Research on Heave Compensation Control of Floating Crane Based on Permanent Magnet Synchronous Motor

摘要

Offshore installations during harsh sea conditions results in rigorous requirements in terms of safety and efficiency for the floating crane. The forces resulting from the vertical motion of the vessel have an extensive effect on the overall crane structure and its lifetime. Moreover, vessel motion is proposed. Heave compensation is widely applied to decouple lifting loads from the ship motions due to wave excitation. The purpose of this paper is to compensate the vertical motion of the floating crane, analyzed the relationship between the floating crane and rope - hanging objects, establish the whole heave compensation system. Then use permanent magnet synchronous motor complete compensation for the hanging objects heave displacement in the system to achieve the movement. Finally, the static, rising and falling conditions of the actuator are analyzed, simulation results verify the effectiveness of the compensation system.