CN107161882B - A kind of novel Active Compensation loop wheel machine system - Google Patents
A kind of novel Active Compensation loop wheel machine system Download PDFInfo
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- CN107161882B CN107161882B CN201710493619.4A CN201710493619A CN107161882B CN 107161882 B CN107161882 B CN 107161882B CN 201710493619 A CN201710493619 A CN 201710493619A CN 107161882 B CN107161882 B CN 107161882B
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- wheel machine
- loop wheel
- winch
- hydraulic
- hydraulic motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/08—Driving gear incorporating fluid motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0125—Motor operated winches
- B66D2700/0133—Fluid actuated
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The present invention relates to a kind of novel Active Compensation loop wheel machine system, which is mounted on ship；It is characterized in that：Including loop wheel machine pedestal, suspension arm mechanism, winch, swing mechanism and micro- inertial navigation sensor；When the present apparatus at sea lifts cargo, by the kinematic parameter for waving and heaving of micro- inertial navigation sensor measurement loop wheel machine and it is converted into digital signal, control system is transferred to be handled, control system calculates the compensation rate waved and heaved, servo valve realizes the loop wheel machine real-time compensation on being waved and heave influence according to the movement of treated Digital Signals hydraulic motor；The present invention can be compensated accurately and rapidly by waving the loop wheel machine influenced with heave movement, while take into account cargo hoisting function, allow loop wheel machine that can safely and efficiently execute lifting task under complicated sea situation；The present apparatus has the characteristics that compensation range is wide, reliability is high, accurate quick.
Description
Technical field
The present invention relates to loop wheel machine field more particularly to a kind of novel Active Compensation loop wheel machine systems.
Background technology
Seaborne supply is the important leverage of the safe and efficient operation to marine material supply and ship loop wheel machine platform.Due to face
Face the influence of international economy crisis, global economic development slows down, oneself becomes the important leverage of development of all countries economy to resource, and ocean provides
Source is abundant, oneself becomes the important tool of exploiting ocean resource to marine engineering equipment with high performance, therefore need to increase to ocean
Area research gos deep into, and ship seaborne supply has seemed that ever more important, seaborne supply have diversity, and seaborne supply is equipped with cross
It is equipped to supply equipment, longitudinal replenishment and by supply equipment and inflow equipment etc..
Compensation of undulation is divided into active heave compensation and passive type compensation of undulation.Active heave compensation refers to passing through sensing
Device detects the parameters such as each moment ship rolling caused by wave, pitching and heave, then controls hydraulic pressure according to compensation rate
The work of cylinder and hydraulic motor compensates waving for hull；Passive type compensation of undulation is mended by increasing in existing equipment
It repays device and carries out compensation of undulation.In the equipment of Active Compensation, stabilized platform is preferable to the compensation effect of roll and pitch, to rising
Heavy compensation effect is poor, and the compensation response of stabilized platform is poor.Such as stabilized platform is utilized to compensate large range of liter
Heavy variation, needs the hydraulic cylinder grown very much, the stability for undoubtedly increasing cost, reducing system；General loop wheel machine can only be to ship
Oceangoing ship carries out heave compensation, can not implement to compensate to the roll and pitch of ship.
A kind of loop wheel machine with multiple degrees of freedom active compensation of undulation function as described in Chinese patent 201610113747.7
Device, it is characterized in that：Bottom is integrally fixed at the round silent flatform on the deck of ship, is round right over round silent flatform
Moving platform, round moving platform are fixedly connected with loop wheel machine, connect six servoBcylinders between round silent flatform and round moving platform, each watch
It takes cylinder upper end and one the second candan universal joint connection circle is passed through by the round moving platform of the first candan universal joint connection, lower end
Shape silent flatform, round silent flatform middle position are equipped with attitude transducer；Linear movement pick-up there are one dresses on each servoBcylinder,
Attitude transducer output end connects motion controller by signal wire, and respectively connection one is right for each servoBcylinder in six servoBcylinders
The electrohydraulic servo valve answered, electrohydraulic servo valve connects motion controller after being sequentially connected in series power amplifier, D/A modules, described in six
Each linear movement pick-up in linear movement pick-up respectively connects motion controller after an A/D module.
Although above-mentioned patent solves the problems, such as the Active Compensation of loop wheel machine to a certain extent, which uses largely
ServoBcylinder cause complex redundancy, of high cost and stability poor.
Need a kind of novel Active Compensation loop wheel machine that can be carried out greatly to the rolling of ship, pitching and heave according to above-mentioned condition
Lifting task is executed while range compensates, stability is good, simple in structure.
