EP4137435A1 - Active compensation system, intended for compensating at least partially the effect of a wave-like movement on a load - Google Patents

Abstract

The present invention relates to an active compensation system, intended to compensate at least partially the effect of a wave motion on a load, advantageously in a vertical direction, preferably for the active compensation of the swell.The active compensation system ( 1) comprises:- electrical power supply means (3) which are electrically connected to electrical storage means (4),- electrical energy dissipating means (6), and- control means (5) for discharging the electric storage means (4) during a first phase (A) of the undulatory movement, to take part in the electric supply of the said electric motor means (2) in addition to the electric supply means (3), and to recharging the electrical storage means (4) via the electrical supply means (3) during a second phase (B) of the wave motion.

Description

Technical field of the invention

The present invention relates to the technical field of active compensation systems, intended to compensate at least partially for the effect of a wave motion on a load, advantageously in a vertical direction, preferably for the active compensation of the swell.

State of the art

Active heave compensation, also known as “active heave compensation”, is a function generally used in lifting applications which aims to compensate for the movement of the ship in relation to the movement of a load.

Active heave compensation systems are traditionally hydraulically operated.

In such a hydraulic solution, the necessary power is amortized by integrating an accumulator into the hydraulic network of the lifting device. The accumulator is then able to provide the necessary increase in power and to absorb most of the energy that is returned.

But the hydraulic solutions are no longer in line with the dynamics of reducing the environmental impact which results in the electrification of the equipment, including for the active compensation of the swell.

But this “electrical” approach to active heave compensation leads to a high power demand on the ship, with large variations in this demand (load drop).

To limit the power required at ship level and balance demand, one solution is to equip the electrical system with electrical energy storage.

Thus, when lifting the load, when the required power is greater than the nominal maximum, the electrical energy storage distributes the power.

• il convient de gérer l'énergie électrique restituée par les moteurs, et
• il existe toujours une variation importante de la demande en énergie électrique, notamment du fait de la réduction significative de la demande de puissance électrique pendant cette phase de descente.

But this approach then poses problems during the lowering phase of the load:

• it is necessary to manage the electrical energy returned by the motors, and
• there is always a significant variation in the demand for electrical energy, in particular due to the significant reduction in the demand for electrical power during this descent phase.

More generally, it is always advantageous to have new active compensation systems which are adapted to at least partially compensate for the effect of an undulating movement on a load, generally in a vertical direction.

Presentation of the invention

In order to remedy the aforementioned drawback of the state of the art, the present invention proposes an active compensation system, intended to compensate at least partially for the effect of an undulating movement on a load, advantageously in a vertical direction, preferably for active heave compensation.

• des moyens moteurs électriques, adaptés à manœuvrer ladite charge au cours d'une première phase dudit mouvement ondulatoire, de préférence une phase de levage au cours de laquelle ladite charge est levée depuis une position basse jusqu'à une position haute,
• des moyens d'alimentation électrique, connectés électriquement aux moyens moteurs électriques, pour alimenter électriquement lesdits moyens moteurs électriques,
• des moyens de stockage électrique, connectés électriquement aux moyens moteurs électriques, pour compléter l'alimentation électrique desdits moyens moteurs électriques au cours de ladite première phase du mouvement ondulatoire,
• des moyens de commande, destinés à piloter ledit système de compensation active.

More particularly, the invention relates to an active compensation system which comprises:

• electric motor means, suitable for maneuvering said load during a first phase of said undulating movement, preferably a lifting phase during which said load is lifted from a low position to a high position,
• electrical power supply means, electrically connected to the electric motor means, for electrically supplying said electric motor means,
• electric storage means, electrically connected to the electric motor means, for supplementing the electric power supply of said electric motor means during said first phase of the undulatory movement,
• control means, intended to control said active compensation system.

And, according to the invention, said electrical supply means are also electrically connected to the electrical storage means, to electrically supply said electrical storage means.

The active compensation system further comprises electrical energy dissipating means which are electrically connected to the electric motor means so as to convert, into heat energy, the electrical energy produced by said electric motor means during a second phase of said movement undulatory, preferably a descent phase during which said load descends from said high position to said low position.

