| 摘要 |
Apparatus (100) and method for providing active motion compensation control of an articulated gangway (200) which comprises at least one fixed part fixedly mounted on a sea going vessel, a movable part being movable relative to the fixed part, and at least one actuator for moving the movable part relative to the fixed part. A first position reference device provides position and attitude information (m) of the vessel referenced to earth. A second position reference device provides position and attitude information (y) of the movable part referenced to the gangway. An actuator driver generates an actuator control output in response to a regulator signal (R). An active motion compensation controller device receives the position and attitude information m and y, an operator control input (J), and the velocity information (ẏ) of the movable part. A differential kinematic (DiffKin) device compute and outputs a current position (p) and velocity (v) of the gangway endpoint from m and y. An active motion compensation (AMC) device computes and outputs a reference position (p̅) and velocity (v̅) of the gangway endpoint from J, p and v computed by the DiffKin, An inversekinematic (Inv) device computes and outputs a position reference ( α ) and velocity reference (α̇ ) of the gangway endpoint from ̅p and v̅ computed by the AMC. A regulator (Regulator) device computes and outputs said regulating signal (R) in response to inputs of said a position reference ( α ) and velocity reference (α ̇) computed by the AMC. |
