Anchoring device

A damping control procedure process of an anchoring system;

• said anchoring system comprising:
• a first attachment capable of being attached to said floating object
• a second attachment capable of being constrained to said anchoring structure;
• a damping element for damping relative motion between said attachments capable of binding said first attachment to said second attachment and comprising:
• a sliding chamber
• a piston sliding in said sliding chamber according to a relative motion between said ports defining an oscillatory motion;
• and
• at least one electric damper suitable for damping the sliding of said piston in said sliding chamber and wherein said electric damper is electrically driven and comprises a rotor and a stator and capable of dissipating energy by opposing a reciprocal rotation between the stator and the rotor;
• a kinematic mechanism kinematically connecting the piston and electric damper and transforming the rectilinear motion of the piston into a rotary motion at the electric damper;
• and
• wherein said anchoring system comprises a control unit, said control unit of said anchoring system comprising:
• a measurement sensor of said sliding of said piston detecting at least one characteristic of said oscillatory motion of said piston;
• said at least one characteristic of said oscillatory motion comprising at least one of speed, acceleration and amplitude of said oscillatory motion;
• a historical database comprising a plurality of sequences of said oscillatory motions of said piston;
• each of said sequences being associated
• with at least one characteristic of each of said oscillatory motions of said sequence and with the damping of the electric damper;
• a control board for predictively varying the damping of said electric damper according to said historical database,
• said process comprising:
• a measurement step in which said measurement sensor measures said at least one characteristic of a current oscillatory motion of said piston;
• a prediction step, wherein said control board identifies in said historical database the next sequence of oscillatory motions having said at least one characteristic close to said at least one characteristic of said current oscillatory motion;
• a damping variation step in which said control board commands said electric damper to vary said damping as a function of said sequence of oscillatory motions identified in said prediction step;
• and
• wherein the control board varies the damping of said electric damper by modifying the magnetic parameters of poles at the stator and/or the rotor so as to vary the opposition to the rotation of the rotor.