A method for collaborative heave compensation control of a dual ship-mounted hoisting arm system including two vertical hoisting arms and two horizontal hoisting arms is provided, in which a dynamic model of the hoisting arm system is constructed based on hoisting arm position and velocity and an attitude angle of a load of the hoisting arm system; and based on the dynamic model, an optimal control strategy is obtained according to a control objective and an optimization objective under multiple constraint conditions to control the hoisting arm action, where the control objective is to track a hoisting arm reference compensation trajectory during the heave motion, the optimization objective is to minimize a tracking error, and the constraint conditions include a hoisting arm action constraint, and a position and velocity constraint of each hoisting arm after action. A system for implementing such method is also provided.


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    Title :

    METHOD AND SYSTEM FOR COLLABORATIVE HEAVE COMPENSATION CONTROL OF A DUAL SHIP-MOUNTED HOISTING ARM SYSTEM


    Contributors:
    MA XIN (author) / WANG FUHAO (author)

    Publication date :

    2025-02-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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