• décharger lesdits moyens de stockage électrique lors de ladite première phase du mouvement ondulatoire, pour participer à l'alimentation électrique desdits moyens moteurs électriques en complément desdits moyens d'alimentation électrique, et
• recharger lesdits moyens de stockage électrique via lesdits moyens d'alimentation électrique, lors de ladite seconde phase du mouvement ondulatoire.

The control means comprise a control module designed to:

• discharging said electric storage means during said first phase of the undulatory movement, to participate in the electric supply of said electric motor means in addition to said electric supply means, and
• recharging said electrical storage means via said electrical supply means, during said second phase of the wave motion.

In the technical solution according to the invention, the charging of the electrical storage means is carried out by the electrical supply means.

• la puissance requise au niveau des moyens d'alimentation électrique est réduite lors de la première phase du mouvement ondulatoire, en limitant les pics grâce aux moyens de stockage électrique, et
• la puissance requise pour les moyens d'alimentation électrique est équilibrée : lorsque le besoin de puissance des moyens moteurs électriques n'est pas maximal (notamment lors de la seconde phase du mouvement ondulatoire), la puissance de charge pour les moyens de stockage électrique maintient la demande de puissance stable,
• l'énergie électrique restituée par les moyens moteurs électriques lors de la seconde phase dudit mouvement ondulatoire est prise en charge par les moyens dissipateurs d'énergie électrique (sans être stockée dans les moyens de stockage électrique).

This technical solution according to the invention has various advantages:

• the power required at the level of the electrical supply means is reduced during the first phase of the wave motion, by limiting the peaks thanks to the electrical storage means, and
• the power required for the electrical supply means is balanced: when the power requirement of the electrical motor means is not maximum (in particular during the second phase of the undulatory movement), the load power for the electrical storage means maintains stable power demand,
• the electric energy restored by the electric motor means during the second phase of said undulatory movement is taken over by the electric energy dissipating means (without being stored in the electric storage means).

• ladite énergie électrique restituée par les moyens moteurs électriques lors de ladite seconde phase dudit mouvement ondulatoire est prise en charge par lesdits moyens dissipateurs d'énergie électrique, sans être stockée dans les moyens de stockage électrique ;
• les moyens de stockage électrique sont choisis parmi au moins un condensateur, un supercondensateur, une batterie ou un moteur / générateur avec volant ;
• les moyens dissipateurs d'énergie électrique consistent en des moyens de résistance de freinage (chopper / brake resistor) ;
• les moyens d'alimentation électrique consistent en des moyens d'alimentation électrique d'un engin ;
• les moyens de commande comprennent un dispositif de mesure de tension, destiné à mesurer une valeur de tension des moyens d'alimentation électrique, un module de comparaison, destiné à comparer ladite valeur de tension mesurée avec une valeur de tension seuil faible et à une valeur de tension seuil élevée, et le module de pilotage adapté à décharger lesdits moyens de stockage électrique lorsque la valeur de tension mesurée est inférieure à la valeur de tension seuil faible et à recharger lesdits moyens de stockage électrique lorsque la valeur de tension mesurée est supérieure à ladite valeur de tension seuil élevée ;
• les moyens de stockage électrique sont connectés électriquement, en parallèle, entre lesdits moyens d'alimentation électrique et lesdits moyens moteurs électrique ;
• les moyens d'alimentation électrique sont connectés électriquement aux moyens de stockage électrique par l'intermédiaire de moyens redresseurs et de moyens convertisseurs continu / continu ;
• les moyens d'alimentation électrique sont connectés électriquement aux moyens moteurs par l'intermédiaire de moyens redresseurs bidirectionnel ou unidirectionnel et de moyens onduleurs ;
• les moyens de stockage électrique sont connectés électriquement aux moyens moteurs électrique par l'intermédiaire de moyens convertisseurs continu / continu unidirectionnels ;
• les moyens dissipateurs d'énergie électrique sont connectés électriquement aux moyens moteurs électrique par l'intermédiaire de moyens convertisseurs continu / continu unidirectionnels ;

