一种新型船用起重机综合补偿系统原理及运动学模型

The principle and kinetic model of a new offshore crane comprehensive compensation system

针对深水吊装作业摆动抑制和升沉补偿问题,提出一种新型船用起重机综合补偿系统.在船用起重机底座加装防摇平台,使船用起重机保持平稳.船舶升沉运动则由液压绞车补偿,从而降低综合补偿的能耗.介绍综合补偿系统的组成和原理,并进行系统的运动学建模,求得在船舶横摇角、纵摇角、升沉条件下各个转动关节的关节角及对应液压缸的长度.

For swing suppression and heave compensation problem of deepwater hoisting, a new offshore crane compre- hensive compensation system was proposed. An anti-swing platform was installed under the pedestal of offshore crane so as to keep the offshore crane stable. Meanwhile the hydraulic winch was employed to compensate ship heave motion. The composition and principle of the proposed comprehensive com- pensation system were described and the kinetic model was built, and each rotational joint angle and its corresponding hy- draulic cylinder length for the ship rolling angle, pitching an- gle and heave motion were solved.