CN106744320A - A kind of six degree of freedom active heave compensation hanging method and Lift-on/Lift-off System - Google Patents

A kind of six degree of freedom active heave compensation hanging method and Lift-on/Lift-off System Download PDF

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Publication number
CN106744320A
CN106744320A CN201611041944.9A CN201611041944A CN106744320A CN 106744320 A CN106744320 A CN 106744320A CN 201611041944 A CN201611041944 A CN 201611041944A CN 106744320 A CN106744320 A CN 106744320A
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China
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steel wire
lift
freedom
degree
wire rope
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CN201611041944.9A
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Chinese (zh)
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陶利民
陈循
吕伟
赵健冬
崔伟
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中国人民解放军国防科学技术大学
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Priority to CN201611041944.9A priority Critical patent/CN106744320A/en
Publication of CN106744320A publication Critical patent/CN106744320A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/04Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/16Applications of indicating, registering, or weighing devices

Abstract

The invention discloses a kind of six degree of freedom active heave compensation hanging method and Lift-on/Lift-off System,Its method is that the servo-drive system that eight sets of rope traction sling systems driven by servomotor are constituted and the binocular vision detection system constituted including two video cameras are set on the crane gear of tender,By eight steel wire ropes in sling system by every two four angles for lying in load respectively,Detected respectively using two video cameras and by tender during supply and the relative position and relative attitude that are recharged ship,According to steel wire rope present speed and location parameter,Negative-feedback is formed to be input in the control parameter of steel wire rope,Rotating speed and the direction of steel wire rope are controlled according to the control parameter by servomotor,Make the six-freedom motion of load opposite base consistent with the six-freedom motion for being recharged ship opposite base,Reach the purpose of six degree of freedom relative motion compensation.The present invention has preferable anti-pendulum characteristic.

Description

A kind of six degree of freedom active heave compensation hanging method and Lift-on/Lift-off System

Technical field

The invention belongs to heave compensation crane during ship seaborne supply, more particularly to a kind of active ripple of six degree of freedom Wave compensation hanging method and Lift-on/Lift-off System.

Background technology

With China's expanding economy, ocean development deepens continuously with dark blue naval's construction, and seaborne supply is to improve sea One important tactics technology measure of army's fighting capacity, is important leverage technology of the naval from " yellow water " trend " Lan Shui ".The world is each State's seaborne supply mode have transverse replenishment, longitudinal replenishment, inflow and simultaneously by supply.Transverse replenishment is tender and taken-over vessel Weave into rank, in synchronized navigation in the same direction is kept, by being connected across two ships between abeam replenishing rig, from tender to taken-over vessel Implement goods and materials supplement.Liquid goods, dried food and nuts supply and personnel's conveying can be carried out, but transverse replenishment is only suitable for having the ship of special equipment Between carry out.Longitudinal replenishment is that tender and taken-over vessel weave into column, and the supply of liquid goods is implemented in synchronized navigation in the same direction is kept.It is vertical It is simple to device for supplying, operation can be carried out under more severe sea situation, it has the disadvantage can only bulking liquor goods.Inflow is with directly The machine of liter is by goods from tender handling to a kind of replenishing method for being recharged ship.Inflow is applied to the handling of dried food and nuts goods and materials and wound Patient's fast transfer, is not suitable for supplementing a large amount of liquid goods.And by replenishment operation in, two Cable rope for ship are tied, using one Determine quarantine measures (such as fender device) to isolate two ships and absorb collision energy of two ships in stormy waves, then with crane, rise The devices such as drop machine feed dried food and nuts.This method is simple to operate, and recharge rate is fast, it is adaptable to closely seaborne supply, but it receives sea situation Limitation.