Other non-limiting and advantageous characteristics of the product in accordance with the invention, taken individually or according to all the technically possible combinations, are the following:

• said electrical energy restored by the electric motor means during said second phase of said undulatory movement is taken over by said electrical energy dissipating means, without being stored in the electrical storage means;
• the electrical storage means are chosen from at least one capacitor, a supercapacitor, a battery or a motor/generator with flywheel;
• the electrical energy dissipating means consist of brake resistor means (chopper/brake resistor);
• the power supply means consist of power supply means of a machine;
• the control means comprise a voltage measuring device, intended to measure a voltage value of the electrical power supply means, a comparison module, intended to compare said measured voltage value with a low threshold voltage value and with a value high threshold voltage, and the control module adapted to discharge said electric storage means when the measured voltage value is lower than the low threshold voltage value and to recharge said electric storage means when the measured voltage value is higher than said high threshold voltage value;
• the electric storage means are electrically connected, in parallel, between said electric power supply means and said electric motor means;
• the electrical power supply means are electrically connected to the electrical storage means via rectifier means and DC/DC converter means;
• the power supply means are electrically connected to the motor means via bidirectional or unidirectional rectifier means and inverter means;
• the electric storage means are electrically connected to the electric motor means via unidirectional DC/DC converter means;
• the electrical energy dissipating means are electrically connected to the electric motor means via unidirectional DC/DC converter means;

The present invention also relates to a machine equipped with an active compensation system according to the invention.

The present invention also relates to the method of active compensation within a machine according to the invention, intended to compensate at least partially for the effect of an undulating movement on a load, advantageously in a vertical direction, preferably for the compensation active swell.

• une première étape, correspondant à une première phase du mouvement ondulatoire, de préférence une phase de levage au cours de laquelle ladite charge est levée depuis une position basse jusqu'à une position haute, au cours de laquelle lesdits moyens de stockage électrique sont déchargés pour participer à l'alimentation électrique desdits moyens moteurs électriques en complément desdits moyens d'alimentation électrique, et
• une seconde étape, correspondant à une seconde phase du mouvement ondulatoire, de préférence une phase de descente au cours de laquelle ladite charge descend depuis une position haute jusqu'à une position basse, au cours de laquelle les moyens de stockage électrique sont rechargés par lesdits moyens d'alimentation électrique et l'énergie produite par les moyens moteurs électriques est convertie en énergie calorifique par lesdits moyens dissipateurs d'énergie électrique.

The process comprises successive cycles comprising two steps:

• a first stage, corresponding to a first phase of the undulatory movement, preferably a lifting phase during which said load is lifted from a low position to a high position, during which said electrical storage means are discharged to participate in the power supply of said electric motor means in addition to said power supply means, and
• a second stage, corresponding to a second phase of the undulatory movement, preferably a descent phase during which said load descends from a high position to a low position, during which the electric storage means are recharged by said electric power supply means and the energy produced by the electric motor means is converted into heat energy by said electric energy dissipating means.

Of course, the different characteristics, variants and embodiments of the invention can be associated with each other in various combinations insofar as they are not incompatible or exclusive of each other.

Detailed description of the invention

• [Fig. 1] est une vue schématique qui illustre le système de compensation active selon l'invention ;
• [Fig. 2] est une vue schématique qui illustre un appareil pouvant être équipé d'un système de compensation active selon l'invention.

In addition, various other characteristics of the invention emerge from the appended description made with reference to the drawings which illustrate non-limiting forms of embodiment of the invention and where:

• [ Fig. 1 ] is a schematic view which illustrates the active compensation system according to the invention;
• [ Fig. 2 ] is a schematic view which illustrates an apparatus which can be equipped with an active compensation system according to the invention.

It should be noted that, in these figures, the structural and/or functional elements common to the different variants may have the same references.

The present invention thus relates to an active compensation system 1 which is intended to compensate at least partially for the effect of an undulating movement on a load C, preferably in a vertical direction or possibly in at least one other direction (for example least one horizontal direction).

In general, such a mobile load C is conventionally maneuvered in a vertical direction, between two positions: a low position and a high position.

