10 results about "Active heave compensation" patented technology

The utility model discloses an active heave compensation control system of a crane, which relates to the technical field of active heave compensation of cranes and comprises a first Hall encoder, a first capacitive grating displacement sensor, a second capacitive grating displacement sensor, a second Hall encoder, a lifting hook optical fiber gyroscope and a ship optical fiber gyroscope, the upper computer receives data acquired by the first Hall encoder, the second Hall encoder, the first capacitive grating displacement sensor, the second capacitive grating displacement sensor, the lifting hook optical fiber gyroscope and the ship optical fiber gyroscope, and generates an active heave compensation control signal according to the received data; and the field controller is used for receiving the active heave compensation control signal sent by the upper computer and controlling the crane to carry out active heave compensation. According to the utility model, the crane actuating mechanism is controlled through the field controller, so that the heaving motion of the load can be effectively compensated, and the load stability is improved.

The invention relates to a ship heaving motion prediction method and system based on a lightweight context-aware network, and belongs to the technical field of ship and ocean engineering motion control, and the method comprises the following steps: signal collection and preprocessing, heaving motion multi-step prediction based on an LCGNet network, model training and optimization, and quantitative compression of the trained LCGNet model. Deploying at a shipborne edge computing device; when the system runs, historical heave data are collected in real time and input into the model, the step S2 is executed circularly, continuous online prediction of future heave motion is achieved, high-precision and multi-step-length heave motion real-time prediction is achieved under the extremely low parameter and calculation cost through innovative lightweight network structure design, and the prediction efficiency is improved. Therefore, the engineering deployment requirement of the shipborne active heave compensation system is met.

The invention relates to an active wave motion compensation trestle control method based on LSTM pose prediction and MPC optimization control, belongs to the technical field of ocean wave compensation control, and aims at solving the problems that an existing trestle is slow in compensation response and low in precision. According to the method, a laser displacement sensor and a gyroscope inertial navigation system are fused to obtain multi-source data, a long short-term memory (LSTM) network is utilized to predict the motion pose of a ship, a prediction result is input into a kinematics model to calculate the position of a joint target, a control strategy is optimized through model prediction control (MPC), and an execution mechanism is driven to compensate in real time. The system adopts an inner and outer ring double-layer structure, the inner ring feeds back heaving information in real time based on a laser sensor, the outer ring provides overall pose compensation based on inertial navigation, and both precision and response speed are considered. According to the method, the stability and foresight of gangway ladder attitude control under the complex sea condition are improved, the compensation effect is remarkably enhanced, and the offshore operation safety is guaranteed.

This invention discloses a method, equipment, and storage medium for active heave compensation to prevent swaying in a folding boom crane, relating to the field of marine engineering technology. The method includes: calculating the horizontal target position of the lifting point before initiating heave compensation operation; predicting heave, roll, and pitch prediction information within the target time frame after initiating heave compensation operation; constructing and calculating the target rotation angle of the main boom and the folding boom based on a system of two nonlinear equations; calculating the target displacement required for active compensation in the vertical direction by the hydraulic winch based on a vertical spatial position transformation model; using the target rotation angle of the main boom, the target rotation angle of the folding boom, and the target displacement as tracking targets, calculating the control signals for the hydraulic motor / pump, the main boom hydraulic cylinder, and the folding boom hydraulic cylinder; and driving the main boom, the folding boom, and the winch to operate based on the control signals. This invention can effectively counteract the interference of roll and pitch motion on the horizontal position of the lifting point, suppressing the swaying tendency of the load at its source.

The present application relates to a ship heave motion prediction method and system based on a lightweight context-aware network, belonging to the field of ship and ocean engineering motion control technology, including the following steps: signal acquisition and preprocessing, heave motion multi-step prediction based on LCGNet network, model training and optimization, quantization and compression of the trained LCGNet model, and deployment on a shipborne edge computing device; during system operation, historical heave data is collected in real time and input into the model, and step S2 is executed in a loop to realize continuous online prediction of future heave motion; through innovative lightweight network structure design, high-precision, multi-step heave motion real-time prediction is realized at extremely low parameter and calculation cost to meet the engineering deployment requirements of the shipborne active heave compensation system.