The supply mode of current ocean is mainly transverse replenishment, from the point of view of following naval supply development trend, and by supply Occupy increasingly consequence in following supply mode, the especially supply that is accurately positioned to guided missile torpedo and container has Unrivaled advantage, is that Modern Navy improves naval vessel endurance, the important supply mode of fighting capacity.First, guided missile essence It is determined that position supply problem has turned into the major issue that naval of China is badly in need of solving.The main supply mode of current guided missile is mended for horizontal Give, can only carry out from supply ship deck to the supply for being recharged warship deck, it is impossible to be accurately located on launcher, automaticity It is low, inefficiency, the need for not meeting future war development.And simultaneously can be direct from supply ship by guided missile using loop wheel machine by supply It is placed to and is recharged on warship launcher, guided missile is directly in emission state.In supply, accurately will using crane Torpedo is arranged on launcher, replenishment operation high precision, and dispensable mould is completed.Secondly, marine container is accurately positioned stacking to port Mouth logistics is significant.Due to by Natural Depth limited and port flow tremendous growth so that many harbours Berth wretched insufficiency, large ship of the order equipped with a large amount of containers cannot approach and carry out handling operation, therefore, it is necessary to carry out waterborne Container replenishment operation, and it is different from other goods and materials, and container is larger due to size and weight, and positioning is required in operation process Accurately, it is disposable to complete.In the supply to container, it is desirable to which container is disposably accurately stacked on the container of lower section Face, and transverse replenishment, longitudinal replenishment and inflow only and by supply can realize this kind of operator all without this function Formula, therefore, development with container waterborne be accurately positioned stacking and by transhipment technology turn into reduce port construction investment risk With the inevitable mode for improving cargo throughput of port.In sum, guided missile and container be accurately positioned supply be transverse replenishment, What longitudinal replenishment and inflow mode were not reached, can only be completed by and by the operating type of supply.

Six degree of freedom active heave compensation technology is the important technology that guided missile torpedo and container are accurately positioned supply.Ship Oceangoing ship is on the water and very big by Lidar Equation by operation, does not use wave compensation system, sea situation can only be carried out and by making below 3 grades Industry.In the case where meteorological condition is more than 3 grades of sea situations, due to the shadow of sea wind, wave, the effect of ocean current and ship itself navigation motion Ring, ship can produce swaying, surging, heave and rolling, pitching, yawing six-freedom motion, cause and by replenishment operation Two working equipments can produce relative six-freedom motion, easily cause the hoisting thing sliding of crane institute and deviate normal ship point, sternly Even bump against with deck erection during weight, cause the accident, especially feed the combustible and explosive articles such as ammunition or other are frangible It is dangerous bigger during article.For example, to the large cargos such as marine container and by supply, it is necessary to accurately container is put Put in the top of another container, now the relative motion of two ships (swaying, surging) in the horizontal direction can to container Position produces considerable influence, and vertical direction (heave) relative motion can make two containers collide, and two appearances of container State difference can also collide.Therefore, in being accurately positioned in supply to container, the position that not only compensate container is (horizontal Swing, surging, heave), also to control its attitude (rolling, pitching, yawing), make its attitude with want the container attitude of stacking to keep Unanimously, it is to avoid collision;For the supply of the dangerous goods such as marine guided missile or torpedo, generally require directly to hang guided missile case or torpedo It is attached on launcher or filling support, this requires that ammunition keeps with the position and attitude of launcher or filling support in installation process Unanimously, it is impossible to influenceed by naval vessel rolling, pitching and yawing.Therefore, in order to ensure safety work marine and by feeding, disappear Except and by supply two working equipments relative six-freedom motion, it is necessary to using have six degree of freedom active heave compensation skill Art and fulfiled assignment by supply crane, and by supply equipment and feeding relative six free between object in supply Degree motion compensates correction, to eliminate relative influence of the six-freedom motion to operation on the sea of equipment that wave causes, it is ensured that Operation on the sea is accurate, safe and efficient carry out.Domestic existing boat-carrying heave compensation crane only has heave direction (one-dimensional) Compensation function, it is impossible to carry out six degree of freedom replenishment operation.In addition, the six-freedom motion and sea wind of tender can cause packaging The swing of case even load.Under specific circumstances, swing may be very violent and triggers serious consequence.Existing wave compensation system Major part all only possesses heaving movement compensation or swings the simple functions such as suppression, it is impossible to while realizing that six degree of freedom relative motion is mended Repay and swing suppression.By the parameters such as the goods shape, size, quality, the material that are lifted every time are different, the dynamics ginseng of goods Number is uncertain.Therefore, before carrying out dynamics Controlling to goods each time, it is necessary to controller to supply during goods power Parameter is learned to be recognized.Therefore, in the urgent need to a kind of six degree of freedom active heave compensation crane with anti-pendulum characteristic.

