关键词: 船用起重机, 主动-被动升沉补偿, 复合油缸, 串级控制

Abstract:

In order to reduce the impacts of wave on the hoisting in ship-mounted crane during offshore operation under rough weather conditions, a set of heave compensation systems was proposed for ship-mounted crane. A dynamic state space model of the system was built by selecting ship heave motion as input and different state variables as feedback, the payload displacement with passive and active-passive heave compensation modes were achieved respectively under suspensory state. At the end, dynamic performances of these two modes were analyzed according to the simulation results, then a cascade control was adopted as a control strategy in active-passive heave compensation mode.

Key words: ship-mounted crane, active-passive heave compensation, compound cylinder, cascade control