Invention content
The technical problem to be solved in the present invention is to provide a kind of novel Active Compensation loop wheel machine systems, can realize to cross
Shake, pitching and heave carry out executing lifting task while real-time compensation, make more steady hoisting process, safety and structure letter
List, stability are good.
In order to solve the above technical problems, the technical scheme is that：A kind of novel Active Compensation loop wheel machine system, the master
Dynamic compensation loop wheel machine system is mounted on ship；Its innovative point is：Including loop wheel machine pedestal, suspension arm mechanism, winch, swing mechanism and
Micro- inertial navigation sensor；
The suspension arm mechanism is mounted on loop wheel machine pedestal, and suspension arm mechanism includes a vertical arms being vertically arranged and the company of inclination
It is connected on the oblique arm of vertical arms upper end；It is provided with a reinforcing rib between the oblique arm and vertical arms；The top of the oblique arm
It is provided with first pulley；The top of the vertical arms is provided with second pulley；
The winch is arranged in vertical arms, winch include winch support, reel, drawworks brake, the first hydraulic motor and
Winch encoder；The winch support is connected with vertical arms, and reel is arranged in winch support can by the driving of the first hydraulic motor
It is rotated around winch support, the drawworks brake is located at the outside of winch support；The winch encoder is arranged in winch support
Outside；
The swing mechanism is arranged in the vertical arms of suspension arm mechanism and positioned at the lower section of winch, and swing mechanism passes through second
Hydraulic motor drives；The swing mechanism includes rotary encoder, worm gear and worm screw；The rotary encoder is connected to worm screw
One end, worm gear coordinate with worm-drive, and worm gear rotates under the driving of the second hydraulic motor；
Micro- inertial navigation sensor is arranged on loop wheel machine pedestal.
Further, the winch is by motion controller conveying signal driving.
Further, micro- inertial navigation sensor measurement is caused the rolling, pitching and heave attitude data of loop wheel machine by stormy waves,
By the attitude data real-time Transmission measured to motion controller, the rolling, pitching and heave of ship are calculated by motion controller
Data variation in vertical direction is generated by coupling operation, and being carrying out lifting task in these data and controller
Data carry out operation, and operation result is converted into signal instruction and real-time Transmission to winch, by the positive and negative rotation of winch and
Velocity variations are mended come weight position and speed that can be on loop wheel machine when being influenced in real time by rolling, pitching and heave on loop wheel machine
It repays.
Further, first hydraulic motor and the second hydraulic motor provide hydraulic power by hydraulic pump and form hydraulic pressure
Circuit.
Further, the hydraulic circuit includes fuel tank, filter, hydraulic pump, overflow valve, the first non-return valve, first
Servo valve, the first hydraulic motor, the second non-return valve, the second servo valve and the second hydraulic motor；The fuel tank, filter and liquid
Press pump is sequentially connected in series to form working connection, and the output end of the overflow valve and hydraulic pump is connected to form overflow branch；Described first is single
It is sequentially connected in series to form the first hydraulic circuit to ball valve, the first servo valve and the first hydraulic motor；Second non-return valve, second
Servo valve and the second hydraulic motor are sequentially connected in series to form the second hydraulic circuit；First hydraulic oil and the second hydraulic circuit are distinguished
It is connected to the output end of hydraulic pump.
Further, it is set respectively on the position that first hydraulic circuit is connected with the second hydraulic circuit with hydraulic pump output
It is equipped with the first control valve and the second control valve；First hydraulic circuit is connected with the second hydraulic circuit.
Further, micro- inertial navigation sensor, winch encoder, rotary encoder and the first hydraulic motor and second
Hydraulic motor provides hydraulic power formation hydraulic circuit by hydraulic pump and is controlled by MOOG control systems.
Further, it is connected by steel wire rope between the first pulley, second pulley and reel；The one of the steel wire rope
End is connected with weight, and the other end of steel wire rope is connected on reel.
The advantage of the invention is that：
1）For the loop wheel machine system when being influenced by seawater, sea wind on hull, the loop wheel machine on ship carries out standard to waving and heaving
Really, the comprehensive organ of lifting task is executed while quickly compensation.
2）When the present apparatus at sea lifts cargo, joined by the movement of micro- inertial navigation sensor measurement loop wheel machine waved and heaved
Digital signal is counted and be converted into, control system is transferred to and is handled, control system calculates the compensation waved and heaved
Amount, servo valve is according to the movement of treated Digital Signals hydraulic motor, and realization is on being hung by waving and heave influence
Machine real-time compensation.
