Method and system for collaborative heave compensation control of a dual ship-mounted hoisting arm system

Patent metadata

Field	Value
Publication number	US-12346137-B2
Application number	US-202418886699-A
Country	US
Kind code	B2
Filing date	Sep 16, 2024
Priority date	Mar 29, 2024
Publication date	Jul 1, 2025
Grant date	Jul 1, 2025

Abstract

A method for collaborative heave compensation control of a dual ship-mounted hoisting arm system including two vertical hoisting arms and two horizontal hoisting arms is provided, in which a dynamic model of the hoisting arm system is constructed based on hoisting arm position and velocity and an attitude angle of a load of the hoisting arm system; and based on the dynamic model, an optimal control strategy is obtained according to a control objective and an optimization objective under multiple constraint conditions to control the hoisting arm action, where the control objective is to track a hoisting arm reference compensation trajectory during the heave motion, the optimization objective is to minimize a tracking error, and the constraint conditions include a hoisting arm action constraint, and a position and velocity constraint of each hoisting arm after action. A system for implementing such method is also provided.

First claim

What is claimed is:

1. A method for collaborative heave compensation control of a dual ship-mounted hoisting arm system, the dual ship-mounted hoisting arm system comprising a first vertical hoisting arm, a second vertical hoisting arm, a first horizontal hoisting arm and a second horizontal hoisting arm, and the method comprising:
constructing a dynamic model of the dual ship-mounted hoisting arm system according to a first state variable and a second state variable; wherein the first state variable represents a position and velocity of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm; and the second state variable is an attitude angle of a load of the dual ship-mounted hoisting arm system, and is expressed based on the position and velocity of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm;
based on the dynamic model, obtaining an optimal control strategy according to a control objective and an optimization objective under a plurality of constraint conditions; wherein the control objective is to track a reference compensation trajectory of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm during a heave motion process; the optimization objective is to minimize a tracking error; and the plurality of constraint conditions comprise an action constraint of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm, and a position and velocity constraint of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm after action; and
controlling an action of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm;
wherein the attitude angle α of the load is expressed as:
{dot over (α)}= ġ ( a 1 ) {dot over (a)} 1 +ġ ( b 1 ) {dot over (b)} 1 +ġ ( b 2 ) {dot over (b)} 2 +ġ ( a 2 ) {dot over (a)} 2 ; and

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Assignees

• Univ Shandong

Inventors

• Ma Xin
• Wang Fuhao

Classifications

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• G05D3/20 Primary

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