During offshore operations in harsh sea conditions, the active heave compensation (AHC) system used on the ship-mounted crane can improve the vessel’s safety and efficiency. Also the variation of the cable forces resulting from the vertical motion of the vessel can be effectively reduced due to the application of the AHC system. Hence, the crane’s winch driving system is constructed based on the secondary regulated hydrostatic drive technology. And the full mathematic model of the heave compensation system is presented. Then a triple closed-loop control structure, which includes the position closed-loop of the stroke cylinder fixed in the secondary unit, the speed closed-loop of the secondary regulated hydraulic motor and the position closed-loop of the secondary regulated hydraulic motor, is developed. Afterwards, the vertical motion of the vessel is adopted as the measurable disturbance and the feedforward compensator is introduced by the structure-invariable principle. After that, an observer is designed to estimate the position of the crane’s cargo by the cable tension. Lastly, a design example for the active heave compensation is provided and the effectiveness of the controller design method is demonstrated by numerical simulations.
Key words
ship-mounted crane /
active heave compensation /
secondary regulation /
structure-invariable principle /
marine operation
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References
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