82 results about "Active heave compensation" patented technology

The present invention represents a procedure for compensating the heave movement of offshore cranes. The dynamic model of the compensation actuator (hydraulically operated winch) and the load hanging on a rope are derived. Based on this model, a path-tracking control unit is developed. To compensate the movement of the ship / watercraft caused by waves, the heave movement is defined as a time-varying disturbance and is analyzed with respect to uncoupling conditions. With a model expansion, these conditions are satisfied, and an inversion-based uncoupling control law is formulated. To stabilize the system, an observer is used for reconstructing the unknown state by means of a force measurement. Furthermore, the compensation efficiency can be improved by predicting the heave movement. There is proposed a prediction method in which no ship / watercraft models or properties are required. The simulation and measurement results validate the heave compensation method.

The invention discloses an active heave compensation control system comprising a lifting reel, a ship attitude motion sensor, an absolute value encoder, a tension sensor and a compensation unit. The lifting reel is arranged on an offshore crane, a load is suspended by a wire rope which stretches from the lifting reel and goes across a suspension fulcrum at the front end of a support arm, and the load in immersed in water. Real-time detection of heave movement of the ship is performed by the ship attitude motion sensor. Real-time detection of movement of the lifting reel is performed by the absolute value encoder. Real-time detection of dynamic tension of the wire rope is performed by the tension sensor. The compensation unit is connected to the ship attitude motion sensor, the absolute value encoder and the tension sensor. Predictive parameters are calculated by the compensation unit based on historical data and real-time data of the heave moment of the ship, the movement of the lifting reel and the dynamic tension of the wire rope; and compensation voltage is provided for the lifting reel based on the predictive parameters. The invention also discloses an active heave compensation control method.

The invention discloses a crane device with a three-degree-of-freedom active heave compensation function and a compensation method in the ship field. A circular movable platform is arranged over a circular fixed platform. Three servo cylinders which are distributed uniformly in the circumferential direction are connected between the circular fixed platform and the circular movable platform. Each servo cylinder is provided with a linear displacement sensor. A stand column fixedly connected with the circular movable platform is arranged on the lowermost portion of the crane device. The upper end of the stand column is connected with the rotating end of a crane jib through a hinge pin. A hydraulic motor is fixedly arranged at the rotating end of the crane jib. An angular displacement sensor is arranged on the hydraulic motor. Movement posture values are measured through a posture sensor. The movement values of the three servo cylinders and the hydraulic motor are worked out through a movement controller according to the movement posture values. The inverse values of the movement values are compensation values. Real-time compensation for rolling and pitching of a ship is achieved through the three servo cylinders, real-time compensation for heaving is achieved through the hydraulic motor, and therefore lifting tasks can be executed safely and efficiently under severe sea conditions.

The invention discloses an active heave compensation control system comprising a ship kinematic parameter detection module, a DSP control module and an execution module, wherein the kinematic parameter detection module comprises an accelerated speed sensor, a dip angle sensor, a first rotary encoder, a second rotary encoder and a signal conditioning circuit; the execution module comprises a main hydrauservo system, a secondary hydrauservo system and a differential planetary drive windlass. The invention has the following characteristics: 1. a feedback control mode is combined with a feed-forward control mode; 2. the active compensation of weight lowering speed is realized by detecting and predicting the ship kinematic parameter; 3. the heeling movement and the trimming movement of the ship are converted into heaving movement by the dip angle sensor to realize the heave compensation in three degrees of freedom, namely, heeling, trimming and heaving; and 4. the differential planetary drive windlass is used to realize speed composition of the feedback control and the feed-forward control.

Methods and apparatuses for active heave compensation, the method, in certain aspects, including the steps of: (a) measuring with a measurement device (44) the heave of a vessel (10) and outputting a heave signal representative thereof; (b) using said heave signal to compensate for said heave by moving a connection device (20) relative to said vessel (10) as a function of said heave signal, whereby movement due to said heave of a load attached to said vessel via the connection device is reduced; said heave signal comprising errors induced by said measurement device (44) whereby accuracy of said compensation is reduced; (c) processing said heave signal so as to reduce said errors and outputting an adjusted heave signal; and (d) using said adjusted heave signal to move said connection device (20) to compensate for said heave.

