Semi-active heave compensation system for marine vessels

A system for compensating for the heave of waves on a marine vessel comprising,

• a fluid responsive compensator attached to the vessel including a load carrying means, a chamber for receiving and discharging fluid and a piston moving within said chamber in response to changes in fluid pressure to reposition the load carrying means relative to a set point in the compensation chamber,
• an accumulator chamber containing a fluid, in fluid communication with the compensator including a piston separating the accumulator chamber into two fluid reservoirs and having a rod attached to, and extending from, said piston;
• an actuator cylinder having an actuator piston dividing the cylinder into a first and second chamber and rod connected on one end to the piston and on the other end to the piston rod of the accumulator such that the piston of the accumulator moves in response to movement of the actuator piston moving in response to changes of fluid pressure in the actuator chambers;
• a variable pump in fluid communication with the two chambers of the actuator cylinder with the output of the pump being determined in response to a controller;
• a means for sensing changes of conditions within the compensator from the set point and communicating the changes to the controller, which compares such changes to determine a rate of such change;
• a means for sensing a wave heave in the vessel and communication of information sensed to the controller;
• and
• a means in the controller for comparing the information from such sensing means with the pump output and adjusting the output to return the conditions in the compensator to the set point.