The content of the invention

The purpose of the present invention is based on suspention rope traction and parallel-connection mechanism, there is provided a kind of six degree of freedom master with anti-pendulum characteristic Dynamic formula compensation of undulation hanging method and Lift-on/Lift-off System.

The six degree of freedom active heave compensation hanging method that the present invention is provided, is included on the crane gear of tender and sets A pedestal is put, the servo-drive system that eight sets of rope traction sling systems driven by servomotor are constituted is set on the pedestal With the binocular vision detection systems constituted including two video cameras, by eight steel wire ropes in the rope traction sling system By every two four angles for lying in load respectively, detected respectively using two video cameras and by tender during supply and Be recharged the relative position and relative attitude of ship, and the image information that will be detected by processor resolve relative the six of two ships from Moved by degree, obtain the six-freedom motion control parameter of the relatively described pedestal of load, then by rope traction suspender System kinematics calculate the control parameter of eight steel wire ropes motion, the i.e. speed and location parameter of steel wire rope, root against solution According to the steel wire rope present speed and location parameter, form negative-feedback and be input in the control parameter of steel wire rope, the servo electricity Machine controls rotating speed and the direction of steel wire rope according to the control parameter, makes the six-freedom motion of load opposite base and is recharged The six-freedom motion of ship opposite base is consistent, reaches the purpose of six degree of freedom relative motion compensation.

Steel wire rope described in hoisting process is in tensioning state all the time.

The six degree of freedom active heave compensation Lift-on/Lift-off System that the present invention is provided, including be located on tender crane gear Pedestal, the pedestal is provided with eight sets of servo-drive systems, detecting systems;Every suit servo-drive system includes being controlled by control section Servomotor deceleration device and the rope traction sling system that is driven by servomotor deceleration device;The detecting system bag Include two video cameras and its image data acquiring circuit.

The control section include PC, analog output data collecting card, motor driver, absolute type encoder, RS485 input datas capture card, analog input data collecting card, tension sensor.

The rope traction sling system includes the reel driven by servomotor deceleration device, on reel Steel wire rope, the first fixed pulley, the tensioning apparatus for steel wire tensioning that are oriented to for steel wire rope.

The tensioning apparatus is including the support being located on pedestal, the second fixed pulley being located on support, along bracket slide Slide rail and the tensioning wheel being located on slide rail and counterweight.

Beneficial effect

The present invention has following features:One can be achieved on swaying, surging, heave, rolling, pitching, yawing six degree of freedom Displacement, speed compensation of undulation operation;Two can be control load six-freedom motion;Three can be to detect suspender and be recharged ship With respect to six degree of freedom;Four can be the relative six degree of freedom for detecting suspender and load;Five can be that on-line identification sling system is born The inertial parameter of load, including quality, position of centre of gravity, inertial parameter;Six is that can suppress hunting of load in compensation of undulation operation; Seven is that tensioning apparatus can constantly be tensioned steel wire rope using counterweight, it is ensured that steel wire rope skids not on reel.

The technical scheme that the invention will now be described in detail with reference to the accompanying drawings.

Brief description of the drawings

Fig. 1 is the operation schematic diagram of six degree of freedom active heave compensation Lift-on/Lift-off System of the present invention.

Fig. 2 is the structural representation of six degree of freedom active heave compensation Lift-on/Lift-off System of the present invention.

Fig. 3 is the partial enlarged drawing at A in Fig. 2.

Fig. 4 is the top view of six degree of freedom active heave compensation Lift-on/Lift-off System of the present invention.

Fig. 5 is the workflow block diagram of the inventive method.

Fig. 6 is the vectorial schematic diagram of rope capacity solution in the present invention.

Fig. 7 is load inertia parameter identification process in the present invention.