The invention discloses a hydraulic driving system for an active heave compensation crane, which consists of an oil tank, a hoisting oil passage which comprises a hydraulic motor and is used for hoisting a heavy object and a compensation oil passage which comprises the hydraulic motor and is used for heave compensation; and the hydraulic motors in the hoisting oil passage and the compensation oil passage commonly drive a winch of the crane to rotate through a speed reducer. The system is characterized in that, 1) the hoisting of the heavy object and the heave compensation do not interfere with each other, a compensation loop can be closed under the situation of no sea waves, and then the whole system has the same functions with the ordinary crane; and the compensation loop can be opened under the situation of greater sea waves, and then the hoisting with the heave compensation can be carried out; 2) the precision of heave compensation is high; 3) the flexibility of the system is adjustable; and 4) the system is safe and reliable, and the two oil passages use the combination of two-way balance valves, thereby preventing the heavy object from sliding off.

The invention discloses an electrically-driven active heaving supplementing type marine winch. The electrically-driven active heaving supplementing type marine winch comprises a cable coiling and uncoiling system, an automatic cable arranging system, a braking system and an active heaving supplementing system; the cable coiling and uncoiling system comprises a coiling block supporting bottom frame, a coiling block and a main transmission system; the main transmission system is mounted at one side of the coiling block, and while a brake disc is arranged at the other side of the coiling block; the braking system is arranged on the brake disc; the automatic cable arranging system is positioned at the back of the coiling block; the active heaving compensating system is respectively connected with the active transmission system, the automatic cable arranging system and the braking system. According to the marine winch, an AC variable frequency electrically-driven single-shaft structural form is adopted; compared with the traditional hydraulic-driven winch, the electrically-driven active heaving supplementing type marine winch has the characteristics of being convenient to operate, fast to lower down and lift, small in noise, small in size, compact in structure, high in energy conversion efficiency, and free of environmental pollution and damage.

Methods and apparatuses for active heave compensation, the method, in certain aspects, including the steps of: (a) measuring with a measurement device (44) the heave of a vessel (10) and outputting a heave signal representative thereof; (b) using said heave signal to compensate for said heave by moving a connection device (20) relative to said vessel (10) as a function of said heave signal, whereby movement due to said heave of a load attached to said vessel via the connection device is reduced; said heave signal comprising errors induced by said measurement device (44) whereby accuracy of said compensation is reduced; (c) processing said heave signal so as to reduce said errors and outputting an adjusted heave signal; and (d) using said adjusted heave signal to move said connection device (20) to compensate for said heave.

The invention discloses a heave compensation simulation test device for deep-sea mining. The outer ring of a gimbal frame device (2) is connected with the upper platform of a mining ship movement simulator (1); the inner ring of the gimbal frame device (2) is connected with an active heave compensation device (3); an attitude sensor (6) is mounted on the upper platform of the mining ship movement simulator (1); a cylinder displacement sensor (7) is mounted on the cylinder of the mining ship movement simulator (1); a heave compensation device displacement sensor (5) is connected with the active heave compensation device (3); a simulation pipe system (4) is connected with the active heave compensation device (3); the signal output ends of the attitude sensor (6), the cylinder displacement sensor (7) and the heave compensation device displacement sensor (5) are connected with the input end of a controller (8); and the output end of the controller (8) is connected with the control ends of the mining ship movement simulator (1) and the active heave compensation device (3). The invention can achieve the performance testing of the heave compensation simulation test device for deep-sea mining, thereby providing the basis for the design of the heave compensation system for deep-sea mining.

The invention discloses a semi-active heave compensation system for a cabled underwater robot. The semi-active heave compensation system for the cabled underwater robot comprises a passive heave compensation unit, an active heave compensation unit and an underwater armoured cable unit, wherein the passive heave compensation unit is used for compensating for static loads of the underwater armoured cable unit; the active heave compensation unit is used for compensating for dynamic loads of the underwater armoured cable unit; and the underwater armoured cable unit comprises an armoured cable, a relay, a mooring cable and the underwater robot. According to the semi-active heave compensation system for the cabled underwater robot, on the basis that the passive heave compensation unit compensates for the static loads, the active heave compensation unit plays an auxiliary compensation role so as to overcome the dynamic loads, the armoured cable of the underwater armoured cable unit moves in the direction opposite to the direction of heave movement of a mother ship, and thus tension fluctuation of the armoured cable and the oscillation amplitude of the relay are reduced. Through the mode of mechanically combining passive heave compensation and active heave compensation, the heave compensation efficiency of the system is further improved on the basis of reducing the energy consumption of the system, and the system is suitable for large-depth, large-load, long-time and high-efficiency heave compensation occasions of the cabled underwater robot.

