The invention discloses a segmented semi-active heave compensation system of a ship. The system comprises an active heave compensation assembly, a passive compensation heave assembly, a motion reference module, a heave prediction module and a terminal sliding mode controller. The motion reference module is installed on a ship and collects six-degree-of-freedom motion data of the ship. The input end of the heave prediction module is connected with the motion reference module, and the heave prediction module is used for predicting the heave displacement of the ship; the input end of the terminal sliding mode controller is connected with the output end of the heave prediction module and a displacement sensor in the active heave compensation assembly, and the output end of the terminal sliding mode controller is connected with a controller of an active compensation hydraulic cylinder in the active heave compensation assembly. And the terminal sliding mode controller is used for controlling the oil quantity entering an active compensation hydraulic cylinder in the active heave compensation assembly according to the predicted heave displacement of the ship. The multi-section compensation system is used, compensation modes make up for each other, and the compensation precision and the compensation efficiency are improved.
本发明公开了一种船舶的分段式半主动升沉补偿系统,包括:主动升沉补偿组件、被动补偿升沉组件、运动参考模块、升沉预测模块、终端滑模控制器;运动参考模块安装在船舶上,对船舶的六自由度运动数据进行采集;升沉预测模块的输入端与运动参考模块连接,升沉预测模块用于预测船舶的升沉位移量;终端滑模控制器的输入端分别与升沉预测模块的输出端、主动升沉补偿组件中位移传感器连接,终端滑模控制器的输出端与主动升沉补偿组件中主动补偿液压缸的控制器连接,终端滑模控制器用于根据预测船舶的升沉位移量对进入主动升沉补偿组件中主动补偿液压缸的油量进行控制。本发明使用多段式的补偿系统,补偿方式之间相互弥补,补偿精度和补偿效率得到提高。
Sectional type semi-active heave compensation system and compensation method for ship
一种船舶的分段式半主动升沉补偿系统及补偿方法
2023-11-21
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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