• une phase de levage, au cours de laquelle la charge C est levée depuis la position basse jusqu'à la position haute, et
• une phase de descente, au cours de laquelle la charge C descend depuis la position haute jusqu'à la position basse.

And, within the framework of a movement according to a vertical direction, the wave movement comprises two phases:

• a lifting phase, during which the load C is lifted from the low position to the high position, and
• a descent phase, during which the load C descends from the high position to the low position.

The active compensation system 1 according to the invention is preferably suitable for active heave compensation (also called “active heave compensation”).

The load C can then be submerged or partially submerged.

Such active heave compensation can be provided for any type of load C, for example a load to be transported by a crane G or other lifting installation ( figure 2 ), underwater construction such as pipe laying equipment, etc.

In general, the active compensation system 1 according to the invention makes it possible in particular to optimize the electrical power demand in a lifting device G ( figure 2 ). It is thus applicable to any peak demand for the electrical power of a lifting device G.

The active compensation system 1 according to the invention is also applicable to any device exhibiting demand peaks for electrical power due to a wave motion on a load, in particular for the active compensation of the swell.

Such an active compensation system 1 is in particular intended to equip a machine which advantageously includes a lifting device G or a horizontal position compensation device.

The term “device” encompasses in particular marine devices (not shown), in particular pipeline laying boats or wind turbine support mono-base laying boats (also called “monopie”).

The term "hoisting device" encompasses in particular a winch, a jib of a lifting device G (for example by raising and lowering the jib and/or by modifying a length of the latter).

The active compensation system 1 according to the invention advantageously consists of an electrical active compensation system 1 which comprises advantageously an electrical circuit 1a equipped with the various electrical components described below in relation to the figure 1 .

• des moyens moteurs électriques 2, adaptés à manœuvrer la charge au cours d'une première phase A du mouvement ondulatoire, de préférence la phase de levage,
• des moyens d'alimentation électrique 3, connectés électriquement aux moyens moteurs électriques 2, pour alimenter électriquement ces moyens moteurs électriques 2,
• des moyens de stockage électrique 4, connectés électriquement aux moyens moteurs électriques 2, pour compléter l'alimentation électrique des moyens moteurs électriques 2 au cours de la première phase A du mouvement ondulatoire, et
• des moyens de commande 5, destinés à piloter le système de compensation active 1.

According to the invention, the active compensation system 1 comprises:

• electric motor means 2, suitable for maneuvering the load during a first phase A of the undulating movement, preferably the lifting phase,
• electrical power supply means 3, electrically connected to the electric motor means 2, to electrically supply these electric motor means 2,
• electric storage means 4, electrically connected to the electric motor means 2, to complete the electric power supply of the electric motor means 2 during the first phase A of the undulatory movement, and
• control means 5, intended to control the active compensation system 1.

And, according to the invention, the electrical supply means 3 are also electrically connected to the electrical storage means 4, to electrically supply these electrical storage means 4.

In general, the electrical storage means 4 are thus intended to be charged by the electrical supply means 3.

During a first phase of the wave motion, the power required on the DC bus is greater than the nominal maximum; the electric storage means 4 distribute the electric power to complete the electric power supply of the electric motor means 2 during the first phase A of the undulatory movement.

Conversely, the electrical storage means 4 are charged during the period when the required power is less than the maximum, thus further reducing the electrical power demand fluctuation.

Still according to the invention, the active compensation system 1 also comprises electrical energy dissipating means 6 which are electrically connected to the electric motor means 2 so as to convert, into calorific energy, the electrical energy produced by the electric motor means 2 during a second phase B of the wave motion, preferably the descent phase.

The characteristics of the active compensation system 1 according to the invention are further described in more detail below.

In general, the relative arrangement of the components on the electrical circuit 1a is further described by the terms "upstream" / "downstream" taking into account the relative arrangement with respect to the electrical supply means 3.

Power supply means

The electrical power supply means 3 advantageously consist of an alternating current generator or alternator.

The electrical supply means 3 preferably consist of electrical supply means 3 of the machine equipped with the active compensation system 1.

In this case, the electrical supply means 3 are also called “Vessel Power Supply” or VPS.