The invention discloses an active wave compensation control system and method based on wave trend judgment. The system comprises a sensor network, a hydraulic drive system and a wave compensation controller, wherein the wave compensation controller comprises a PLC; an MRU of the sensor network is utilized by the system to measure ship moving parameters; the MRU and the acoustic wave meter are coupled to obtain the wave motion parameters; a rotary encoder is utilized to measure the motor rotation speed and obtain load motion parameters; the PLC analyzes the motion parameters so as to obtain motion situations of ships, load and waves relatively to the static seal level, namely, a reference system by taking the static sea level as motion parameters is used for solving the issue of mutual coupling of the ships, load and waves; water entry (or water exit) opportunity is selected for analyzing the wave parameters and judging the wave trend by the PLC, and the water entry (or water exit) process is controlled by controlling the motion of the hydraulic driving system, so that the safety and the stability of the offshore hoisting operation are improved.

The present invention relates to an electric active heave compensation winch system in the special vessel technology field. The electric active heave compensation winch system comprises a cable arrangement mechanism disposed on a cable, a heave measuring unit for measuring heave velocity and accelerated velocity of a suspension point on a suspension point mechanism, a winch driving unit connected with a winch motor, a winch controller, and an energy processing unit used for energy recovery and utilization. Motion parameters of a vessel in a future short period are actively predicted based on history data and vessel heave motion data detected in real time, feedforward control of vessel motion velocity prediction is calculated, and feedback control of relative velocity of a load and the vessel and feedback control of position drift are simultaneously calculated.

The present invention represents a procedure for compensating the heave movement of offshore cranes. The dynamic model of the compensation actuator (hydraulically operated winch) and the load hanging on a rope are derived. Based on this model, a path-tracking control unit is developed. To compensate the movement of the ship / watercraft caused by waves, the heave movement is defined as a time-varying disturbance and is analyzed with respect to uncoupling conditions. With a model expansion, these conditions are satisfied, and an inversion-based uncoupling control law is formulated. To stabilize the system, an observer is used for reconstructing the unknown state by means of a force measurement. Furthermore, the compensation efficiency can be improved by predicting the heave movement. There is proposed a prediction method in which no ship / watercraft models or properties are required. The simulation and measurement results validate the heave compensation method.

The present disclosure relates to a crane controller for a crane which includes a hoisting gear for lifting a load hanging on a cable, with an active heave compensation which by actuating the hoisting gear at least partly compensates the movement of the cable suspension point and / or of a load deposition point due to the heave, and an operator control which actuates the hoisting gear with reference to specifications of the operator, wherein the division of at least one kinematically constrained quantity of the hoisting gear is adjustable between heave compensation and operator control.

The invention discloses an active heave compensation control system and an active heave compensation control method of a marine ship-borne AC variable-frequency winch. The control system comprises a hot backup redundant controller, a frequency converter group, an AC variable-frequency motor, a transmission planet gear train, an armored umbilical cable, a coiling block and a signal detection sensor; the signal detection sensor is used for sensing the rotating speed of the coiling block and the heave acceleration of a mother ship; the signal output end of the signal detection sensor is connected with the hot backup redundant controller and sends the acquired signals to the hot backup redundant controller; the hot backup redundant controller is connected with the AC variable-frequency motor by use of the frequency converter group; the AC variable-frequency motor is connected with the transmission planet gear train by use of a speed reducer; the transmission planet gear train is fixedly connected to one end of the coiling block; the armored umbilical cable is wound around the coiling block; the free end of the armored umbilical cable is connected with a deep sea operating apparatus. The control system is simple in structure and has an active heave compensation control function.

The invention provides a hybrid mechanism-based kinematic solution method for active wave compensation systems. The method comprises the following steps of: in an inverse kinematic process, solving aposition and a posture, in a space, of a mobile platform through a pose parameter of a target point at the tail end of an upper platform, solving the displacement of each rod length, namely, each mobile pair, and inputting an obtained joint motion amount into a compensation platform controller to realize motion control; and in a forward kinematic process, solving a direction cosine matrix and a position vector, in a static coordinate system, of a mobile coordinate system through 6 input rod lengths, a constraint equation of the rod lengths and a system of simultaneous equations, solving a homogeneous transformation matrix at the tail end of an accommodation ladder of the upper platform, and inputting an obtained pose, in the space, of the tail end of the accommodation ladder into the compensation platform controller to realize motion control. The method is capable of enabling the calculation process to be relatively rapid, simple, correct, efficient and convenient to apply, providing basis for the motion control of active wave compensation systems, and satisfying the work demands of the active wave compensation systems of engineering.