Fig. 8 is a set of servo-drive system hardware block diagram in the present invention.

Fig. 9 is the tensioning apparatus schematic diagram in the present invention.

Figure 10 is sling system tetrahedral decomposition schematic diagram in the present invention.

Specific embodiment

Tender T1Be recharged ship T2Two ships alongside replenishment operation situation is as shown in figure 1, six degree of freedom of the present invention is active Compensation of undulation Lift-on/Lift-off System S is arranged on tender T1Crane arm R on.

Six degree of freedom active heave compensation Lift-on/Lift-off System S is as shown in Fig. 2-4, including is located at tender crane arm On pedestal 17, the pedestal 17 is provided with eight sets of servo-drive systems and a set of detecting system;Every suit servo-drive system includes control System part, the servomotor deceleration device 7 by control section control, the rope traction driven by servomotor deceleration device 7 Sling system;The detecting system includes two video cameras 20 and its Image Data Acquisition Card.The control section include PC, Analog output data collecting card, motor driver, absolute type encoder 12, RS485 input datas capture card, analog input Data collecting card, tension sensor 16;The rope traction sling system includes the volume driven by servomotor deceleration device The cylinder 8, steel wire rope 19 on reel 8, the fixed pulley 14, the tensioning for the tensioning of steel wire rope 19 that are oriented to for steel wire rope 19 Device 22.The pedestal 17 is frame structure, and the middle part of pedestal 17 is provided with main frame plate 1, and eight sets of servomotor deceleration devices 7 pass through Installing plate 5 and supporting plate 6 are arranged on the center section of main frame plate 1, and each servomotor deceleration device 7 is connected with master by shaft coupling Axle 3, the lower end of main shaft 3 is connected with the rolling bearing units 2 in main frame plate 1, and reel 8 is arranged on main shaft 3, and main shaft 3 is provided with Belt pulley 10;It is provided with by support 11 in main frame plate 1 around eight sets of servomotor deceleration devices 7 and is subtracted with the servomotor 7 one-to-one eight absolute type encoders 12 of speed variator, the axle of absolute type encoder 12 is connected with countershaft 9 by shaft coupling 4, Connected by belt pulley 10 and belt between countershaft 9 and main shaft 3, countershaft 9 drives encoder 12 to rotate under the driving of main shaft 3, The Position And Velocity of measuring steel wire rope 19, for servo system control feedback;Four tensioning apparatus 22 are uniformly located in pedestal 17 On, eight fixed pulleys 14 are arranged on four tensioning apparatus 22 by support 15 respectively, corresponding in pedestal with each fixed pulley 14 Tension sensor 16 is provided with by support 13 on 17, every one end of steel wire rope 19 is by fixed pulley 14, tension sensor 16 It is fixedly connected with reel 8;Tensioning apparatus 22 is used for moment tensioning steel wire rope 19, and tension sensor 16 is used for measuring steel wire rope 19 Tension force, controls steel wire rope 19 to remain rope tension by sling system;Two video cameras 20 are pacified by camera mount 21 On the diagonal of pedestal 17;Eight other ends of steel wire rope 19 18 be connecteds with load, every two steel wire ropes 19 with load 18 An angle connection.

Hanging method of the invention is as shown in figure 5, using six degree of freedom active heave compensation Lift-on/Lift-off System of the invention. Its working method is:Tender and it is recharged during the supply of ship two ships alongside, the binocular visions constituted using two video cameras 20 Feel system detects two ship relative positions and relative attitude respectively, and the image information data that will be detected is defeated by data collecting card Enter to processor to resolve the relative six-freedom motion of two ships, i.e. three axles are rotated and three axle translation parameters, be also relative load 18 The six-freedom motion control parameter of pedestal 17, calculates eight steel wire ropes 19 and moves by wire saws sling system Inverse Kinematics Solution Control parameter, i.e. the speed and location parameter of steel wire rope 19.Meanwhile, eight detection lifting loads of absolute type encoder 12 18 eight present speeds of steel wire rope 19 and location parameter, form negative-feedback and are input in the control parameter of steel wire rope, and tension force is passed Sensor 16 detects the tension force of steel wire rope 19, it is ensured that steel wire rope 19 is in tensioning state all the time.Processor is changed into control parameter The drive signal of motor is input in the middle of motor driver, and motor driver drives turning for servomotor 7 according to control signal Speed and direction, control rotating speed and the direction of reel 8, so as to control rotating speed and the direction of steel wire rope 19, make the opposite base of load 18 17 six-freedom motion is consistent with the six-freedom motion for being recharged ship opposite base 17, reaches six degree of freedom relative motion benefit The purpose repaid.

