| 摘要 |
<p>The invention concerns a control device for the movement and positioning of a coupling for a marine loading system having at least one fluid transfer line with a first line end fixed to a base and a moveable second line end provided with a coupling adapted for connection to a target duct, the marine loading system further having a plurality of mechanical connections such that the coupling has at least three degrees of freedom relative to the base. The device includes at least three proportional control actuators, each for proportionally controlling the movement of the system in a degree of freedom, a position sensor for tracking each degree of freedom, an operator input interface for inputting commands to move the coupling, and a calculator for calculating the instantaneous position of the coupling from the information provided by the sensors and for calculating, from movement command inputs of the input interface, simultaneous control instructions to give to each of the actuators such that their combined movements result in a movement of the coupling corresponding to the movement command provided by the operator at the input interface.</p> |