The utility model relates to the technical field of hydraulic systems, in particular to a heave compensation hydraulic system. A heave compensation hydraulic system comprises an oil source system which provides oil liquid; a winch system; the driving system is driven by the oil source system to drive the winch system, the driving system comprises at least two motor units, at least one motor unit executes active heave compensation, and at least one motor unit executes passive heave compensation. The driving system further comprises an energy accumulator unit, the oil source system provides pressure oil to the motor unit executing active heave compensation and provides pressure oil to the energy accumulator unit in a one-way mode, and the motor unit executing passive heave compensation is communicated with the energy accumulator unit. The technical problems that a heave compensation system in the prior art is large in occupied space and low in compensation efficiency are solved.

The utility model discloses a lifting appliance experimental device for floating operation of an offshore crane, and belongs to the technical field of sea wave heave compensation experiments. The experiment device comprises a heave simulation cylinder, a heave compensation active simulation cylinder, a passive simulation energy accumulator, a passive simulation upper oil cylinder, a passive simulation lower oil cylinder, a reversing solenoid valve, a servo motor, a bidirectional pump, a pump source and a lifting appliance load simulation counterweight. The passive simulation upper oil cylinder, the passive simulation lower oil cylinder and the passive simulation energy accumulator form a passive heave compensator, and the servo motor and the two-way pump form an active heave compensator; the passive heave compensator and the active heave compensator are used for carrying out passive compensation or semi-active compensation on lifting of a heave compensation piston rod of the heave compensation active simulation cylinder; and the reversing solenoid valve is used for controlling the lifting of the heave simulation piston rod in the heave simulation cylinder so as to simulate the heave motion of an offshore ship body. The device has the characteristics of convenience in experiment operation, compact structure, few components and low cost.

The application relates to a marine platform active heave compensation berthing device and a working method, and belongs to the technical field of marine platform and berthing ship butt joint. The lifting frame is fixed on the platform and connected with the liftable boarding cage through a track; a posture displacement sensor and a visual position measuring sensor respectively detect the platform heave and the relative displacement of the ship body, an active compensation controller drives the track roller to control the height of the boarding cage according to the signals, and synchronous motion with the berthing ship is realized; the structure transfers the compensation function to the platform side, so that the small berthing ship can be safely butt jointed without modification, and the sensor detection cooperates with the track transmission to ensure the lifting stability and butt joint accuracy.

An offshore crane and a heave compensator (10) suspended in line from a lower block and a method for hoisting an object. The heave compensator comprises a frame (11a, 11b) suspended in line from a lower block, a vertical passive heave compensation system and a vertical active heave compensation system. The passive heave compensation system comprises a vertical passive cylinder (20) with a downwardly extending piston rod (21), a media separator (25) and a plurality of pressurized gas tanks (26a-t). The active heave compensation system comprises a vertical column (31) connected to the downwardly extending piston rod and extending vertically in parallel with the passive cylinder, wherein the vertical column is vertically guided by the frame, and wherein a vertical rack (33) is mounted to the vertical column and one or more pinions (34) and associated one or more electric motors (35) are supported by the frame.

The invention provides an underwater test method for an offshore active heave compensation crane, which comprises the following steps of: hoisting a heavy block to move, correcting data measured by a force transducer in real time by combining a correction program with the swing angles of a folding arm and a main arm, so that the data transmitted to a control system by the force transducer is not influenced by the swing of a suspension arm; after the balancing weight is lowered to the seabed, the initial position of the mark point after the load is lowered into water through the main hook assembly is recorded, and then the distance of the mark point moving upwards relative to the initial position and the distance of the mark point moving downwards relative to the initial position are recorded; whether the actual distance of the load moving up and down underwater is within the height difference range after the output end of the main arm rotates upwards or within the height difference range after the output end of the main arm rotates downwards is compared, and then whether the up-down floating distance of the load underwater accords with the length of a steel wire rope winding and unwinding rope after the crane starts active compensation or not is verified; and the reliability of detection and verification through the auxiliary hook assembly and the main hook assembly is ensured.