Further instruction of the present invention is as follows:

1) sling system bit shift compensation principle

The target of bit shift compensation is and by proof load is not relative to the position and attitude for being recharged ship during supply Influenceed by two ship relative motions.By the measuring system on sling system, can obtain not being recharged ship in the same time Relative to the position of pedestalAnd attitudeAssuming that position of the load relative to pedestal and attitudeWithRelative to quilt The desired locations and attitude of tender are set asWithSo in order that load does not receive two relative to the pose for being recharged ship The influence of ship relative motion is, it is necessary to using the load of rope traction and parallel-connection mechanism real-time control relative to the pose of pedestal, make its in office The meaning moment all meets

It is exactly default desired value to load the relative pose for being recharged ship in this caseWithWith the phase of two ships It is unrelated to moving.For rope traction and parallel-connection mechanism, load is controlled relative to the pose of pedestal by changing rope lengths. The pose that any instant loads opposite base can be calculated according to formula (1) and (2), with reference to the kinematics of rope traction and parallel-connection mechanism It is theoretical, it is possible to obtain the target length of the moment each rope.

Rope capacity solves vector as shown in fig. 6, P in the present inventioniAnd Bi(i=1 ..., i-th rope m) is represented respectively With load and the tie point of pedestal, piAnd biRepresent from the origin of load and base coordinate system and point to corresponding rope tie point Vector, that is, liIt is the corresponding vector of i-th rope,eiIt is liUnit vector. It can be seen from the geometrical relationship in (h), in coordinate system B

Due toWithIt is constant, is obtained according to formula (1) and (2)WithAfterwards, it is possible to calculated using formula (3)So as to obtain i-th length of rope

Therefore during feed, if to fixed load relative to being recharged the expected pose of ship, and measure by The pose of tender opposite base, it is possible to the rope lengths of bit shift compensation needs are calculated according to formula (4).Then real-time control The folding and unfolding of each rope makes its length equal with calculated value, it becomes possible to proof load be recharged the relative pose of ship and preset Desired value it is consistent, the relative motion with two ships is unrelated.

2) sling system velocity compensation principle

Formula (1) both sides derivation can be obtained

According to rigid motion theory, the derivation formula of direction cosine matrix is

WhereinForSkew symmetric matrix.Assuming that ω=[ωx ωy ωz]T, then

Skew symmetric matrix has following property:

[ω ×] υ=ω × υ (8)

Wherein ω and υ represent any two vector.

One coordinate system according to the Eulerian angles between Two coordinate system and its can lead relative to the angular speed of another coordinate system Number is calculated, that is,

Wherein

Formula (6) and (9) are substituted into formula (5), the computing formula of load and pedestal relative velocity can be obtained

As can be seen that speed, load of the load relative to the speed and load for being recharged ship relative to pedestal are relative to quilt The position of tender and to be recharged ship relevant relative to the speed of pedestal, Eulerian angles and its derivative.

Rope traction and parallel-connection mechanism load opposite base Formula for Angular Velocity of Fuze be

As can be seen that load relative to be recharged the angular speed of ship with load relative to pedestal angular speed and be recharged Ship is relevant with angular speed relative to the attitude of pedestal.Therefore, in order to proof load be recharged the relative velocity of ship to set in advance Fixed value without being influenceed by two ship relative motions, the motion spinor between load and pedestal have to meet formula (11) and (12)。

Formula (4) both sides square and then derivation can be obtained

Formula (3) is substituted into formula (13) and abbreviation is obtained

Similar with formula (6), the derivation formula of direction cosine matrix also has another form

Formula (15) is substituted into formula (14) can obtain

Property according to vectorial mixed product has

So formula (16) can be re-written as

Define l=[l1 l2 … lm]TIt is rope lengths vector, the corresponding formula of all ropes (18) is integrated into together may be used

In formula

The referred to as Jacobian matrix of rope traction and parallel-connection mechanism, is represented in coordinate system B, only and rope traction and parallel-connection mechanism Geometric parameter with load it is relevant relative to the pose of pedestal, it is unrelated with pose of the pedestal in inertial coodinate system.

