The invention relates to the technical field of ocean wave compensation control, and provides a three-degree-of-freedom active wave compensation control method for an offshore gangway ladder, and the method comprises the following steps: S1, coordinate system definition and variable setting, S2, coordinate transformation matrix solving, S3, forward kinematics solution of an end point E, S4, inverse kinematics solution of the end point E, and S5, compensation control strategy execution. The invention provides an algorithm for sensing the motion state of waves in real time and driving a corresponding execution mechanism to carry out compensation, through simulation verification, the position coordinates of the end point of the gangway ladder are finally stabilized at the target position, and the accuracy and effectiveness of the compensation control method are verified. By the adoption of the wave compensation control method, various impacts such as rolling, pitching and heaving of the ship caused by stormy waves can be effectively resisted, and the marine gangway ladder can keep high stability under the severe environment condition.

    本发明涉及海洋波浪补偿控制技术领域,提供一种用于海上舷梯的三自由度主动波浪补偿控制方法,包括以下步骤:S1、坐标系定义与变量设定,S2、坐标变换矩阵求解,S3、末端点E运动学正解,S4、末端点E运动学逆解求解,S5、补偿控制策略执行。本发明提供了实时感知波浪的运动状态并驱动相应的执行机构进行补偿的算法,通过模拟验证,舷梯末端点位置坐标最终稳定在目标位置,验证了补偿控制方法的准确性和有效性。采用本发明的波浪补偿控制方法可以有效地对抗由风浪引起的船舶横摇、纵摇、升沉等各种冲击,使得海上舷梯在恶劣环境条件下也能保持高度的稳定性。


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    Title :

    Three-degree-of-freedom active wave compensation control method for offshore gangway ladder


    Additional title:

    一种用于海上舷梯的三自由度主动波浪补偿控制方法


    Contributors:
    LIU JIANCHENG (author) / ZHANG LEI (author) / HONG XUEWU (author) / HAN PEICHI (author) / JIANG LIANJIN (author) / HE XIAONING (author) / GUO TIEQUAN (author)

    Publication date :

    2024-10-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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