Load deformation monitoring and motion cooperative control method for yacht three-dimensional storage operation
By combining a dynamic feedforward model with an adaptive feedback regulator for coordinated control, the system actively senses and compensates for load deformation during yacht automated storage operations, solving the problems of insufficient positioning accuracy and safety during placement, and achieving high-precision and safe load placement.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SPECIAL EQUIP SAFETY SUPERVISION INSPECTION INST OF JIANGSU PROVINCE
- Filing Date
- 2026-04-23
- Publication Date
- 2026-07-17
AI Technical Summary
Existing control methods fail to effectively detect and proactively respond to the dynamic deformation of loads during yacht automated storage operations, resulting in insufficient positioning accuracy and safety issues during placement.
By acquiring multi-axis motion commands and multi-modal deformation sensing data, the expected deformation state of the load is predicted using a coupled dynamics feedforward model, and multi-axis pre-compensation motion commands are generated. These commands are then combined with an adaptive feedback regulator for real-time correction, generating a set of coordinated motion control commands. Finally, the system switches to a force-position hybrid control mode based on an impedance model for compliant placement.
It enables proactive sensing and dynamic compensation of load deformation, improving the positioning accuracy and safety of operations, ensuring the smooth placement of the load, and avoiding the risk of collision.
Smart Images
Figure CN122402973A_ABST