The folding and unfolding speed of each rope of rope traction and parallel-connection mechanism is controlled, it is all met formula (19) at any time, then be negative Load is equal to preset value relative to the movement velocity for being recharged shipAnd it is unrelated with two ship relative motions, here it is speed Compensation principle.

3) sling system swings and suppresses principle

When number of degrees of freedom, of the rope number more than or equal to load, rope traction and parallel-connection mechanism is that kinematics determines.It is right In this kind of mechanism, if rope lengths do not change, and mechanism do not produce it is unusual, what the pose of load was just to determine.Therefore During supply, if all ropes all keep tensioning, loading will not necessarily produce swing, that is to say, that using motion Learn and determine that mechanism can completely avoid hunting of load.If load generates swing, there must be rope to occur lax.The present invention Rope number is 8, and load number of degrees of freedom is 6, and sling system determines mechanism for kinematics, can suppress the swing of load.

4) sling system load inertia parameter identification

The flow of inertial parameter identification is as shown in Figure 7.Actuation path reasonable in design first.In the process of parameter identification In, the influence of the selection of actuation path to identification precision is very big, and different types of parameter needs different actuation paths.The present invention What is recognized is inertial parameter, and actuation path will select high dynamic to move, to protrude inertia phenomena.In practical work process, Every supply of load all includes raising and two stages of decentralization, wherein the only decentralization stage needs to carry out compensation of undulation and accurate Control, therefore load can be made to be moved along the actuation path of setting in the raising stage, and complete parameter identification.

5) hardware design of servo-drive system

As shown in figure 8, being the hardware design block diagram of a set of servo-drive system.Wherein PCI-1710 is input collection of simulant signal Card, PCI-1622C is RS485 data acquisition cards, and PCI-1723 is analog signal output card, and three kinds of collection card interfaces are all PCI, It is connected with the mainboard pci interface of PC.Tension sensor detects steel wire rope tension, exports analog voltage signal, analog voltage Signal is by the input of ADAM3968 binding posts in PCI-1710 capture cards, capture card is changed through A/D, signal input to PC In machine.Absolute encoder detects steel wire rope position (length), exports RS485 signals, and by RS485 interfaces, signal is passed to PCI-1622C data collecting cards, in recently entering PC.The PCI-1723 analog signal outputs card signal that PC is exported By after D/A conversions, through ADAM3968 binding posts, outputting a signal on motor driver, motor driver is again signal It is transferred to motor, motor rotation.Motor driver can be input into unlike signal by motor, and position control is carried out to motor System, moment of torsion control and speed control, the encoder on servomotor is by RS485 signals to drivers velocity/position Feedback.

6) tensioning apparatus principle

As shown in figure 9, the tensioning apparatus 22 is by the support 2201 being located on pedestal, the fixed pulley being located on support 2201 2203rd, the slide rail 2204 for being slided along support 2201 and the tensioning wheel 2203 being located on slide rail 2204 and counterweight 3305 are constituted.

When without upward pulling force, slide rail can be moved under the pulling force that counterweight is conducted oneself with dignity according to direction shown in arrow.Work When, according to being wrapped on fixed pulley as shown in the figure, when steel wire rope is tensed, slide rail receives upward power to steel wire rope, and slide rail is static, when During steel wire rope looseness, the pulling force of counterweight acts on the power on slide rail more than steel wire rope, and slide rail is moved downward, while taut wire Rope.The effect of this device is to keep steel wire tensioning constantly, steel wire rope is skidded not on reel.