The electric power supply means 3 are advantageously electrically connected to the electric motor means 2 via rectifier means 11 (REC), preferably bidirectional or unidirectional.

The rectifier means 11 create a direct voltage from an alternating or direct electric current, obtained from a switchboard 31 of the machine (also called VSW or "vessel switch board").

When the machine accepts the return of electrical energy to the electrical network, the rectifier means 11 are advantageously bidirectional; otherwise the rectifier means 11 are advantageously unidirectional.

In this case, the rectifier means 11 are advantageously mounted on a main branch 1a1 (or main electric line) of the electric circuit 1a.

The electrical power supply means 3, and where applicable the rectifier means 11, advantageously form a “main power supply” module, also called “Vessel Power Supply” (VPS).

Medium electric motors

The electric motor means 2 advantageously comprise at least two electric motors 21, connected in parallel to the electric circuit 1a.

• au cours de la première phase A du mouvement ondulatoire, les moyens moteurs électriques 21 assurent une fonction moteur entrainant la charge dans un premier sens vertical, et
• au cours de la seconde phase B du mouvement ondulatoire, l'énergie est restituée et les moyens moteurs électriques 21 assurent une fonction générateur électrique.

An electric motor 21 advantageously consists of an electric motor-generator:

• during the first phase A of the undulatory movement, the electric motor means 21 perform a motor function driving the load in a first vertical direction, and
• during the second phase B of the undulatory movement, the energy is restored and the electric motor means 21 provide an electric generator function.

The electric motor means 2 are advantageously electrically connected to the electric circuit 1a via inverter means 22.

The electric motor means 2 advantageously equip a lifting device, or any other maneuvering device, carried by the machine.

Electric storage means

The electrical storage means 4 are also called “storage capacity” or SCA.

The electrical storage means 4 advantageously limit the electrical power required by the electrical supply means 3 and balance the load.

The electric storage means 4 are advantageously chosen from at least one capacitor, a supercapacitor, a battery or a motor/generator with a flywheel.

The electric storage means 4 can comprise several capacitors, supercapacitors, batteries or motors/generators with a flywheel, connected in series, connected in parallel, or any combination thereof.

The dimensioning of the electrical storage means 4 is adapted to the needs of the active compensation system 1. The electrical storage means 4 can be dimensioned according to the characteristics of the movements of the mobile load (speed, amplitude, etc.), advantageously according to a vertical direction.

The electric storage means 4 are advantageously connected electrically, in parallel, between the electric power supply means 3 and the electric motor means 2.

In other words, the electric storage means 4 are advantageously mounted in parallel or in branch, on a secondary branch 1a2 of the electric circuit 1a.

Still in other words, the electric storage means 4 are advantageously connected electrically, in parallel, to the electric supply means 3 to supply the electric motor means 2.

• la branche principale 1a1, comprenant avantageusement les moyens redresseurs 11, et
• la branche secondaire 1a2, comprenant avantageusement les moyens de stockage électrique 4.

The electrical circuit 1a advantageously comprises at least two branches:

• the main branch 1a1, advantageously comprising the rectifying means 11, and
• the secondary branch 1a2, advantageously comprising the electrical storage means 4.

The secondary branch 1a2 advantageously constitutes an energy storage module or “energy storage” (EST).

The charging and discharging of the electric storage means 4 are advantageously bidirectional, depending on the demand on the bus (DC voltage level), not specifically dedicated to a function.

The electrical storage means 4 are used to balance the energy requirement, optimize energy efficiency and reduce demand peaks on the electrical network.

• de moyens redresseurs 8, et
• de moyens convertisseurs 9 continu / continu (dits encore « DC-DC Converter » ou DCC), en amont (en entrée) des moyens de stockage électrique 4.

The electrical supply means 3 are preferably electrically connected to the electrical storage means 4 via:

• rectifier means 8, and
• DC/DC converter means 9 (also called “DC-DC Converter” or DCC), upstream (at the input) of the electrical storage means 4.

The rectifier means 8, conventional in themselves and also called AC/DC converter, are intended to supply the electric storage means 4 with a direct current from the electric supply means 3 supplying an alternating current.

