Motion compensation device for compensating a carrier frame on a vessel for water motion

摘要

A carrier frame on a vessel for local water motion includes a carrier frame (2); an actuator system (4, 5, 6) adapted for translating the carrier frame (2) along a z-axis and rotating the carrier frame around an x-axis and an y-axis; a sensor system (8) for sensing z-axis translational movement and x-axis and y-axis rotational movements of the vessel; and a control system (9) generating control signals for driving the actuator system in response to the sensor signals. The actuator system includes at least three cylinder-piston-units each having a longitudinal axis (14), which longitudinal axes are mutually parallel in a rest position. Each cylinder-piston unit has an upper support (15) for supporting the carrier frame on said cylinder-piston-unit and a lower support (16) for supporting the cylinder-piston-unit on a base. The upper support and/or lower support allows for rotational movement. A resilient system generates resilient reaction forces upon disturbance of said rest position, which reaction forces counteract the disturbance of the rest position.

主权项

1. An assembly comprising:
a vessel which is
adapted to be anchored for preventing the vessel from x-axis translational movement, y-axis translational movement and z-axis rotational movement; and/orprovided with a dynamic positioning system arranged for preventing the vessel from x-axis translational movement, y-axis translational movement and z-axis rotational movement; and a motion compensation device for compensating a carrier frame on the vessel for water motion, wherein the device comprises: a said carrier frame; an actuator system adapted for translating the carrier frame along a z-axis and rotating the carrier frame around an x-axis and an y-axis, wherein the x-axis, y-axis and z-axis define an imaginary set of orthogonal axes, the z-axis extending vertical; a sensor system for sensing z-axis translational movement, x-axis rotational movement and y-axis rotational movement of the vessel and generating sensor signals representing said sensed movements of the vessel; and a control system constructed to generate control signals to drive the actuator system in response to said sensor signals such that the position of the carrier frame is compensated for said sensed movements of the vessel whilst the vessel is anchored and/or kept in position by the dynamic positioning system to prevent the vessel from x-axis translational movement, y-axis translational movement and z-axis rotational movement; wherein the actuator system comprises at least three cylinder-piston-units each having a vertical longitudinal axis; wherein each cylinder-piston unit has an upper support for supporting the carrier frame on said cylinder-piston-unit and a lower support for supporting said cylinder-piston-unit on a base; wherein said upper support of each cylinder-piston unit allows for rotational movement of the respective cylinder-piston-unit relative to the carrier frame around the x-axis as well as the y-axis; and/or said lower support of each cylinder-piston unit allows for rotational movement of the respective cylinder-piston-unit relative to the base around the x-axis as well as the y-axis; wherein the device further comprises a mechanical constraining system restricting x-axis translational movement, y-axis translational movement and z-axis rotational movement of the carrier frame with respect to the base; and wherein the constraining system comprises at least three bars, each bar being hinged with one end to the base and with the other end to the carrier frame.