Active heave compensation with active damping control

摘要

A damping control system includes a first sensor configured to detect movement of a vessel and generate a first signal representing the vessel movement and a second sensor configured to detect movement of a cable and generate a second signal representing the cable movement. An actuator is configured to dampen a force applied to a payload during a force event. The force event is at least partially caused by the movement of the vessel and the cable. A controller is configured to identify the force event based at least in part on the first and second signals and control the actuator during the force event to substantially dampen the force applied to the payload.

主权项

1. A method of dampening force applied to a payload secured to a vessel, the method comprising:
detecting one of a pitch, heave, and roll movement of the vessel relative to a payload and generating a first signal representing the detected movement of the vessel with a first sensor; detecting a movement of a cable relative to the payload and generating a second signal representing the detected movement of the cable with a second sensor; identifying a force event based on the movement of the vessel and movement of the cable, wherein the force event causes a force to be applied to the payload via the cable; controlling an actuator during the force event based at least in part on the detected movement of the vessel and the detected movement of the cable to dampen the force applied to the payload; and generating a control signal, with the controller, based at least in part on the first signal and second signal, wherein generating the control signal based at least in part on the first signal and second signal includes: estimating, via the controller, a movement of at least one component disposed on the vessel based at least in part on the first signal and generating a first output signal representing the movement of the at least one component; generating, via the controller, a resultant signal based on the first output signal and an operator command representing a commanded movement of the vessel, the resultant signal representing an adjustment to an effective length of the cable sufficient to substantially attenuate the movement of the vessel with respect to the payload; generating, via the controller, a second output signal based at least in part on the second signal, the second output signal representing an adjustment to the effective length of the cable sufficient to substantially attenuate the movement of the cable with respect to the payload; and calculating, via the controller, a summation of the resultant signal and the second output signal, wherein the control signal is defined by the summation of the resultant signal and the second output signal, such that the control signal represents an adjustment to the effective length of the cable sufficient to substantially dampen the force applied to the payload as a result of the movement of the cable with respect to the payload and the movement of the vessel with respect to the payload.