control mechanism for controlling the fixed gangway to perform pitch movement, a gangway end force sensor, a backing device, and a speed controller for controlling the gangway telescopic control mechanism;

[0009] The six-degree-of-freedom compensation platform is used to compensate for the ship's roll, pitch, and heave motions caused by waves.

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

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

[0012] The ladder end force sensor collects the force signal in the direction of ladder extension and retraction between the top and rear top device and the boarding platform. The force signal is used as a feedback signal. Based on the feedback signal, the drive command is calculated and sent to the ladder extension and retraction control mechanism.

[0013] The speed controller sends the calculated drive command to the gangway extension control mechanism to switch the extension control mode of the movable gangway. The extension control mode is divided into force control mode and speed control mode.

[0014] In force control mode, the desired value is collected using a pre-set force sensor at the elevator end. As the target value, the feedback value of the gangway extension / retraction direction is collected in real time. In feedback value Greater than the safe range value At this time, the gangway extension control mechanism remains in force control mode;

[0015] In speed control mode, with a constant acceleration value As the speed increment, the speed controller calculates the drive command and sends it to the gangway extension control mechanism.

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

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

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

[0019] Secondly, a method for controlling the top of a gangway with wave compensation function includes the following steps:

[0020] After the top support device contacts the platform being climbed, the force sensor at the end of the ladder collects the force signal, and manual operation enters the automatic compensation mode.

[0021] After entering the automatic compensation mode, the six-degree-of-freedom compensation platform compensates for the ship's roll, pitch, and heave movements, keeping the gangway slewing platform in a horizontal and stable state.

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

[0023] As a further aspect of the present invention, the method for controlling the extension and retraction of the movable gangway after the backing device is backed includes the following steps:

[0024] After entering automatic compensation mode, the force signal collected by the force sensor at the end of the ladder is used as the feedback value. Let the expected value collected by the force sensor at the end of the ladder be... After the support device contacts the platform being climbed, the ladder end force sensor, the support device, and the platform being climbed constitute a mass-damping-spring system.

[0025]

[0026]

[0027] In the formula, It is the inertia coefficient in the admittance control system. It is the damping coefficient in the admittance control system. It is the stiffness coefficient in the admittance control system. This represents the displacement increment of the movable gangway. For the speed increment of the movable gangway, The acceleration increment of the movable gangway, The force error signal is used to calculate the displacement increment of the movable gangway. According to the displacement increment The displacement controller calculates the drive commands for the gangway extension control mechanism;

[0028] Set feedback value The safe range value is When the feedback value Calculate the displacement increment of the movable gangway. Displacement controller according to The drive command for the gangway extension and retraction control mechanism is calculated based on the current displacement.

[0029] Set feedback value The boundary range value is When it appears Record the current extension / retraction speed of the active gangway. 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 mobile gangway , , For system time, when the desired target speed is... Reaching the speed limit At that time, the desired target speed is equal to the upper speed limit. The speed controller determines the target speed based on the desired speed. and the actual speed of the movable gangway The calculation drive command is sent to the gangway extension control mechanism; when the feedback value of the force sensor at the end of the ladder... Reaching the set expected value again At that time, the extension and retraction control of the movable gangway should be switched back to force control mode.

[0030] As a further aspect of the present invention, the movable gangway employs a linear weighted driving command switching method when switching between speed control mode and force control mode; the duration set for driving command switching is... After the switch begins, Indicates the real-time switching time, let... This refers to the drive command for the gangway extension control mechanism in force control mode. The drive commands for the gangway extension control mechanism are as follows: In speed control mode, the drive commands for the gangway extension control mechanism are as follows; when switching from force control mode to speed control mode, the drive commands for the gangway extension control mechanism are as follows. for:

[0031] ;

[0032] When switching from speed control mode to force control mode, the drive command of the gangway extension control mechanism is... for:

[0033] .

[0034] As a further aspect 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 desired value collected by the pre-set ladder end force sensor is used. As the target value, the feedback value of the gangway extension / retraction direction is collected in real time. In feedback value Greater than the safe range value At this time, the gangway extension control mechanism remains in force control mode.