The converter means 9, upstream, are adapted to ensure a conversion of the supply voltage to an appropriate charging voltage of the electrical storage means 4.

The electric storage means 4 are thus advantageously connected with the electric power supply means 3 via own rectifier means 8.

The distribution of electrical energy from the electrical supply means 3 to the electrical storage means 4 is advantageously based on this combination of rectifier means 8 and DC/DC converter means 9.

The rectifier means 8 and the DC/DC converter means 9 can be separate modules or the two functions can be integrated into a single module.

The rectifier means 8 and the converter means 9 are advantageously located on the secondary branch 1a2 of the electrical circuit 1a, upstream of the electrical storage means 4.

The rectifier means 8 and the DC/DC converter means 9 are advantageously connected in series, upstream of the electric storage means 4 (with successively the rectifier means 8, the DC/DC converter means 9 and the electric storage means 4).

The electric storage means 4 are advantageously electrically connected to the electric motor means 2 via unidirectional DC/DC converter means 10 (direction of current flow from the electric storage means 4 to the electric motor means 2).

The unidirectional DC/DC converter means 10 are advantageously located on the secondary branch 1a2 of the electrical circuit 1a, downstream of the electrical storage means 4.

The unidirectional DC/DC converter means 10, downstream, are adapted to ensure a conversion of the supply voltage from the electrical storage means 4 to an appropriate voltage of the electric motor means 2.

Means for dissipating electrical energy

Generally and preferably, the electrical energy dissipating means 6 advantageously absorb overvoltages and secure the common DC bus in the event of failure or overload of the electrical storage means 4 during the charging phase.

The electrical energy dissipating means 6 advantageously consist of braking resistor means (also called “chopper/brake resistor”), also called “resistor” or RES.

The electrical energy dissipating means 6 are electrically connected to the electrical circuit 1a via unidirectional converter means 12 (preferably DC-DC or DC-AC).

The unidirectional converter means 12 are also called "converter" or CON.

The unidirectional converter means 12 are adapted to ensure a conversion of the supply voltage coming from the electric motor means 2 to a voltage suitable for the electric power dissipating means 6 (direction of the current from the electric motor means 2 to the dissipating means of electrical energy 6).

The electrical energy dissipating means 6 and the unidirectional converter means 12 are advantageously installed, in series, on a tertiary branch 1a3 of the electrical circuit 1a.

The electrical energy dissipating means 6, and if necessary the unidirectional converter means 12, form an electrical braking module, also called a “braking unit” (BUN).

Ordering methods

• décharger les moyens de stockage électrique 4 lors de la première phase A du mouvement ondulatoire, pour participer à l'alimentation électrique des moyens moteurs électriques 2 en complément des moyens d'alimentation électrique 3, et
• recharger les moyens de stockage électrique 4 via les moyens d'alimentation électrique 3 lors de la seconde phase B du mouvement ondulatoire.

In general, the control means 5 advantageously comprise a control module 51 designed to:

• discharging the electric storage means 4 during the first phase A of the undulatory movement, to participate in the electric supply of the electric motor means 2 in addition to the electric supply means 3, and
• recharging the electrical storage means 4 via the electrical supply means 3 during the second phase B of the wave motion.

• un dispositif de mesure de tension 52, destiné à mesurer une valeur de tension des moyens d'alimentation électrique 3,
• un module de comparaison 53, destiné à comparer la valeur de tension mesurée avec une valeur de tension seuil faible et à une valeur de tension seuil élevée, et
• ledit module de pilotage 51, conçu pour décharger les moyens de stockage électrique 4 lorsque la valeur de tension mesurée est inférieure à la valeur de tension seuil faible et pour recharger les moyens de stockage électrique 4 lorsque la valeur de tension mesurée est supérieure à la valeur de tension seuil élevée.

For this, the control means 5 advantageously comprise:

• a voltage measuring device 52, intended to measure a voltage value of the electrical power supply means 3,
• a comparison module 53, intended to compare the measured voltage value with a low threshold voltage value and with a high threshold voltage value, and
• said control module 51, designed to discharge the electric storage means 4 when the measured voltage value is lower than the low threshold voltage value and to recharge the electric storage means 4 when the measured voltage value is higher than the value high threshold voltage.