3）The present invention can be compensated accurately and rapidly by waving the loop wheel machine influenced with heave movement, while take into account cargo
Lifting function allows loop wheel machine that can safely and efficiently execute lifting task under complicated sea situation；The present apparatus have compensation range it is wide,
The features such as reliability is high, accurate quick.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a kind of front view of novel Active Compensation loop wheel machine system of the present invention.
Fig. 2 is the vertical view of the swing mechanism of the present invention.
Fig. 3 is the winch schematic diagram of the present invention.
Fig. 4 is the hydraulic system principle figure of the present invention.
Fig. 5 is the control principle drawing of the present invention.
Specific implementation mode
The following examples can make professional and technical personnel that the present invention be more fully understood, but therefore not send out this
It is bright to be limited among the embodiment described range.
A kind of novel Active Compensation loop wheel machine system as shown in Figures 1 to 5, the Active Compensation loop wheel machine system are mounted on ship
On oceangoing ship；Including loop wheel machine pedestal 1, suspension arm mechanism 2, winch 3, swing mechanism 4 and micro- inertial navigation sensor 5.
Suspension arm mechanism 2 is mounted on loop wheel machine pedestal 1, and suspension arm mechanism 2 includes that a vertical arms 21 and one being vertically arranged tilts
It is connected to the oblique arm 22 of 21 upper end of vertical arms；A reinforcing rib 23 is provided between the oblique arm 22 and vertical arms 21；It is described
The top of oblique arm 22 is provided with first pulley 24；The top of the vertical arms 21 is provided with second pulley 25.
Winch 3 is arranged in vertical arms 21, and winch 3 includes winch support 31, reel 32, drawworks brake 33, the first hydraulic pressure
Motor 34 and winch encoder 35；The winch support 31 is connected with vertical arms 21, the setting of reel 32 in the winch support 31 by
The driving of first hydraulic motor 34 can be rotated around winch support 31, and the drawworks brake 33 is located at the outside of winch support 31；Institute
Winch encoder 35 is stated to be arranged in the outside of winch support 31.
Swing mechanism 4 is arranged in the vertical arms of suspension arm mechanism and positioned at the lower section of winch, and swing mechanism 4 passes through the second liquid
Press horse 41 up to driving；The swing mechanism 4 includes rotary encoder 42, worm gear 43 and worm screw 44；The rotary encoder 42 connects
It is connected on one end of worm screw 44, worm gear 43 coordinates with the transmission of worm screw 44, and worm gear 43 rotates under the driving of the second hydraulic motor 41.
Micro- inertial navigation sensor 5 is arranged on loop wheel machine pedestal 2.
Winch 3 is by motion controller conveying signal driving.
Micro- inertial navigation sensor 5 measures the rolling, pitching and heave attitude data for causing loop wheel machine by stormy waves, the posture that will be measured
Real-time data transmission to motion controller, by coupling operation produced by the rolling, pitching and heave that ship is calculated by motion controller
Raw data variation in vertical direction, and these data are transported with the data for being carrying out lifting task in controller
Calculate, and operation result be converted into signal instruction and real-time Transmission to winch, by the positive and negative rotation and velocity variations of winch come
Weight position and speed that can be on loop wheel machine when being influenced in real time by rolling, pitching and heave on loop wheel machine compensates.
First hydraulic motor 34 and the second hydraulic motor 41 provide hydraulic power by hydraulic pump and form hydraulic circuit 6.
Hydraulic circuit 6 is watched including fuel tank 61, filter 62, hydraulic pump 63, overflow valve 64, the first non-return valve 65, first
Take valve 66, the first hydraulic motor 34, the second non-return valve 67, the second servo valve 68 and the second hydraulic motor 41；The fuel tank 61,
Filter 62 and hydraulic pump 63 are sequentially connected in series to form working connection, and the output end of the overflow valve 64 and hydraulic pump 63 is connected to form excessive
Flow branch；First non-return valve 65, the first servo valve 66 and the first hydraulic motor 34 are sequentially connected in series to form the first hydraulic oil
Road；Second non-return valve 67, the second servo valve 68 and the second hydraulic motor 41 are sequentially connected in series to form the second hydraulic circuit；Institute
It states the first hydraulic oil and the second hydraulic circuit is connected to the output end of hydraulic pump 63.
First hydraulic circuit exports with hydraulic pump 63 with the second hydraulic circuit and is respectively arranged with the first control on the position being connected
Valve processed and the second control valve；First hydraulic circuit is connected with the second hydraulic circuit.
