Design of mechanical control technology for crane ships based on end effector compensation and operation simulation
To solve the problem of irregular oscillation at the end of a crane ship during operation,a simulation platform for ship motion was designed based on the irregular fluctuations of waves,and a control strategy based on end compensation was proposed.This strategy utilizes a feedforward compensation controller to adjust the parameters of the electric cylinder,thereby establishing the global coordinate system of the platform.The simulation experiment shows that it can effectively alleviate the swinging problem at the end of the crane ship,and has good reference value for offshore lifting and transfer operations.
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