The invention designs a sea wave active compensation system of a hybrid mechanism. The sea wave active compensation system of the hybrid mechanism can detect a posture and a displacement of a maintenance ship after the maintenance ship is affected by sea waves, and active compensation of the sea waves can be achieved by controlling the hybrid mechanism. The sea wave active compensation system of the hybrid mechanism includes a hybrid mechanism, a detection system, a motion control system and an electric system; the hybrid mechanism includes an upper platform and a six-freedom degree parallel platform, and is an execution mechanism of the sea wave active compensation system, and an execution element adopts a hydraulic cylinder and a hydraulic motor; the detection system is used for detecting a position and a posture change parameter of the ship and a state parameter of the hybrid mechanism, and providing control information feedback for the control system; the motion control system canprovide real-time control quantity for the hybrid mechanism according to the parameters detected by the detection system through model calculation and motion control computing; and the electric systemcan provide a stable energy electric power for the whole mechanism, and can achieve man-machine information connection and system parameter real-time monitoring and so on.

The invention discloses a novel heave compensation system and method for an offshore crane. The novel heave compensation system comprises a lifting device, a heave compensation execution device, a controller and a ship heave motion simulation system, wherein the heave compensation execution device is hung on the lifting device, the ship heave motion simulation system is installed below the heave compensation execution device, and the lifting device, the heave compensation execution device and the ship heave motion simulation system are controlled by the controller to achieve matching between the heave compensation execution device and the ship heave motion simulation system. The novel active heave compensation device installed between a lifting hook and cargoes is convenient to disassemble or assemble, wide in application range and high in transferability.

The invention provides an active heave compensation device for releasing and assembling a deep sea winch. The device comprises a movable pulley, a movable pulley mounting bracket, a piston rod, a hydraulic cylinder, a fixed pulley mounting bracket and a fixed pulley, wherein a piston is arranged on the piston rod, and is embedded in a hydraulic cylinder body, so that the piston and the inner wall of the hydraulic cylinder body are sealed through hydraulic oil to form a hydraulic execution mechanism; the movable pulley is arranged on the movable pulley mounting bracket, and the movable pulley mounting bracket is connected with one end, away from the piston, of the piston rod; and the fixed pulley is arranged on the fixed pulley mounting bracket, and the fixed pulley mounting bracket is connected with the bottom of the hydraulic cylinder. By utilizing the device, the up-and-down movement of underwater equipment caused by the fact that a vessel body moves up and down along with waves in a deep sea releasing and assembling process can be compensated, the constant tension of ropes connected with underwater production facilities can be maintained, and the stability and safety of releasing and assembly can be ensured.

The invention relates to an active heave compensation system of an underwater robot. A hydraulic winch is fixedly connected to a deck of a mother ship, an armoured cable is wound on a winding drum of the hydraulic winch, the armoured cable is connected with a combination of a relay and the underwater robot through a fixed pulley, a sensor module is fixedly installed on the fixed pulley and sequentially connected with a signal processing module, a control unit, a hydraulic driving system and the hydraulic winch. An existing hydraulic take-up and pay-off winch can be utilized for the active heave compensation system, additional power equipment does not need to be arranged, and the work space for the deck of the mother ship does not need to be enlarged either. Besides, because the rotation range of the hydraulic winch is wide, the compensation range is wide; meanwhile, violent collision between the underwater robot and the relay is avoided in the releasing or retracting process. Compared with a passive compensation mode of a pneumatic-hydraulic energy accumulator, the active heave compensation system of the underwater robot has the advantages that heave compensation efficiency can be effectively improved, and the active heave compensation system is easy to operate, convenient to obtain in the respect of engineering and capable of being applied to high-precision heave compensation under significant sea conditions.

