CN101032996A - Underwater drawing body passive heave compensation system based on constant pressure difference - Google Patents
Underwater drawing body passive heave compensation system based on constant pressure difference Download PDFInfo
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- CN101032996A CN101032996A CN 200710067944 CN200710067944A CN101032996A CN 101032996 A CN101032996 A CN 101032996A CN 200710067944 CN200710067944 CN 200710067944 CN 200710067944 A CN200710067944 A CN 200710067944A CN 101032996 A CN101032996 A CN 101032996A
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- 238000005259 measurement Methods 0.000 abstract description 3
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- 230000001154 acute effect Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
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Abstract
The present invention discloses one kind of passive heave compensation system based on constant pressure difference for underwater drawn body. The present invention establishes constant pressure difference between two cavities of hydraulic motor of the winch for driving the underwater drawn body with constant flow pump, proportional overflow valve, pilot operated compound-relief valve, small volume accumulator and pressure reducing valve. The present invention is equivalent to a conventional passive heave compensation system with infinite gas storage cylinder, and has raised heave compensation precision. The present invention realizes the passive heave compensation through constituting secondary measurement and control system with stable state working point, with small volume accumulator, pressure sensor, depth sensor and controller, on-line calculating the stable state working point of passive heave compensation system and regulating the pressure of the proportional overflow valve.
Description
Technical field
The present invention relates to Fluid Transmission and Control field mechanical, electrical, that hydraulic control system technology is feature, is a kind of underwater drawing body passive heave compensation hydraulic efficiency pressure system and control method based on constant pressure difference.
Background technology
The boats and ships of the water surface will produce the motion of swaying of shaking six-freedom degree around surging, swaying, heave, pitching, rolling, the head of its original equilibrium position in the irregular movement of wave.Under the severe sea condition, the position that the strenuous exercise of lash ship drives the underwater towed-body that is in Condition Of Tow changes, and the trailing cable of towed body is subjected to the repeated stock than hightension.The non-significantly control campaign of towed body and the acute variation of trailing cable tension force not only influence the normal operation of sensor in the towed body, and give under water that the safety of towed body and trailing cable causes very big threat.
For eliminating of the influence of lash ship heave movement to underwater towed-body and trailing cable, normal equipment heave compensation system on the underwater towed-body draw off gear, the classification of these heave compensation systems is divided from actr, be divided into the oil cylinder heave compensation, HM Hydraulic Motor heave compensation two classes, divide from principle of work, it is divided into passive heave compensation and active heave compensation two classes again.So-called passive-type, be that lash ship is when rising under wave action, underwater towed-body compresses stored energy once again with the gas of energy storage, when lash ship sinks, energy storage releases energy with the compensation heave, the energy of heave compensation system is from the heave movement of lash ship, so consumption of power hardly, therefore the utilization at present of passive heave compensation method at most.So-called active, the motion of promptly using Hydraulic Pump modulated pressure cylinder or HM Hydraulic Motor is to reach the purpose of compensation, and compensator relies on external impetus to drive.
At present, the technical scheme that conventional passive heave compensation system adopts is: at its actr---gas-liquid energy storage of high pressure chest exit series connection of hydraulic ram or HM Hydraulic Motor, pass through air compressor, gaholder, operated pneumatic valve assembly control energy storage pressure, realize the heave compensation function, the precision of compensation improves along with the increase of gaholder volume.This kind technical scheme is complex structure not only, bulky, and the gaholder volume is big more, the adaptive ability of charging system and robustness are poor more, system is high more to the accuracy requirement of initial steady state operation point, and in marine environment complicated and changeable, directly accurately measure very difficulty of steady operation point.
Summary of the invention
For overcoming the conventional passive heave compensation system deficiency in actual applications that relates in the background technology, the object of the present invention is to provide a kind of underwater drawing body passive heave compensation hydraulic efficiency pressure system and control method based on constant pressure difference.