[0035] As a further aspect of the present invention, the feedback value collected by the ladder end force sensor Less than the set safety range value At this time, switch the control mode of the movable gangway to speed control mode, based on the extension and retraction speed of the movable gangway. With an initial velocity and a constant acceleration value For speed increments, the speed controller calculates drive commands and sends them to the gangway extension control mechanism; during mode switching, a drive command switching method with linear weight changes is adopted.

[0036] As a further aspect of the present invention, the telescopic control method for the movable gangway after entering the automatic compensation mode includes the following steps:

[0037] After entering automatic compensation mode, the gangway extension control mechanism switches to force control mode; in force control mode, the desired value of the force sensor at the ladder end is set. Set the feedback value for the direction of gangway extension / retraction. The safe range value is Set feedback value The boundary range value is The movable gangway enters force control mode and operates;

[0038] If the following conditions are met: The movable gangway switches to a constant acceleration value. For the speed increment, the speed controller calculates the drive command and sends it to the gangway extension control mechanism, switching the gangway extension control to speed control mode;

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

[0040] In the application environment of this invention, the stability of the contact force during the contact process is the control objective and the foundation of safety. Direct force control has a simple control loop and process, but it typically involves pre-adjusting a set of control parameters to handle specific working conditions. Speed ​​control mode also has a single control loop and preset control parameters, but it cannot effectively utilize the force sensor information during contact, and its control objective is not as stable as 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 better suit intense movement as an auxiliary method. Then, as the speed of the supporting device decreases from its distance from the supported device, the return force control is switched back, thereby improving safety. Currently, force control is commonly used in this type of support method.

[0042] In this invention, the speed control mode and the force control mode work together to adapt to more variable external environments and increase redundancy in response to changes in the external environment. In the ocean, occasional high-velocity waves may occur, propelling the ship and its onboard ramming device away from the rammed device at greater speeds. In such cases, the original force control parameters cannot adapt to suddenly changing sea conditions. Using the speed control mode, although the force sensor values ​​are not added to the control loop in real time, the speed control can quickly increase the contact force to the set range before switching back to the force control mode.

[0043] In this invention, different control modes are switched by setting different range values ​​of the force sensor to avoid the disengagement and separation of the support device that may occur if only the force control mode is used.

[0044] The switching between speed control mode and force control mode employs a linearly weighted drive command switching method, which avoids motion shock during control mode transitions. Different control modes calculate different drive commands; directly switching modes can result in a step abrupt change in drive commands, causing impact in the extension / retraction direction of the gangway. If personnel are walking on the gangway, this impact could lead to instability. The linearly weighted drive command switching method provides continuous drive command changes during switching, avoiding impact in the extension / retraction direction of the gangway and improving personnel safety.

[0045] Compared with the prior art, the beneficial effects of the present invention are:

[0046] 1. This invention sets up 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. In wave compensation, this invention employs a combination of speed control and force control modes, switching between the two methods under specific circumstances to adapt to different situations. The force control mode and speed control mode alternately switch under specific conditions, allowing the speed control parameters to be adjusted to better suit intense motion as an auxiliary measure. Then, when the supporting device moves away or the speed decreases due to environmental factors, the return force control is switched back, thereby improving safety and stability.

[0048] 3. This invention is used in the automatic compensation stage after the gangway top contact, in order to avoid the situation where "during the individual force control process of gangway extension and retraction, when the ship is away from the berthing platform due to waves, the gangway may not extend in time, resulting in the contact point possibly losing connection or detaching". Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the structure of the gangway with wave compensation function described in this invention. Detailed Implementation

[0050] The present invention will be described in detail below with reference to specific embodiments. These embodiments are merely some, not all, implementations of the present invention. All other implementations obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. Example 1

