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Abstract

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 (y{dot over (y)}) 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 (pp) and velocity (vv) of the gangway endpoint from J, p and v computed by the DiffKin, An inverse kinematic (Inv) device computes and outputs a position reference (α) and velocity reference (αi) of the gangway endpoint from p and vv 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 ({dot over (α)}) computed by the AMC.

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