The invention discloses a multi-degree-of-freedom active type wave compensation simulator based on a parallel mechanism. A hydraulic cylinder drives a six-degree-of-freedom parallel platform to move, so that the motions of a supply ship and a ship to be supplied affected by wave are completely simulated; a hydraulic motor is used as a rotation system of a power supply to drive a wave compensation winch and a crane, so that the situation that cargoes are rotated at a certain angel from the supply ship and are then lifted and put to the ship to be supplied through wave compensation is simulated; and a wave compensation terminal parallel platform is used for eliminating the shaking of the crane during a rotation process and carrying out multi-degree-of-freedom wave compensation, so that the cargo supply between the two ships is finally realized. According to the multi-degree-of-freedom active type wave compensation simulator based on the parallel mechanism provided by the invention, under the drive of the hydraulic cylinder and the hydraulic motor, the simulator has the characteristic that cargo lifting and putting between the two ships and wave compensation supply thereof can be simulated visually, and can be applied in the development and the performance test of a wave compensator.

A low inertia permanent magnet motor includes a stator and rotor. The rotor includes a generally tubular and hollow rotor body coupled to the shaft of the motor by one or more spokes and / or webs. The permanent magnets of the rotor are coupled to the rotor body. In some embodiments, the low inertia permanent magnet motor may be used to power a drawworks. In some embodiments, the drawworks may be controlled by an active heave compensation controller.

The invention relates to a movable type active heave compensator and a working method thereof, which are mainly applied to the marine operation fields of ship supply, deep sea fishing, seabed installation and the like. The movable type active heave compensator mainly comprises an equidifferent hydraulic cylinder, a bidirectional quantitative pump, a servo motor, a controller and a power source, wherein the controller is connected with the servo motor to receive an outside signal and control the starting, stopping and rotation speed of the servo motor; the servo motor is connected with the bidirectional quantitative pump to control the pumping of the bidirectional quantitative pump; the equidifferent hydraulic cylinder comprises two containing cavities, one containing cavity is connected with a piston rod, and both ends of the bidirectional quantitative pump are connected with the two containing cavities through oil lines; the power source is used for supplying power for the device. Themovable type active heave compensator has the advantages that the movable type active heave compensator can be installed between a steel wire rope and a load rope of a crane to automatically and quickly compensate for the heave movement of the load in the ascending and descending process, the safety in lifting operation is improved, the compensation precision is high, the response speed is quick,the structure is simple, the cost is low, the energy consumption is low, the flexibility and convenience in use are realized, and the movable type active heave compensator can be instantly installedonce being installed.

The invention discloses a hydraulic cylinder type semi-active heave compensation device for a crane. The hydraulic cylinder type semi-active heave compensation device is applied to a deepwater crane and comprises a passive compensation system, an active compensation system and a hydraulic cylinder pulley system. According to the hydraulic cylinder type semi-active heave compensation device for the crane, two parallel pulley blocks are mounted at one end of a piston rod stretching-out part, so that the compensation capacity is improved by four times, the compensation speed is decreased to be a quarter of the compensation speed in the prior art, and the collision influence caused by an excessively high speed is reduced. When a passive compensation way is adopted, a rod cavity of a passive compensation cylinder is connected with a rodless cavity of a compensation cylinder through an oil pipe, a rodless cavity of the passive compensation cylinder is connected with a gas cylinder and an air pressurizing system, and thus most heave displacement is compensated; and when an active compensation mode is adopted, a tension sensor is arranged at the position where a mooring rope passes, an analog signal for tension changes of the mooring rope is transmitted to a controller, a piston rod of the active compensation cylinder is controlled to move by controlling a valve element of an electro-hydraulic proportional reversing valve, and finally accurate compensation is achieved. In this way, the hydraulic cylinder type semi-active heave compensation device for the crane has the advantages that energy consumption is low, the precision is high, and the compensation amplitude is large.

The invention discloses a semi-active heavy compensation device control system. The control system comprises a controller, an active-compensation control assembly, a passive-compensation control assembly and a compensating cylinder assembly; the compensating cylinder assembly at least comprises active compensating cylinders and passive compensation cylinders; the controller is connected with the active-compensation control assembly and the passive-compensation control assembly, the active-compensation control assembly is connected with the active compensating cylinders, and the passive-compensation control assembly is connected with the passive compensating cylinders; and the passive-compensation control assembly is used for controlling hydraulic pressure values in the passive compensating cylinders, the controller is used for monitoring control of the passive-compensation control assembly to the hydraulic pressure values of the passive compensating cylinders, and sends a control command to the active-compensation control assembly by utilizing a monitoring result, and the active-compensation control assembly is used for controlling hydraulic pressure values of the active compensating cylinders according to the control command, so that passive compensation can be achieved through the passive-compensation control assembly and the passive compensating cylinders, and auxiliary compensation can be achieved through the active-compensation control assembly and the active compensating cylinders to improve the compensation precision.