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

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

[0053] The six-degree-of-freedom compensation platform 100 can perform six-degree-of-freedom motion to compensate for the ship's roll, pitch, and heave 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. The gangway rotation platform 202 can rotate relative to the six-degree-of-freedom compensation platform 100. The lower rear hinge shaft 205 of the fixed gangway connects the fixed gangway 301 and the gangway rotation platform 202. The upper rear hinge shaft 204 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 rear hinge shaft 204, the lower rear hinge shaft 205, 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 and the gangway extension control mechanism 302 are fixedly connected. The movable gangway 303 is connected to the fixed gangway 301 and the gangway extension control mechanism 302. The gangway telescopic control mechanism 302 can control the telescopic movement of the movable gangway 303. The ladder end force sensor 304 is located below the front side of the movable gangway 303. The support device 305 is located in front of the ladder end force sensor 304. During boarding, the support device 305 is used to support the platform 401 being boarded.

[0055] Based on the ladder end force sensor 304, the force signal in the extension and retraction direction of the gangway between the top-backing device 305 and the boarding platform 401 is collected. The force signal is used as a feedback signal, and the drive command is calculated and sent to the gangway extension and retraction control mechanism 302 according to the feedback signal.

[0056] The gangway top-stop control method with wave compensation function is as follows:

[0057] After the top-mounting device 305 contacts the platform 401 to be boarded, the ladder end force sensor 304 collects a force signal, and the system is manually activated to enter automatic compensation mode. In automatic compensation mode, the six-degree-of-freedom compensation platform 100 compensates for the ship's roll, pitch, and heave movements, ensuring the gangway swivel platform 202 remains horizontally stable and does not tilt. The gangway swivel control mechanism 201 enters follow-up mode, allowing the gangway swivel platform 202 to rotate in the gangway's swivel direction. The gangway pitch control mechanism 203 also enters follow-up mode, outputting a fixed force value, which is the inertial force maintaining both the fixed and movable gangways 301 in automatic compensation mode.

[0058] The extension and retraction control of the movable gangway 303 behind the top-mounted device 305 is performed in the following manner:

[0059] After entering automatic compensation mode, the force signal collected by the ladder end force sensor 304 is used as the feedback value. Let the expected value collected by the force sensor 304 at the end of the ladder be... After the support device 305 contacts the platform 401 being climbed, the ladder end force sensor 304, the support device 305, and the platform 401 being climbed can be considered as a mass-damped-spring system. The expression is:

[0060]

[0061]

[0062] In the formula, It is the inertia coefficient in the admittance control system. It is the damping coefficient in the admittance control system. It is the stiffness coefficient in the admittance control system. This represents the displacement increment of the movable gangway 303. For the speed increment of the movable gangway 303, This is the acceleration increment of the movable gangway 303. This is the force error signal. Admittance control is based on the feedback value and Calculate the displacement increment of the movable gangway 303 Based on this displacement increment The displacement controller calculates the drive command for the gangway telescopic control mechanism 302.

[0063] Set feedback value The safe range value 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 drive command for the gangway extension control mechanism 302 is calculated based on the current displacement.

[0064] Set feedback value The boundary range value is Ships in water will experience swaying and rolling due to the action of waves. Due to the combined effect of swaying and rolling, the six-degree-of-freedom compensation platform 100 will move away from the platform 401 it is being moored to. If the rate of movement is too rapid, the mooring device 305 will begin to move away from the platform 401, indicating that the values ​​collected by the ladder end force sensor 304 satisfy the following relationship: .

[0065] When it appears The system records the current extension / retraction speed of the active gangway 303. Switch the control of the movable gangway 303 to speed control mode. Maintain a constant acceleration value. Real-time calculation of the desired target speed of the movable gangway 304 ,in, For system time, when the desired target speed is... Reaching the speed limit At that time, the desired target speed is equal to the upper speed limit. The speed controller determines the target speed based on the desired speed. and the actual speed of the movable gangway 303 The calculation drive command is sent to the gangway extension control mechanism 302. When the feedback value from the ladder end force sensor 304... Reaching the system's set expected value again. At this time, the system will switch the extension and retraction control of the movable gangway 303 back to force control mode.