In order to achieve the above object, the technical solution used in the present invention is:
The mouth of first check valve in the fuel-feed system divides three the tunnel, the first via connects the oil inlet of proportional pressure control valve, the second the tunnel connects the oil inlet of reducing valve, Third Road is divided into three the tunnel again behind first shutoff valve, the first via connects pressure sensor, and the second the tunnel connects energy storage, Third Road connects the HM Hydraulic Motor high pressure chest through second shutoff valve, the HM Hydraulic Motor low-pressure cavity is divided into two-way, and the first via connects the pilot overflow valve oil inlet, and the second the tunnel connects the oil outlet of reducing valve through second check valve; The output termination proportional pressure control valve of controller carries amplifier input terminal, and the input end of controller divides two-way, and the first via connects the mouth that is installed in the depth transducer in the underwater towed-body, and the second the tunnel connects the mouth of pressure sensor; HM Hydraulic Motor from belt brake is fixed on the releasing winch pedestal, and hydraulic motor output shaft is connected with winch by spline, and trailing cable one end is fixed on the winch, and an end links to each other with underwater towed-body.
The present invention compares with background technology, has useful effect to be:
(1) the present invention adopts a proportional pressure control valve to connect the HM Hydraulic Motor high pressure chest, a pilot overflow valve connects the HM Hydraulic Motor low-pressure cavity, equivalence is the situation of the infinitely great gaholder volume of energy storage in the conventional passive heave compensation system that relates in the background technology, HM Hydraulic Motor two chamber pressure reduction and output torque remain unchanged when guaranteeing heave compensation, reduce the variation of underwater towed-body trailing cable tension force, improved the heave compensation precision;
(2) control unit of the present invention mainly comprises hydraulic valve, pressure sensor, depth transducer and controller, avoid adopting the gaholder of the conventional passive heave compensation system employing that relates in the background technology, air compressor, regulons such as operated pneumatic valve assembly, save cost, dwindle and take up an area of the space, improve shipment property.
(3) the present invention adopts little volume energy storage, and pressure sensor, depth transducer and controller are formed steady operation point secondary TT﹠C system.Energy storage, pressure sensor and controller on-line measurement are calculated and are obtained steady operation point approximate value, the exact value that obtains steady operation point is calculated in depth transducer and controller on-line measurement, thereby the controlling valu of proportional pressure control valve accurately is set, and helps improving the heave compensation precision.
(4) the present invention carry energy storage oil-filled, drain the oil, recharging oil device, simple in structure, practicality.
Description of drawings
Accompanying drawing is a hydraulic system principle figure of the present invention.
Among the figure: 1, oil suction oil filter, 2, electrical motor, 3, fix-displacement pump, 4, high-pressure filter, 5, safety valve, 6, proportional pressure control valve, 7, check valve, 8, reducing valve, 9, controller, 10, shutoff valve, 11, check valve, 12, depth transducer, 13, pressure sensor, 14, energy storage, 15, shutoff valve, 16, HM Hydraulic Motor, 17, pilot overflow valve.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in drawings, the present invention includes: the mouth of first check valve 7 in the fuel-feed system divides three the tunnel, the first via connects the oil inlet of proportional pressure control valve 6, the second the tunnel connects the oil inlet of reducing valve 8, Third Road is divided into three the tunnel again behind first shutoff valve 10, the first via connects pressure sensor 13, the second the tunnel connects energy storage 14, Third Road connects HM Hydraulic Motor 16 high pressure chests through second shutoff valve 15, HM Hydraulic Motor 16 low-pressure cavity are divided into two-way, the first via connects pilot overflow valve 17 oil inlets, and the second the tunnel connects the oil outlet of reducing valve 8 through second check valve 11; The output termination proportional pressure control valve 6 of controller 9 carries amplifier input terminal, and the input end of controller 9 divides two-way, and the first via connects the mouth that is installed in the depth transducer 12 in the underwater towed-body, and the second the tunnel connects the mouth of pressure sensor 13; HM Hydraulic Motor 16 from belt brake is fixed on the releasing winch pedestal, and the output shaft of HM Hydraulic Motor 16 is connected with winch by spline, and trailing cable one end is fixed on the winch, and an end links to each other with underwater towed-body.
