| 摘要 |
Controlling the motion of a load suspended from a vessel to decouple it from the vessel motion, comprising: a) measuring vessel motion data for a first time period; b) measuring a performance parameter of an actuator; c) generating a predicted motion model of the vessel for a subsequent second time period from the motion data, and generating a predicted performance parameter of the actuator for the second time period; d) generating a control algorithm for the actuator to effect a predetermined response during the second time period using the predicted motion model and the predicted performance parameter; e) determining a first correction factor from differences between motion data and the predicted motion model and a second correction factor from differences between the actuator performance parameter and predicted performance parameter; f) repeating steps a e iteratively utilising the first and second correction factors. The actuator may be a winch. The performance parameter of the actuator may be a deviation from a predefined standard performance parameter such as the inertia, speed, acceleration or position of the actuator, the coupling force on the actuator from the load, or the response time of the actuator to implement a control signal. |
