FIELD: transport.
SUBSTANCE: invention relates to control device intended for transfer and positioning of coupling for marine loading system. Loading system comprises fluid transfer line with one end jointed to base and mobbing end with coupling for connected to target pipeline. System incorporates several mechanical joints with three degrees of freedom relative to aforesaid base and three actuators of proportional control mechanism for proportional control of the system corresponding to degrees of freedom. There are three position transducers for every degree of freedom. Besides, this system comprises interface to load instructions on transfer of coupler and computer to calculate coupler current position in response to data provided by transducers and to compute displacement commands sent from interface timed with control instructions fed to each actuator.
EFFECT: combined displacement of actuators to ensure accurate displacement of coupling.
9 cl, 3 dwg
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