Patent ID: 11965300
Assignee: IQIP HOLDING B.V.
Field: Civil engineering (Other fields)
Classification: CPC E  B | IPC E

Claim 0:
1. A system for controlling a motion compensated pile guide for a floating vessel, comprising
a pile guide for guiding a monopile in its longitudinal direction during driving the monopile into a seabed,
an actuator for moving the pile guide in a horizontal direction with respect to the floating vessel to which the pile guide is mounted,
a control unit for controlling the actuator, which said control unit is configured for compensating motion of the floating vessel to which the pile guide is mounted so as to maintain a horizontal position of the pile guide during driving of the monopile into the seabed,
a first sensor for determining an inclination angle of the monopile with respect to vertical during driving the monopile into the seabed,
a second sensor for determining magnitude and direction of an actual force of the monopile onto the pile guide during driving the monopile into at the seabed,
wherein the control unit is configured to determine a desired force of the pile guide onto the monopile for minimizing the inclination angle when determined by the first sensor, and to control the actuator for moving the pile guide in a direction opposite to the direction of the actual force when the desired force is larger than the actual force and in a same direction as the direction of the actual force when the actual force is larger than the desired force.