7) pedestal six-freedom motion detection relative with load

Pedestal six-freedom motion detection relative with load is as shown in Figure 10.Four summit P of load of sling system1— P4As tessarace, eight ropes are divided into four tetrahedrons, base plane is used as each tetrahedral base, connection Two ropes on same summit and the distance parameter of the origin for introducing to summit are being loaded as tetrahedral space line, is such as being schemed Shown in 10 (a), (b).Tetrahedral coordinate system is defined for X, Y, Z,Z=X × Y.First Individual tetrahedron includes three vector (P1,B1,B2,OB), wherein, OBIt is base central point, P1Be to load with steel wire rope tie point, It is tetrahedron top,Bi(i=1,2) is fixed pulley and steel wire rope contact point,Such as Figure 10 Shown in (c).Wherein λ1It is the unknown quantity for introducing, λ1=| | P1||.Then have

P11 (21)

λ111X+λ12Y-λ13Z (22)

Where,

Second tetrahedron includes three vector (P2,B3,B4,OB), wherein, P2It is, to load and steel wire rope tie point, to be Tetrahedron top,Bi(i=3,4) is fixed pulley and steel wire rope contact point,Such as Figure 10 (d) It is shown.Wherein λ2It is the unknown quantity for introducing, λ2=| | P2||.Then have

P22 (23)

λ221Y-λ22X-λ23Z (24)

Where,

3rd tetrahedron includes three vector (P3,B5,B6,OB), wherein, P3It is, to load and steel wire rope tie point, to be Tetrahedron top,Bi(i=5,6) is fixed pulley and steel wire rope contact point,Such as Figure 10 (e) It is shown.Wherein λ3It is the unknown quantity for introducing, λ3=| | P3||.Then have

P33 (25)

λ3=-λ31X-λ32Y-λ33Z (26)

Where,

4th tetrahedron includes three vector (P4,B7,B8,OB), wherein, P4It is, to load and steel wire rope tie point, to be Tetrahedron top,Bi(i=7,8) is fixed pulley and steel wire rope contact point,Such as Figure 10 (f) It is shown.Wherein λ4It is the unknown quantity for introducing, λ4=| | P4||.Then have

P44 (27)

λ4=-λ41Y+λ42X-λ43Z (28)

Where,

Constraint equation is

I.e.

fiIt is non-linear least square problem, λ can be solved using Lenin's Burger-Ma Kuier special formula methodsi(i=1,2,3, 4).Load opposite base position is

Direction vector is for R=[u, v, w]

Wherein

Wherein, A=180/ π.

Claims (6)

1. a kind of six degree of freedom active heave compensation hanging method, it is characterized in that be included on the crane gear of tender setting One pedestal, set on the pedestal eight sets servo-drive systems for constituting of rope traction sling systems driven by servomotor with Including two binocular vision detection systems of video camera composition, eight steel wire ropes in the rope traction sling system are pressed Every two four angles for lying in load respectively, are detected and by tender during supply and quilt respectively using two video cameras The relative position and relative attitude of tender, and the image information that will be detected resolves the free with respect to six of two ships by processor Degree motion, obtains the six-freedom motion control parameter of the relatively described pedestal of load, then by rope traction suspender system System Inverse Kinematics Solution calculates the control parameter of eight steel wire ropes motion, the i.e. speed and location parameter of steel wire rope, according to The steel wire rope present speed and location parameter, form negative-feedback and are input in the control parameter of steel wire rope, the servomotor Rotating speed and the direction of steel wire rope are controlled according to the control parameter, is made the six-freedom motion of load opposite base and is recharged ship The six-freedom motion of opposite base is consistent, reaches the purpose of six degree of freedom relative motion compensation.
2. six degree of freedom active heave compensation hanging method according to claim 1, it is characterized in that institute in hoisting process State steel wire rope and be in tensioning state all the time.
3. a kind of six degree of freedom active heave compensation Lift-on/Lift-off System, it is characterized in that including the base being located on tender crane gear Seat, the pedestal is provided with eight sets of servo-drive systems, detecting systems;Every suit servo-drive system includes what is controlled by control section Servomotor deceleration device and the rope traction sling system driven by servomotor deceleration device;The detecting system includes Two video cameras and its image data acquiring circuit.
4. six degree of freedom active heave compensation Lift-on/Lift-off System according to claim 3, it is characterized in that the control section Including PC, analog output data collecting card, motor driver, absolute type encoder, RS485 input datas capture card, mould Analog quantity input data capture card, tension sensor.
5. six degree of freedom active heave compensation Lift-on/Lift-off System according to claim 4, it is characterized in that the steel wire rope leads Drawing sling system includes the reel driven by servomotor deceleration device, the steel wire rope on reel, is led for steel wire rope To the first fixed pulley, the tensioning apparatus for steel wire tensioning.
6. six degree of freedom active heave compensation Lift-on/Lift-off System according to claim 5, it is characterized in that the tensioning apparatus Including the support being located on pedestal, the second fixed pulley being located on support, the slide rail along bracket slide and be located on slide rail Bearing up pulley and counterweight.
CN201611041944.9A 2016-11-24 2016-11-24 A kind of six degree of freedom active heave compensation hanging method and Lift-on/Lift-off System CN106744320A (en)

