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Electric ocean wave active compensation embarkation system and control method thereof

A technology of active compensation and motion control system, applied in equipment for reducing ship motion, passenger handling equipment, reducing ship motion, etc., can solve problems affecting the safety of boarding personnel and less freedom, and achieve fast start-up speed and low cost , the effect of low power

Active Publication Date: 2017-12-05
HARBIN ENG UNIV +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The wind turbine platform often needs to be repaired and maintained. However, due to the wind and waves at sea, it is very dangerous for people to go from the ship to the platform. It is very necessary for the offshore compensation platform to safely transport personnel and equipment from the ship to the wind turbine platform.
[0003] At present, the offshore boarding system is blank in China. We have related active wave compensation technology for offshore floating drilling platforms and offshore lifting equipment, mainly for the effect of wave changes on the speed of the lifting equipment during the lifting process of offshore loads. Control, and then realize the compensation of sea waves, the degree of freedom controlled by it is less, usually a single degree of freedom; it seriously affects the safety of boarding personnel when boarding at sea

Method used

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  • Electric ocean wave active compensation embarkation system and control method thereof
  • Electric ocean wave active compensation embarkation system and control method thereof
  • Electric ocean wave active compensation embarkation system and control method thereof

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specific Embodiment 1

[0059] An electrically powered sea wave active compensation boarding system such as figure 1 As shown, it includes a roll compensation mechanism 1, a pitch compensation mechanism 2, a telescopic compensation mechanism 3, a pose detection system 4, a motion control system 5 and an electrical system 6; the claimed roll compensation mechanism 1 includes a first DC motor 11, a A screw nut transmission mechanism 12 and a first displacement detection sensor 13; the pitch compensation mechanism 2 includes a second DC motor 21, a second lead screw nut transmission mechanism 22 and a second displacement detection sensor 23; the telescopic compensation mechanism 3 Including a third DC motor 31, a third lead screw nut transmission mechanism 32 and a third displacement detection sensor 33; the pose detection system 4 includes a strapdown inertial navigation system 41, a differential GPS42 and a combined solution system 43; a telescopic compensation mechanism 3 is placed on the pitch compe...

specific Embodiment 2

[0068] The electric wave active compensation boarding method is formulated according to the small operation and maintenance ship in low sea conditions. When the sea conditions are low, the waves have strong one-way, the bow of the operation and maintenance ship faces the waves, and the main propulsion of the ship The propeller and lateral thruster can control the course and horizontal position of the ship, while the ship's roll and pitch attitudes, as well as the ship's heave, need to be compensated by the active wave compensation boarding system.

[0069] The roll compensation, pitch compensation and expansion and contraction compensation schemes adopted in the present invention are formulated according to small operation and maintenance ships in low sea conditions. Under low sea conditions, small operation and maintenance ships have the characteristics of small size, flexibility and convenient work. They can move personnel and equipment for wind turbine platforms and ships. ...

specific Embodiment 3

[0070] The electric wave active compensation boarding system, such as figure 2 As shown, it also includes a climbing ladder 7 and a base 8. The climbing ladder 7 is connected to the roll compensation mechanism 1 and has a certain gap with the deck. The roll compensation mechanism 1 and the pitch compensation mechanism 2 are connected to the base 8. The base 8 on deck.

[0071] The present invention is composed of a roll compensation mechanism 1, a pitch compensation mechanism 2, a telescopic compensation mechanism 3, a base 8 and a climbing ladder 7: the climbing ladder 7 is a mechanism for maintenance personnel to board the gallery bridge from the deck, and the climbing ladder 7 is fixedly connected to There is a certain gap between the roll compensation mechanism 1 and the deck; the base 8 is fixedly connected to the deck, and the motor of the actuator of the roll compensation mechanism 1 is placed on the base; the roll compensation mechanism 1 is placed on the base, using ...

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Abstract

The invention relates to an electric ocean wave active compensation embarkation system and a control method thereof, and relates to the technical field of marine engineering. The system comprises a rolling compensation mechanism, a pitching compensation mechanism, a stretching and retracting compensation mechanism, a pose detecting system, a movement control system and an electrical system. The method comprises the following steps: connecting a base with a deck of a ship; placing the tail end of the system on a marine fan platform, wherein the pose and position of the ship can be changed due to the fact that the ship is affected by ocean waves; detecting the ship change position and a posture change parameter by using the pose detecting system; providing control information feedback to the movement control system; and controlling the rolling compensation mechanism, the pitching compensation mechanism and the stretching and retracting compensation mechanism to actively compensate the ocean waves in real time by using the movement control system according to parameters of the pose detecting system through model resolving and motion control calculation. The ocean waves are actively compensated, and therefore, maintenance staffs can safely and reliably walk on the marine fan platform.

Description

technical field [0001] The invention relates to an electric sea wave active compensation boarding system and a control method thereof, which relate to the technical field of marine engineering. Background technique [0002] Wind power generation is one of the power generation methods with the most mature technology, the most developmental conditions and the most promising development prospects in the field of new energy. All countries regard it as the most important part of the new energy strategy. my country is rich in offshore wind energy resources, with an installed capacity of about 200 million kilowatts in areas within the water depth of 5 to 25 meters in the offshore, and there are even more abundant wind resources in the far sea. The development of offshore wind turbines is limited by one of the conditions: the lack of professional installation ship resources, and the high cost and risk of offshore construction. The state pays close attention to the development of of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63B27/30B63B39/00
CPCB63B27/30B63B39/005
Inventor 魏延辉郭锐罗姗姗韩寒乔金鹤张皓渊洪国庆朱强王安琪徐丽学
Owner HARBIN ENG UNIV
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