Load Alignment Control Using Motion Compensation and Feature Tracking
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Solution Overview
Problem
The installation of offshore wind turbine components is challenging due to disturbances from winds and waves, which affect the precision of lifting and assembly, and existing motion compensation systems are heavy, energy-intensive, or have limited range and load capacity.
Innovation Solution
A control system and method for aligning a load suspended from a crane with a target using a load motion compensation system (LMCS) that includes a control box with sensors and actuators to generate alignment signals, compensating for motion disturbances, and a feature detection system to track relative movement between the load and target, enabling precise alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a motion compensating crane or stabilization platform is used to compensate for vessel movements, then the load position stability is improved, but the system weight increases and energy consumption increases
Solution Approach 1:
The patent replaces heavy mechanical motion compensation systems with a control system that uses sensors (GPS, accelerometers, gyroscopes) to detect vessel and load movements, then uses actuators to adjust the load position. This substitutes complex mechanical stabilization with a sensor-based detection and actuator-based correction system, reducing overall system weight while maintaining load position stability.
2Manufacturing precision
If a motion compensating crane is used to maintain load position, then the manufacturing precision is improved, but the device complexity increases
Solution Approach 1:
The patent divides the motion compensation function into separate modular components: vessel motion sensors, load position sensors, a control system with processors, and actuators. This segmentation allows each component to be independently optimized and simplified, reducing overall system complexity while maintaining the ability to achieve precise assembly through coordinated operation of these modular elements.
Solution Approach 2:
The patent implements a feedback control system where sensors continuously monitor vessel motion and load position, the control system processes this information to determine required corrections, and actuators apply adjustments. This closed-loop feedback mechanism simplifies the control architecture compared to complex mechanical compensation systems while achieving high assembly precision through continuous real-time correction.
3Device complexity
If conventional crane systems are used without motion compensation, then the device complexity is reduced, but the manufacturing precision deteriorates due to environmental disturbances
Solution Approach 1:
The patent replaces complex mechanical motion compensation with a sensor-based detection and actuator-based correction system. Simple sensors detect environmental disturbances, and actuators compensate for their effects, achieving high assembly precision without the complexity of traditional mechanical motion compensation systems.
Data Source
AI summary
The invention relates to a control system and method for controlling alignment of a load suspended from a crane with a target. The method incudes determining motion of the load in at least one Degree of Freedom, generating a compensation signal indicative of motion of the load, and generating. in response to the at least one compensation signal. control signals for a crane and/or load motion compensation system LMCS for controlling a reference pose of the load within a reference coordinate system provided by a first reference sensor. The method further includes receiving from a feature detection system a relative movement signal indicative of relative movement between the target and the load; generating an alignment signal in response to the relative movement signal, and generating, in response to the alignment signal, control signals for controlling a crane and/or LMCS for moving the load in alignment with the target.