In general, the control means 5 also advantageously comprise an active compensation module 55 which is designed to control the electric motor means 2 taking into account data coming from a movement acquisition module (also called “MRU” for “Motion Reference Unit”), so as to stabilize the load in a vertical position.

If necessary, the active compensation module 55 is thus structured to control the electric motor means 2 so as to compensate for the movements of the machine caused by the waves.

Such an active compensation module 55 thus offers precise positioning of the load, making it possible to maintain this load in a constant vertical position.

• des moyens de collecte des données provenant du module d'acquisition des mouvements,
• des moyens de traitement, pour déterminer des instructions de commande pour les moyens moteurs électriques 2 qui sont adaptées à stabiliser la charge, et
• des moyens de pilotage, pour piloter lesdits moyens moteurs électriques 2 tenant compte desdites instructions de commande.

According to a preferred embodiment, the active compensation module 55 comprises:

• means for collecting data from the movement acquisition module,
• processing means, for determining control instructions for the electric motor means 2 which are suitable for stabilizing the load, and
• control means, for controlling said electric motor means 2 taking into account said control instructions.

In practice and generally, the control means 5 comprise a computer. And the control module 51 and the active compensation module 55 comprise at least one computer program which comprises instructions which, when said computer program is executed by said computer, form the modules of said control means 5.

• le déchargement des moyens de stockage électrique 4 lors de la première phase A du mouvement ondulatoire et
• le rechargement des moyens de stockage électrique 4 via les moyens d'alimentation électrique 3 lors de la seconde phase B du mouvement ondulatoire.

The control module 51 thus advantageously constitutes a computer-controlled system which makes it possible to control:

• the unloading of the electrical storage means 4 during the first phase A of the wave motion and
• the recharging of the electrical storage means 4 via the electrical supply means 3 during the second phase B of the wave motion.

The active compensation module 55 thus advantageously constitutes a computer-controlled system which makes it possible to maintain the position of the load (compensating for the movements caused by the waves), by using the electric motor means 2.

Active compensation process

The present invention also relates to an active compensation method within a machine according to the invention.

This method is intended to compensate at least partially for the effect of a wave motion on a load, advantageously in a vertical direction and/or optionally in at least one other direction, preferably for the active compensation of the swell.

• une première étape, correspondant à une première phase A du mouvement ondulatoire, de préférence une phase de levage au cours de laquelle ladite charge est levée depuis une position basse jusqu'à une position haute, au cours de laquelle lesdits moyens de stockage électrique 4 sont déchargés pour participer à l'alimentation électrique desdits moyens moteurs électriques 2 en complément des moyens d'alimentation électrique 3, et
• une seconde étape, correspondant à une seconde phase B du mouvement ondulatoire, de préférence une phase de descente au cours de laquelle ladite charge descend depuis une position haute jusqu'à une position basse, au cours de laquelle les moyens de stockage électrique 4 sont rechargés par lesdits moyens d'alimentation électrique 3 et l'énergie produite par les moyens moteurs électriques 2 est convertie en énergie calorifique par lesdits moyens dissipateurs d'énergie électrique 6.

The method according to the invention comprises successive cycles comprising two steps:

• a first stage, corresponding to a first phase A of the undulatory movement, preferably a lifting phase during which said load is lifted from a low position to a high position, during which said electrical storage means 4 are discharged to participate in the power supply of said electric motor means 2 in addition to the power supply means 3, and
• a second stage, corresponding to a second phase B of the wave motion, preferably a descent phase during which said load descends from a high position to a low position, during which the electrical storage means 4 are recharged by said electric power supply means 3 and the energy produced by the electric motor means 2 is converted into calorific energy by said electric energy dissipating means 6.

Of course, various other modifications may be made to the invention within the scope of the appended claims.

