A method of controlling attitude of a marine vessel includes identifying a natural roll frequency of the marine vessel, measuring a roll motion of the marine vessel with an attitude sensor, and then determining that the roll motion exceeds the threshold roll where no corresponding steering input is present. The method further includes determining a counteracting drive movement for at least one propulsion device based on the measured roll motion and the natural roll frequency of the marine vessel. A steering actuator is then controlled to move the at least one propulsion device to effectuate the counteracting drive movement so as to counteract an environmentally-induced roll motion of the marine vessel.

A posture control system for a hull includes trim tab main bodies as posture control plates attached to a stern of the hull to control the posture of the hull. Trim tab actuators drive the trim tab main bodies. Engines generate a propulsive force on the hull. A controller controls the trim tab actuators. Based on a throttle opening angle of the engines, the controller determines a time when the trim tab main bodies are to be lowered by the trim tab actuators.

A posture control system for a hull includes trim tab main bodies as posture control plates attached to a stern of the hull to control the posture of the hull. Trim tab actuators drive the trim tab main bodies. Engines generate a propulsive force on the hull. A controller controls the trim tab actuators. Based on a throttle opening angle of the engines, the controller determines a time when the trim tab main bodies are to be lowered by the trim tab actuators.

A steering control apparatus for a marine vessel that is able to automatically reduce chine walk includes a processor to obtain behavior information on a hull, including one or more of a behavior relating to a shift of the hull in a roll direction, a shift of the hull in a yaw direction, a shift of the hull in crosswise direction, a steering load, and a helm operation load. When judging that one or more conditions to change a steering mode to a counter steering mode are satisfied, the processor changes the steering mode to the counter steering mode. In the counter steering mode, the processor controls steering of the marine vessel by performing counter steering so as to reduce at least some of one or more of the behaviors of the hull based on the obtained behavior information.

A steering control apparatus for a marine vessel that is able to automatically reduce chine walk includes a processor to obtain behavior information on a hull, including one or more of a behavior relating to a shift of the hull in a roll direction, a shift of the hull in a yaw direction, a shift of the hull in crosswise direction, a steering load, and a helm operation load. When judging that one or more conditions to change a steering mode to a counter steering mode are satisfied, the processor changes the steering mode to the counter steering mode. In the counter steering mode, the processor controls steering of the marine vessel by performing counter steering so as to reduce at least some of one or more of the behaviors of the hull based on the obtained behavior information.

The present invention relates to the field of wave compensation equipment, and discloses a 6-Dof platform for wave compensation, comprising a soleplate, a 2R1T parallel unit, a 1R2T series unit and an upper platform. The soleplate is installed on a deck of a ship, the 2R1T parallel unit is installed on the soleplate, the 1R2T series unit is installed on the 2R1T parallel unit, and the upper platform is installed on the 1R2T series unit. The invention compensates 6-Dof motion of heave, roll, pitch, sway, surge and yaw of the ship under action of waves. The present invention has the advantages of simple structure, high carrying capacity, easy control and high precision in posture control.

The present invention relates to the field of wave compensation equipment, and discloses a 6-Dof platform for wave compensation, comprising a soleplate, a 2R1T parallel unit, a 1R2T series unit and an upper platform. The soleplate is installed on a deck of a ship, the 2R1T parallel unit is installed on the soleplate, the 1R2T series unit is installed on the 2R1T parallel unit, and the upper platform is installed on the 1R2T series unit. The invention compensates 6-Dof motion of heave, roll, pitch, sway, surge and yaw of the ship under action of waves. The present invention has the advantages of simple structure, high carrying capacity, easy control and high precision in posture control.

Provided is a semi-submersible floating foundation for supporting a wind power generation system. In one embodiment, the floating foundation includes a plurality of outer buoyant columns equidistantly spaced around a center buoyant column that are connected by buoyant structural pontoons. The center buoyant column supports a horizontal axis wind turbine (HAWT) or a vertical axis wind turbine (VAWT) energy system. The floating foundation includes motion attenuating extensions with or without porosity attached to the sides of the pontoons. Deepwater station-keeping system of the floating foundation includes a plurality of disconnectable and reconnectable taut or semi-taut mooring lines coupling one or more outer buoyant columns to seabed anchors. Inter-array power cable between a plurality of floating foundations may be free hanging or supported by buoyant modules. Export power cable from a floating foundation to seabed toward shore may be free hanging or supported by buoyant modules.

Provided is a semi-submersible floating foundation for supporting a wind power generation system. In one embodiment, the floating foundation includes a plurality of outer buoyant columns equidistantly spaced around a center buoyant column that are connected by buoyant structural pontoons. The center buoyant column supports a horizontal axis wind turbine (HAWT) or a vertical axis wind turbine (VAWT) energy system. The floating foundation includes motion attenuating extensions with or without porosity attached to the sides of the pontoons. Deepwater station-keeping system of the floating foundation includes a plurality of disconnectable and reconnectable taut or semi-taut mooring lines coupling one or more outer buoyant columns to seabed anchors. Inter-array power cable between a plurality of floating foundations may be free hanging or supported by buoyant modules. Export power cable from a floating foundation to seabed toward shore may be free hanging or supported by buoyant modules.

An anti-motion structure of a column floater, being an annular structure surrounding the outer periphery of the bottom of a buoy of the column floater, and an annular radial gap between the two is, or optionally is not, set up. The anti-motion structure is connected to a horizontal roof plate, a horizontal floor plate, an outer annular vertical plate, and an inner annular vertical plate to form an annular box body; and the box body is divided into a plurality of watertight compartments; the horizontal roof plate and/or the horizontal floor plate corresponding to each watertight compartment are provided with damping holes capable of being opened or closed.