The invention relates to a control method for active heave compensation of deep sea equipment. The method comprises the following steps that a measured mother ship heave motion acceleration value is processed through two integrations, and a mother ship heave displacement signal is obtained; the mother ship heave displacement signal is compared with a measured cable taking-up and paying-off displacement value, and cable displacement amount and cable displacement amount change rate needing to be compensated by a heave compensation device are obtained; and a hybrid fuzzy P+ID controller is designed, and active heave compensation of the deep sea equipment is achieved with the signal cable displacement compensation amount and the cable displacement compensation amount change rate as input signals and an electric control proportional direction valve control signal of a taking-up and paying-off winch as an output signal. The method can be directly implanted to an existing taking-up and paying-off winch control system of the deep sea equipment, only an inertia measurement sensor and a cable displacement sensor need to be installed, the transformation cost is low, and expansibility is high. According to the method, a traditional PID proportional item is replaced with the hybrid fuzzy P+ID controller, and the control precision and robustness are improved.

The invention discloses an active heave compensation device for an air winch and a control method thereof. The active heave compensation device comprises a winch status detector, a flow and direction regulator and a heave compensation controller; the winch status detector comprises an acceleration sensor, an inclination sensor, a cable length sensor, a tension sensor and the like; the heave compensation controller is a core part of the whole device and composed of a CPU module, a communication module, an A / D acquisition module and a D / A output module; the flow and direction regulator is mounted at the front end of an air inlet of a pneumatic motor on the air winch, and composed of an air suction switching valve, a flow proportional regulating valve, a flow sensor, a cable retracting switching valve and a cable deploying switching valve. The active heave compensation device for the air winch is reasonable in structural design, and may control deploying and retracting of a cable and heave compensation for the air winch through the controller, and thus is suitable for operations of ocean platforms and port wharfs; as a result, the work fields of the air winch are expanded.

The present invention relates to a sunken vessel salvage hydraulic lifting and semi-active heave compensation simulation test platform which is used to simulate synchronous lifting of double barges. Asunken vessel lifting system is provided with compensation lifting mechanisms and lifting mechanisms, and the compensation lifting mechanisms are the same as the lifting mechanisms in quantity to facilitate a contrast experiment; each two-degree-of-freedom simulation motion platform is provided with two power oil cylinders and one stand column, the two power oil cylinders and the stand column aredistributed in an isosceles triangle shape to simulate rolling and pitching of barges in sea waves and to be closer to a real salvage condition; the lifting mechanisms are provided with unidirectional locking mechanisms to lock unidirectional sliding of steel wire ropes so as to prevent the steel wire ropes from sliding back in the lifting process, prevent the steel wire ropes from winding through adoption of a take-up device and guarantee the test safety; and a sunken vessel simulation caisson is of a mesh-type cavity structure, modularization counter weights can be put in the mesh-type cavity to facilitate regulation of a tonnage, and the sunken vessel simulation caisson is put at a real water area to accord with the real sunken vessel state.

The invention provides an active heave compensation simulation method and apparatus based on a marine floating crane operation requirement, and belongs to the field of marine engineering. The active heave compensation simulation method based on the marine floating crane operation requirement comprises following steps: S1, wave generation; S2, detection of heaving motion, rolling motion and pitching motion; S3, equipment input; S4, control of a thread by a server; and S5, driving of the thread. The active heave compensation simulation apparatus comprises a base, a motion platform is arranged on the base, a manipulator is arranged on the motion platform, the motion platform comprises an upper platform, a first motor, a second motor and a third motor, output shafts of the first motor, the second motor and the third motor are respectively hinged to a first support, a second support and a third support, and the first support, the second support and the third support are respectively provided with a first universal joint, a second universal joint and a third universal joint. According to the method and apparatus, the severe marine environment can be simulated, the method and apparatus can be used for testing different control methods and trainings, and the risk degree of the practical marine floating crane operation requirement is reduced.

The invention provides a deep sea crane active heaving compensation controller and a control system. The deep sea crane active heaving compensation controller has a double-loop control structure. Theouter loop control structure is an active-disturbance-rejection controller, which is used to compensate outer disturbances, and is used to generate an expected angle for an inner loop. The inner loopcontrol structure is an equivalent saturation model prediction controller, which is used to compensate an input saturation and dead zone characteristic of a hydraulic motor, and therefore the hydraulic motor is guaranteed to drive a winch to track the expected angle quickly and accurately.