Resumen
In order to improve the accessibility of offshore wind O&M gangway in complex sea conditions, a control method for the controllable anti-rolling tank based on wavelet neural network period prediction is proposed in this paper. Firstly, a model of ship motion with a controllable passive anti-rolling tank was established. Then, the inverse kinematics of the gangway were carried out. In order to analyze the influence of the anti-rolling tank on the accessibility of the on-board gangway, an accessibility simulation of the gangway under different sea conditions was completed. Finally, a hardware-in-the-loop simulation of the active compensation gangway system was carried out. The simulation and test results show that the anti-rolling tank can effectively restrain the rolling motion of the ship and significantly improve the accessibility of the on-board gangway.