[0066] The movable gangway 303 employs a linear weighted driving command switching method when switching between speed control mode and force control mode. The duration set for driving command switching is... After the switch begins, Indicates the real-time switching time, let... The drive command for the gangway extension control mechanism 302 in force control mode. The drive command for the gangway extension control mechanism 302 in speed control mode is the same as the drive command for the gangway extension control mechanism 302 when switching from force control mode to speed control mode. for:

[0067]

[0068] When switching from speed control mode to force control mode, the drive command of the gangway extension control mechanism 302 is... for:

[0069] .

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

[0071] During the phase when the six-degree-of-freedom compensation platform 100 moves too quickly away from the platform 401 being boarded, the feedback value collected by the ladder end force sensor 304... It will be less than the set safety range value. At this point, the system automatically switches the control mode of the movable gangway 303 to speed control mode, using the current extension speed of the gangway (the telescopic speed value of the movable gangway 303). ( ) is the initial velocity, with a constant acceleration value. For the speed increment, the speed controller calculates the drive command and sends it to the gangway extension control mechanism 302. During mode switching, a drive command switching method with linear weight changes is adopted, so that the drive command will not change abruptly due to the controller switching.

[0072] The control mode of the movable gangway 303 is switched based on the collected value of the force sensor 304 at the end of the ladder. This is to prevent the top-mounted device 305 from detaching from the platform 401 after contacting it in force control mode when the wave speed is large and the six-degree-of-freedom compensation platform 100 is far away from the platform 401 to be boarded.

[0073] The extension and retraction control flowchart for the movable gangway 303 after the system enters automatic compensation mode is as follows:

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

[0075] If the following conditions are met: The movable gangway 303 switches to a constant acceleration value. For the speed increment, the speed controller calculates the drive command and sends it to the gangway extension control mechanism 302. In other words, the system switches the gangway extension control to speed control mode.

[0076] If it appears At this time, the telescopic control of the movable gangway 303 is switched to force control mode.

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

Claims

1. A gangway with 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 telescopically extend or retract, characterized in that: It also includes a six-degree-of-freedom compensation platform for six-degree-of-freedom motion, a gangway rotation control mechanism, a gangway rotation platform, a gangway pitch control mechanism for controlling the pitch motion of the fixed gangway, a ladder end force sensor, a top-mounted device, and a speed controller for controlling the gangway extension and retraction control mechanism. The six-degree-of-freedom compensation platform is used to compensate for the ship's roll, pitch, and heave motions caused by waves. The gangway rotation control mechanism connects the gangway rotation platform and the six-degree-of-freedom compensation platform, and the gangway rotation platform is rotatably connected relative to the six-degree-of-freedom compensation platform. When the gangway slewing platform rotates, it drives the gangway pitch control mechanism, the upper hinge shaft at the rear end of the gangway, the lower hinge shaft at the rear end of the gangway, and the fixed gangway to rotate. The ladder end force sensor collects the force signal in the direction of ladder extension and retraction between the top and rear top device and the boarding platform. The force signal is used as a feedback signal. Based on the feedback signal, the drive command is calculated and sent to the ladder extension and retraction control mechanism. The speed controller sends the calculated drive command to the gangway extension control mechanism to switch the extension control mode of the movable gangway. The extension control mode is divided into force control mode and speed control mode. In force control mode, the desired value is collected using a pre-set force sensor at the elevator end. As the target value, the feedback value of the gangway extension / retraction direction is collected in real time. In feedback value Greater than the safe range value At this time, the gangway extension control mechanism remains in force control mode; In speed control mode, with a constant acceleration value As the speed increment, the speed controller calculates the drive command and sends it to the gangway extension control mechanism.

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

3. A gangway with wave compensation function according to claim 1, characterized in that: During mode switching, a driving instruction switching method with linear weight changes is adopted.

4. A gangway with wave compensation function according to claim 1, characterized in that: The ladder end force sensor is located below the front side of the movable gangway, and the top support device is located in front of the ladder end force sensor.

