A study of side-by-side mooring movement simulation and heave compensation control strategy

This paper studied the side-by-side mooring movement simulation and heave compensation control strategy for design an intelligence crane which has the heave compensation function for side-by-side task between two ships at sea. The ship parameters of the cargo ship and the towboat which are typical work ships were confirmed. The typical task circumstances was set up, which includes the factors of sea condition, broadside cushion, mooring line which use in towboat and cargo ship and anchoring line of cargo ship. The mooring movement model of two ships mooring movement on the side-by-side task was established. By using AQWA software, the side-by-side mooring movement which on frequency domain and on time domain was simulated. The results of simulation indicate that in the short time when goods cargo hook, it is possible to compensate the relative heave movement between two ships to make the carrier landing speed of goods independent with the heave speed of the two ship. Then according with the result of simulation, a control strategy of heave compensation was designed.