Active Motion Compensation for Articulated Gangway
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Solution Overview
Problem
Existing gangway systems face challenges in maintaining safe and reliable motion compensation during sea motion, leading to potential failures in establishing bridge connections between moving vessels or vessels and fixed installations, resulting in costly operational disruptions.
Innovation Solution
An articulated gangway with active motion compensation control, utilizing actuators and a control system that includes a Motion Reference Unit (MRU) and object recognition, enabling three operating modes (landing, constant load, and hover) to maintain a stable gangway connection despite vessel movements, with integrated safety monitoring and emergency modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual control is used to maneuver the gangway, then the operator can directly control the gangway position, but the operator may not be able to compensate for sea motion and environmental effects, resulting in unreliable motion compensation
Solution Approach 1:
The control system continuously receives feedback from motion sensors that measure the gangway's position and orientation relative to the vessel and target area. This feedback loop enables the system to detect sea motion and automatically adjust actuator commands to maintain accurate gangway positioning, resolving the contradiction between manual control ease and motion compensation reliability
Solution Approach 2:
An active motion compensation control system acts as an intermediary between the operator's manual control inputs and the gangway actuators. This intermediary process enhances manual control by automatically compensating for sea motion effects that the operator cannot manually counteract, thereby improving reliability while preserving ease of operation
2Reliability
If active motion compensation control is implemented, then reliable and accurate motion compensation is achieved, but the device complexity increases due to additional sensors and control systems
Solution Approach 1:
The control system is designed to perform multiple functions: it processes manual control inputs, integrates sensor data from motion sensors, calculates compensation commands, and controls actuators. This multi-functionality consolidates what could be separate complex systems into a unified control architecture, achieving reliable motion compensation while managing device complexity
Solution Approach 2:
The control system automatically compensates for sea motion without requiring additional manual intervention or complex external systems. The motion sensors and control algorithms work together to self-correct gangway positioning in real-time, achieving reliable motion compensation through an integrated self-service approach that avoids excessive complexity
3Adaptability or versatility
If the gangway is made from seawater proof aluminium, then the construction is durable and lightweight with high maneuverability, but the risk remains that the operator cannot compensate for sea motion effects
Solution Approach 1:
The active motion compensation control system serves as an intermediary that enhances the capabilities of the lightweight aluminium gangway. While the aluminium construction provides maneuverability, the control system automatically compensates for sea motion effects that the operator cannot manually counteract, ensuring reliable connection establishment
4Adaptability or versatility
If three operating modes (landing, constant load, hover) are implemented, then the gangway can adapt to different operational conditions, but the control system complexity increases
Solution Approach 1:
The control system dynamically adapts its behavior based on the current operating mode. Each mode (landing, constant load, hover) has optimized control parameters and algorithms tailored to specific operational conditions. This dynamic adaptation allows the system to handle diverse scenarios effectively while managing complexity through mode-specific optimization rather than a single overly complex control strategy
Data Source
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AI summary
Apparatus (100) and method for providing active motion compensation control of an articulated gangway (200) which comprises at least one fixed part fixedly mounted on a sea going vessel, a movable part being movable relative to the fixed part, and at least one actuator for moving the movable part relative to the fixed part. A first position reference device provides position and attitude information (m) of the vessel referenced to earth. A second position reference device provides position and attitude information (y) of the movable part referenced to the gangway. An actuator driver generates an actuator control output in response to a regulator signal (R). An active motion compensation controller device receives the position and attitude information m and y, an operator control input (J), and the velocity information (ẏ) of the movable part. A differential kinematic (DiffKin) device compute and outputs a current position (p) and velocity (v) of the gangway endpoint from m and y. An active motion compensation (AMC) device computes and outputs a reference position (p̅) and velocity (v̅) of the gangway endpoint from J, p and v computed by the DiffKin, An inversekinematic (Inv) device computes and outputs a position reference ( α ) and velocity reference (α̇ ) of the gangway endpoint from ̅p and v̅ computed by the AMC. A regulator (Regulator) device computes and outputs said regulating signal (R) in response to inputs of said a position reference ( α ) and velocity reference (α ̇) computed by the AMC.