Claims (13)

Active compensation system, intended to compensate at least partially the effect of a wave motion on a load, advantageously in a vertical direction, preferably for the active compensation of the swell, which active compensation system (1) comprises: - electric motor means (2), suitable for maneuvering said load during a first phase (A) of said undulating movement, preferably a lifting phase during which said load is lifted from a low position to a high position, - electrical power supply means (3), electrically connected to the electric motor means (2), for electrically supplying said electric motor means (2), - electrical storage means (4), electrically connected to the electric motor means (2), to complete the electrical supply of said electric motor means (2) during said first phase (A) of the wave motion, - control means (5), intended to control said active compensation system (1), characterized in that said electrical supply means (3) are also electrically connected to the electrical storage means (4), to electrically supply said electrical storage means (4), which active compensation system (1) further comprises electric energy dissipating means (6) which are electrically connected to the electric motor means (2) so as to convert, into calorific energy, the electric energy produced by the said electric motor means (2) during a second phase (B) of said undulatory movement, preferably a descending phase during which said load descends from said high position to said low position, and which control means (5) comprise a piloting module (51) designed to: - discharging said electrical storage means (4) during said first phase (A) of the undulatory movement, to participate in the electrical supply of said electrical motor means (2) in addition to said electrical supply means (3), and - recharging said electrical storage means (4) via said electrical supply means (3), during said second phase (B) of the wave motion. Active compensation system, according to Claim 1, characterized in that the said electrical energy restored by the electric motor means (2) during the said second phase (B) of the said undulatory movement is taken over by the said electrical energy dissipating means ( 6), without being stored in the electrical storage means (4). Active compensation system, according to any one of Claims 1 or 2, characterized in that the electrical storage means (4) are chosen from among at least one capacitor, one supercapacitor, one battery or one motor/generator with flywheel. Active compensation system, according to any one of Claims 1 to 3, characterized in that the electrical energy dissipating means (6) consist of braking resistor means. Active compensation system, according to any one of Claims 1 to 4, characterized in that the electrical supply means (3) consist of electrical supply means (3) of a machine. Active compensation system, according to any one of Claims 1 to 5, characterized in that the control means (5) comprise: - a voltage measuring device (52), intended to measure a voltage value of the electrical power supply means (3), - a comparison module (53), intended to compare said measured voltage value with a low threshold voltage value and with a high threshold voltage value, and - said control module (51), adapted to discharge said electrical storage means (4) when the measured voltage value is lower than the low threshold voltage value and to recharge said electrical storage means (4) when the value of measured voltage is greater than said high threshold voltage value. Active compensation system, according to any one of Claims 1 to 6, characterized in that the electric storage means (4) are electrically connected, in parallel, between the said electric power supply means (3) and the said electric motor means (2). Active compensation system, according to any one of Claims 1 to 7, characterized in that the electrical supply means (3) are electrically connected to the electrical storage means (4) via: - rectifier means (8), and - DC / DC converter means (9). Active compensation system, according to any one of Claims 1 to 8, characterized in that the electric power supply means (3) are electrically connected to the electric motor means (2) via: - rectifier means (11), bidirectional or unidirectional, and - Inverter means (22). Active compensation system, according to any one of Claims 1 to 9, characterized in that the electric storage means (4) are electrically connected to the electric motor means (2) via unidirectional DC/DC converter means ( 10). Active compensation system, according to any one of Claims 1 to 10, characterized in that the electrical energy dissipating means (6) are electrically connected to the electric motor means (2) via DC/DC converter means. unidirectional (12). Machine equipped with an active compensation system (1) according to any one of claims 1 to 11. Method of active compensation within a machine according to claim 12, intended to compensate at least partially for the effect of a wave motion on a load, advantageously in a vertical direction, preferably for the active compensation of the swell,
which method comprises successive cycles comprising two steps: - a first stage, corresponding to a first phase (A) of the undulatory movement, preferably a lifting phase during which said load is lifted from a low position to a high position, during which said storage means electricity (4) are discharged to participate in the supply electrical power of said electric motor means (2) in addition to said electric power supply means (3), and - a second stage, corresponding to a second phase (B) of the wave motion, preferably a descent phase during which said load descends from a high position to a low position, during which the electrical storage means (4) are recharged by said electric power supply means (3) and the energy produced by the electric motor means (2) is converted into heat energy by said electric energy dissipating means (6).

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