Research On Heave Compensation For Marine Hydraulic Crane

With the growth of China's comprehensive national strength and ocean development, sea-work has become more and more frequent.The problem-supplying to the ocean work place and the working ship-has become to be obvious.T-wo active ship motion compensation strategies are discussed to stabilize the payload during operator-controlled at sea cargo transfer scenarios using ship-based cra nes.This work is to study the pendulation of hoisted cargo and to design the co nt-rol system.After studing the 3D PCS control concept demonstrated by Sandia national laboratory,this paper discusses an alternate ship motion sensing approach, and thus provides an alternate PCS algorithm.This paper demonstrates the p os-sibility of the new PCS concept in the power side.There are 3 part in this paper:(1) Research on the 3D PCS control concept demonstrated by Sandia nation-al laboratory.Then designs a more complete wave compensating device.The device contains mechanical execution system,hydraulic power system, computer control system and sensor system.(2) From previous studies,it has been found that model-based control is preferable for marine control system where the dynamics of floaters are basically described by the state space equations.A mathematical model was established for the computer control of the system.(3) To verify the available of the system,we calculated the power for pendulation. The result demonstrates that it is possible to get the goal.