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CN107161843A (en) * 2017-06-23 2017-09-15 上海振华重工(集团)股份有限公司 Eight rope single actions look for case system
CN107265314A (en) * 2017-07-06 2017-10-20 嘉兴学院 Multiple degrees of freedom active heave compensation simulator based on parallel institution
CN107571245A (en) * 2017-09-27 2018-01-12 北京航空航天大学 A kind of numerical control 6DOF parallel institution Minitype swing machine
CN108646551A (en) * 2018-04-11 2018-10-12 南通大学 Heave compensation control system design method
CN108715406A (en) * 2018-06-12 2018-10-30 衢州学院 Super capacitor energy-storage arm for compensation of undulation bus bar side energy management
CN109147452A (en) * 2018-09-06 2019-01-04 燕山大学 A kind of delay parachuting training analog platform
CN109534188A (en) * 2018-11-16 2019-03-29 山东大学 A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform
CN109553005A (en) * 2018-11-16 2019-04-02 山东大学 A kind of hard and soft formula multidimensional wave motion compensation unit for maritime floating platform
WO2019148593A1 (en) * 2018-02-02 2019-08-08 上海海事大学 Six-degree-of-freedom wave compensation platform
CN110255357A (en) * 2019-05-31 2019-09-20 中南大学 A kind of the lifting anti-sway multifunctional hanging tool of posture adjustment and its control method

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107161843A (en) * 2017-06-23 2017-09-15 上海振华重工(集团)股份有限公司 Eight rope single actions look for case system
CN107265314A (en) * 2017-07-06 2017-10-20 嘉兴学院 Multiple degrees of freedom active heave compensation simulator based on parallel institution
CN107571245A (en) * 2017-09-27 2018-01-12 北京航空航天大学 A kind of numerical control 6DOF parallel institution Minitype swing machine
CN107571245B (en) * 2017-09-27 2020-10-16 北京航空航天大学 Small-size handling machine of 6 degrees of freedom parallel mechanism of numerical control
WO2019148593A1 (en) * 2018-02-02 2019-08-08 上海海事大学 Six-degree-of-freedom wave compensation platform
CN108646551A (en) * 2018-04-11 2018-10-12 南通大学 Heave compensation control system design method
CN108715406A (en) * 2018-06-12 2018-10-30 衢州学院 Super capacitor energy-storage arm for compensation of undulation bus bar side energy management
CN109147452A (en) * 2018-09-06 2019-01-04 燕山大学 A kind of delay parachuting training analog platform
CN109534188A (en) * 2018-11-16 2019-03-29 山东大学 A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform
CN109553005A (en) * 2018-11-16 2019-04-02 山东大学 A kind of hard and soft formula multidimensional wave motion compensation unit for maritime floating platform
CN110255357A (en) * 2019-05-31 2019-09-20 中南大学 A kind of the lifting anti-sway multifunctional hanging tool of posture adjustment and its control method

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