Abstract
The passive heave compensator for a strand jack unit used in deep sea shipwreck salvage is studied. A dynamic model based on the Lagrange equations is developed, which considers the strand elasticity. Numerical simulations are performed for a range of compensator stiffness, which are determined by the gas volume. Numerical results show that increasing gas volume reduces the stiffness of the compensator, and the resulting displacements of compensator platform and sunken vessels decrease.
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