Research On The Detection Technology Of Active Waving Compensation System

At present,the offshore crane with waving compensating function can only be for heaving motion.It is hard to achieve complex assignments which require relatively higher accuracy under high waving sea condition(above level 3),such as containers stacking and torpedo reloading.The 6-DoF waving compensation detection technology can be used to detect relative pose and positon between two vessels,which can help corresponding controllers and mechanism to meet the strict requirements of offshore replenishment.The paper conducts some research about waving compensation detection system design.The main contents of the paper are summarized as follows:1.For the sake of real data unavailability,firstly,the paper builds the model of double vessels in order to attain the relative motion response of vessels under different sea conditions.Then the dynamic specialty curves of time domain and frequency domain are calculated in the finite element software.Lastly,the paper gives the design parameter via analyzing influence factors of vessels' relative motions.2.The paper adopts three methodologies based on computer and MTi varied from different working conditions to guarantee the robust of detection system.Apart from explanations of related technologies,the paper also offers some explanations of system realizing and hardware layout.3.In order to solve the conflict problems combining two different sensors in terms of data type and clock signal,the paper proposes a feasible scheme which can enhance robust and generality.Otherwise,the paper also comes up with an adaptive filtering algorithms with a fading memory indicator to reduce the possibility of diffuse.4.The software specialized for the AHC detection system has been designed.The system is able to achieve detection data collecting and interactive communications.Ultimately,the designed system is proved to be valuable through motion detection experiments in the laboratory.Above all,the paper conducts systemic research on the AHC detection system design and put forward a detection scheme of 6-DoF vessel's motions.Based on the proposed algorithms,an intact detection system software has been designed.Then the accuracy and real-time ability have been tested through relative motion detection experiments depending on AHC demo equipment and designed software.