Micro- inertial navigation sensor 5, winch encoder 35, rotary encoder 42 and the first hydraulic motor 34 and the second hydraulic pressure horse
Hydraulic power formation hydraulic circuit is provided up to 41 by hydraulic pump 63 to control by MOOG control systems.
It is connected by steel wire rope between first pulley 24, second pulley 25 and reel 32；One end of the steel wire rope connects
There are weight, the other end of steel wire rope to be connected on reel 32.
The operation principle of the system is：The suspension hook of loop wheel machine is when lifting weight on ship, if suspension hook does not rise or fall
When movement, then suspension hook is influenced to be mainly changing for spatial position by Ship Swaying, in order to ensure the weight on suspension hook and lifting
The distance between plane is not influenced by Ship Swaying, and the loop wheel machine gone out on ship using micro- inertial navigation sensor measurement is waved
Athletic posture data, and by the attitude data real-time Transmission measured to industrial personal computer, according to anti-resolving Algorithm and micro- inertial navigation sensor
Second pulley center vertical range changing value i.e. first pulley are found out with the position relationship at loop wheel machine top second pulley center
Hook needs offset, and position data is preferably controlled in MOOG control systems and is compared structure with the data after anti-solution
At control deviation, industrial personal computer realizes that closed loop control, the signal of controller output carry out D/A switch according to control deviation to controller
Being transferred to first the first hydraulic motor of servo valve control by servo amplifier afterwards drives the rotation of winch to realize that suspension hook is vertical
It is constant with the distance between lifting plane on direction；
If suspension hook is in normal lifting, suspension hook is influenced the velocity variations of predominantly vertical direction by Ship Swaying,
MOOG control systems send out ideal lifting speed signal progress D/A switch and are transferred to the first servo by servo amplifier
Valve drives the rotation of winch to realize that loop wheel machine executes lifting task, due to ship by first the first hydraulic motor of servo valve control
Wave, the athletic posture data for needing the loop wheel machine gone out on ship using micro- inertial navigation sensor measurement to wave, and will survey
The attitude data real-time Transmission obtained is to industrial personal computer；Industrial personal computer is slided according to anti-resolving Algorithm and micro- inertial navigation sensor with loop wheel machine top second
The position relationship at wheel center finds out second pulley center vertical speed changing value i.e. first pulley hook and needs to compensate
The offset found out is transferred to MOOG control systems and is compared with ideal lifting velocity amplitude, constitutes control deviation, industry control by value
Machine realizes closed loop control according to control deviation to controller, improves compensation of undulation precision；It is examined in real time by the displacement sensor on suspension hook
It surveys suspension hook and lifts the distance change value of plane；Send MOOG control systems to after analog/digital conversion by displacement sensor, instead
The displacement of the lines signal of feedback constitutes control deviation with the offset that anti-resolving Algorithm is found out, and industrial personal computer is according to the first hydraulic pressure of control deviation pair
Closed-loop control is realized in the movement of motor, improves compensation of undulation precision；Second the second hydraulic motor of servo valve control is hung for adjusting
Machine rotation angle can allow loop wheel machine to lift task in comprehensive interior completion compensation of undulation.It is micro- when hull does not need compensation of undulation
The athletic posture parameter of inertial navigation sensor output hull is that 0, MOOG control systems only need the normal lifting for controlling loop wheel machine to appoint
Business, the first servo valve, the second servo valve also work, but controller does not constitute closed-loop system and only executes lifting task.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, above-described embodiment and explanation
Merely illustrating the principles of the invention described in book, without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
It is defined by the appending claims and its equivalent thereof.
