Research On Active Compensation Technology For Ocean Platform Transfer Crane

With our country putting forward the strategy of maritime power,our country’s development and exploration of ocean is becoming more and more in-depth,and offshore operations are becoming more frequent.And as our navy goes towards deep blue,the construction of the sea’s replenishment capability is becoming more and more important.The marine crane is an important equipment for sea replenishment.In order to make the marine crane transfer goods at sea without being affected by the waves,to ensure the safety of the supply of ships and cargo,the study of marine crane with wave compensation function is becoming increasingly important.At present,most domestic marine cranes are equipped with passive wave compensation devices,but the passive compensation system has low compensation accuracy and poor adaptability,and it cannot make the cranes transport cargo safely and effectively.The active wave compensation system can overcome these shortcomings and enable the crane to complete the transshipment at sea safely and smoothly.In this paper,a method combining theoretical research,computer modeling and simulation is used to study the active compensation system of the marine crane.The main work of this article is:1.Based on the D-H method in robotics,a kinematics model for the crane with multidegrees of freedom movement of the mother ship is established.and the model was simulated and analyzed to study the influence of different movements of the mother ship on the movement of the end of crane boom.2.The active compensation principle of the crane is studied,and the active compensation for the end of the crane boom is determined.Two kinds of active compensation algorithms are established,and the speeds of the three degrees of freedom of the crane required to compensate the motion of the end of the crane boom in the X direction and the Y direction in the ground coordinate system are obtained through these two algorithms.Matlab/Simulink software is used to simulate and study the two compensation algorithms under two different mothership movements.Both algorithms can compensate the movement of the end of the crane boom in the X direction and the Y direction in the ground coordinate system.And the compensation effect of the second algorithm is better than the first one.3.Mathematical modeling of the hydraulic system of the crane actuator is performed,and the working principle of the active compensation system for the marine crane is analyzed.