The invention relates to deck lifting equipment, and belongs to the field of offshore operation and maritime affair guarantee in ocean engineering. A heaving compensation method comprises a measuring device, a forecasting device, a control device and a hydraulic driving device. A hydraulic winch in the hydraulic driving device is mounted on a crane upper car; a drum of the hydraulic winch is wound with a lifting rope; and the lifting rope is connected with a hanger through a fixed pulley fixed at the top end of a lifting arm. The measuring device obtains the heaving displacement of the hanger by the coordinate change according to measured values of all sensors; the forecasting device adopts an autoregression and extreme learning machine combined forecasting model to forecast the heaving displacement of the hanger; and the control device performs the compensation operation for an input handle signal, a heaving displacement forecasted value and a length change quantity of the lifting rope, and outputs a control signal to the hydraulic driving device so as to control the heaving motion of the hanger. The heaving compensation method can effectively solve the lag problem of the measuring device and the hydraulic driving device in the compensation control, and prominently improve the heaving compensation precision.
Ship crane heaving compensation method based on hanger heaving motion forecast
2015-08-05
Patent
Electronic Resource
English
IPC: | B66C Krane , CRANES |
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