5. A gangway top-approach control method with wave compensation function as described in any one of claims 1 to 4, characterized in that, Includes the following steps: After the top support device contacts the platform being climbed, the force sensor at the end of the ladder collects the force signal, and manual operation enters the automatic compensation mode. After entering the automatic compensation mode, the six-degree-of-freedom compensation platform compensates for the ship's roll, pitch, and heave movements, keeping the gangway slewing platform in a horizontal and stable state. The gangway rotation control mechanism enters follow-up mode, causing the gangway rotation platform to rotate in the gangway rotation direction; the gangway pitch control mechanism also enters follow-up mode, and the force output by the gangway pitch control mechanism is used to maintain the inertial force when the fixed gangway and the movable gangway enter the automatic compensation mode.

6. The gangway top-approach 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 abutment device has been abutted includes the following steps: After entering automatic compensation mode, the force signal collected by the force sensor at the end of the ladder is used as the feedback value. Let the expected value collected by the force sensor at the end of the ladder be... After the support device contacts the platform being climbed, the ladder end force sensor, the support device, and the platform being climbed constitute a mass-damping-spring system. ； ； In the formula, It is the inertia coefficient in the admittance control system. It is the damping coefficient in the admittance control system. It is the stiffness coefficient in the admittance control system. This represents the displacement increment of the movable gangway. For the speed increment of the movable gangway, The acceleration increment of the movable gangway, The force error signal is used to calculate the displacement increment of the movable gangway. Based on this displacement increment The displacement controller calculates the drive commands for the gangway extension control mechanism; Set feedback value The safe range value is When the feedback value Calculate the displacement increment of the movable gangway. Displacement controller according to The drive command for the gangway extension and retraction control mechanism is calculated based on the current displacement. Set feedback value The boundary range value is When it appears Record the current extension / retraction speed of the active gangway. 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 mobile gangway , , For system time, when the desired target speed is... Reaching the speed limit At that time, the expected target speed is equal to the speed limit. The speed controller determines the target speed based on the desired speed. and the actual speed of the movable gangway The calculation drive command is sent to the gangway extension control mechanism; when the feedback value of the force sensor at the end of the ladder... Reaching the set expected value again At that time, the extension and retraction control of the movable gangway should be switched back to force control mode.

7. A gangway top-approach control method with wave compensation function according to claim 5, characterized in that: The movable gangway uses a linear weighted driving command switching method to switch between speed control mode and force control mode; the duration set for driving command switching is... After the switch begins, Indicates the real-time switching time, let... This refers to the drive command for the gangway extension control mechanism in force control mode. The drive commands for the gangway extension control mechanism are as follows: In speed control mode, the drive commands for the gangway extension control mechanism are as follows; when switching from force control mode to speed control mode, the drive commands for the gangway extension control mechanism are as follows. for: ； When switching from speed control mode to force control mode, the drive command of the gangway extension control mechanism is... for: 。 8. A gangway top-bumping control method with wave compensation function according to claim 7, characterized in that: 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 force control mode, the desired value is collected using a pre-set force sensor at the top of the ladder. As the target value, the feedback value of the gangway extension / retraction direction is collected in real time. In feedback value Greater than the safe range value At this time, the gangway extension control mechanism remains in force control mode.

9. A gangway top-bumping control method with 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, switch the control mode of the movable gangway to speed control mode, based on the extension and retraction speed of the movable gangway. With an initial velocity and a constant acceleration value For speed increments, the speed controller calculates drive commands and sends them to the gangway extension control mechanism; during mode switching, a drive command switching method with linear weight changes is adopted.

10. A gangway top-bump control method with wave compensation function according to claim 6, characterized in that: The telescopic control method for the movable gangway after entering automatic compensation mode includes the following steps: After entering automatic compensation mode, the gangway extension control mechanism switches to force control mode; in force control mode, the desired value of the force sensor at the ladder end is set. Set the feedback value for the direction of gangway extension / retraction. The safe range value is Set feedback value The boundary range value is The movable gangway enters force control mode and operates; If the following conditions are met: The movable gangway switches to a constant acceleration value. For the speed increment, the speed controller calculates the drive command and sends it to the gangway extension control mechanism, switching the gangway extension control to speed control mode; If it appears At this time, switch the extension and retraction control of the movable gangway to force control mode.

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