Claims (5)
1. a kind of novel Active Compensation loop wheel machine system, which is mounted on ship；It is characterized in that：Packet
Include loop wheel machine pedestal, suspension arm mechanism, winch, swing mechanism and micro- inertial navigation sensor；The suspension arm mechanism is mounted on loop wheel machine pedestal,
Suspension arm mechanism includes that a vertical arms being vertically arranged and one tilt the oblique arm for being connected to vertical arms upper end；The oblique arm with it is vertical
To being provided with a reinforcing rib between arm；The top of the oblique arm is provided with first pulley；The top of the vertical arms is provided with
Second pulley；The winch is arranged in vertical arms, winch include winch support, reel, drawworks brake, the first hydraulic motor and
Winch encoder；The winch support is connected with vertical arms, and reel is arranged in winch support can by the driving of the first hydraulic motor
It is rotated around winch support, the drawworks brake is located at the outside of winch support；The winch encoder is arranged in winch support
Outside；The swing mechanism is arranged in the vertical arms of suspension arm mechanism and positioned at the lower section of winch, and swing mechanism passes through second
Hydraulic motor drives；The swing mechanism includes rotary encoder, worm gear and worm screw；The rotary encoder is connected to worm screw
One end, worm gear coordinate with worm-drive, and worm gear rotates under the driving of the second hydraulic motor；Micro- inertial navigation sensor setting exists
On loop wheel machine pedestal；First hydraulic motor and the second hydraulic motor provide hydraulic power by hydraulic pump and form hydraulic circuit；
The hydraulic circuit includes fuel tank, filter, hydraulic pump, overflow valve, the first non-return valve, the first servo valve, the first hydraulic pressure horse
It reaches, the second non-return valve, the second servo valve and the second hydraulic motor；The fuel tank, filter and hydraulic pump are sequentially connected in series to be formed
The output end of working connection, the overflow valve and hydraulic pump is connected to form overflow branch；First non-return valve, the first servo valve
It is sequentially connected in series to form the first hydraulic circuit with the first hydraulic motor；Second non-return valve, the second servo valve and the second hydraulic pressure
Motor is sequentially connected in series to form the second hydraulic circuit；First hydraulic circuit and the second hydraulic circuit are connected to hydraulic pump
Output end；It is respectively arranged with first on the position that first hydraulic circuit is connected with the second hydraulic circuit with hydraulic pump output
Control valve and the second control valve；First hydraulic circuit is connected with the second hydraulic circuit.
2. a kind of novel Active Compensation loop wheel machine system according to claim 1, it is characterised in that：The winch is by moving
Controller conveys signal driving.
3. a kind of novel Active Compensation loop wheel machine system according to claim 1, it is characterised in that：Micro- inertial navigation sensing
Device measures the rolling, pitching and heave attitude data for causing loop wheel machine by stormy waves, by the attitude data real-time Transmission measured to movement
Controller calculates the number of the rolling, pitching and heave of ship by coupling operation generation in vertical direction by motion controller
Operation is carried out according to variation, and the data for being carrying out lifting task in these data and controller, and operation result is converted
It is signal instruction and real-time Transmission to winch, by the positive and negative rotation and velocity variations of winch come in real time to loop wheel machine by rolling, vertical
Shake and heave can be on loop wheel machine when influencing weight position and speed compensate.
4. a kind of novel Active Compensation loop wheel machine system according to claim 1, it is characterised in that：Micro- inertial navigation sensing
Device, winch encoder, rotary encoder and the first hydraulic motor and the second hydraulic motor provide hydraulic power by hydraulic pump
Hydraulic circuit is formed to control by MOOG control systems.
5. a kind of novel Active Compensation loop wheel machine system according to claim 1, it is characterised in that：The first pulley,
It is connected by steel wire rope between second pulley and reel；One end of the steel wire rope is connected with weight, and the other end of steel wire rope connects
It is connected on reel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192639.8A CN106829755A (en) | 2017-03-28 | 2017-03-28 | A kind of new Active Compensation loop wheel machine system |
| CN2017101926398 | 2017-03-28 |
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| CN107161882A CN107161882A (en) | 2017-09-15 |
| CN107161882B true CN107161882B (en) | 2018-08-14 |
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| CN201710493619.4A Active CN107161882B (en) | 2017-03-28 | 2017-06-26 | A kind of novel Active Compensation loop wheel machine system |
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| CN108383023A (en) * | 2018-02-02 | 2018-08-10 | 国家***第海洋研究所 | A kind of tide register folding structure |
| CN108189980B (en) * | 2018-02-05 | 2019-11-05 | 南京科远自动化集团股份有限公司 | A kind of the position and attitude method for real-time measurement and measuring system of landing pier ship |
| CN108821118B (en) * | 2018-07-23 | 2020-06-09 | 重庆交通大学 | Active heave compensation system used in deepwater hoisting operation process |
| CN113625619A (en) * | 2021-07-22 | 2021-11-09 | 中际联合（北京）科技股份有限公司 | Control method and control system for offshore crane, electronic device, and storage medium |
| CN114014180A (en) * | 2021-12-09 | 2022-02-08 | 西北工业大学青岛研究院 | Multi-node fixed type ocean winch support frame and method thereof |
| CN115263832B (en) * | 2022-09-27 | 2023-01-31 | 山东大学 | Digital low-consumption energy-saving mobile compensator and working method thereof |
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| CN106829755A (en) | 2017-06-13 |
| CN107161882A (en) | 2017-09-15 |
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