Described fuel-feed system comprises oil suction oil filter 1, electrical motor 2, fix-displacement pump 3, high-pressure filter 4, the safety valve 5 and first check valve 7; The input end of first check valve 7 divides two the tunnel, and the first via connects the input end of safety valve 5, the second tunnel fix-displacement pump 3, oil suction oil filter 1 connected tank through electrical motor 2 drivings.
The principle of work of system is as follows:
(1) after underwater towed-body trailing cable releasing winch was discharged into appointment trailing cable length with underwater towed-body, HM Hydraulic Motor 16 brakes switched to Condition Of Tow.Open shutoff valve 10, close shutoff valve 15, it is 28Mpa that safety valve 5 pressure are set, proportional pressure control valve 6 is set is pressure unloading, actuating motor 2, treat fix-displacement pump 3 stable operations after, regulate proportional pressure control valve 6 pressure to 5Mpa, adjusting reducing valve 8, pilot overflow valve 17 pressure are 2Mpa.Empirical equation according to interrelation between HM Hydraulic Motor load pressure and sea situation, the lash ship speed of a ship or plane, the trailing cable length, calculate 16 liang of chamber loads of HM Hydraulic Motor pressure differential deltap P, preset proportion by pass valve 6 pressure P=Δ P+2 (Mpa), energy storage 14 beginnings are oil-filled, energy storage 14 pressure reach after proportional pressure control valve 6 setting pressures, oil-filled finishing.
(2) close shutoff valve 10, open shutoff valve 15, open HM Hydraulic Motor 16 brakes, HM Hydraulic Motor 16 beginning crank motions.
(3) 9 pairs of pressure sensors of controller, 13 outputs carrying out A/D conversion is with the sample (p of certain time interval T 1 interior (T1 is the integral multiple in lash ship heave movement cycle) pressure sensor 13 output valves as the variation of energy storage 14 pressure
1, p
2..., p
n)
i(n is a size of a sample, and i is a sample number, i=1,2,3 ...), the time gap between the sample is zero.Behind each sample A/D end of conversion,, after average tends towards stability, preserve this sample average, HM Hydraulic Motor 16 brakes in the sample average of each sample of line computation.
(4) open shutoff valve 9 and shutoff valve 14, the sample average of preserving in the step (3) is set at the settling pressure of proportional pressure control valve 6, open HM Hydraulic Motor 16 brakes, HM Hydraulic Motor 16 beginning crank motions, passive heave compensation system is started working.
(5) 9 pairs of controllers are contained in depth transducer 12 outputs the carrying out A/D conversion in the underwater towed-body, with the sample (d of certain time interval T 2 interior (T2 is the lash ship heave movement cycle) depth transducer 12 output valves as the towed body change in depth
1, d
2..., d
n)
i(n is a size of a sample, and i is a sample number, i=1,2,3 ...), the time gap between the sample is zero.Behind each sample A/D end of conversion, online all data to each sample are carried out fitting of a straight line one time, when the fitting a straight line slope greater than the maxim that preestablishes slope range, controller 9 is transferred high range by pass valves 6 setting pressures; When the fitting a straight line slope less than the minimum value that preestablishes slope range, controller 9 is turned proportional pressure control valve 6 setting pressures down; Preestablish in the slope range when the fitting a straight line slope is in, proportional pressure control valve 6 setting pressures are constant.Repeated for (5) step, passive heave compensation system normal operation.
(6) close shutoff valve 15, HM Hydraulic Motor 16 brakes stop passive heave compensation system, turn down proportional pressure control valve 6 pressure, and energy storage 14 is drained the oil.
The controller 9 that adopts among the present invention is programmable logic controller (PLC) PLC.
Claims (2)
1, a kind of underwater drawing body passive heave compensation system based on constant pressure difference, it is characterized in that: the mouth of first check valve (7) in the fuel-feed system divides three the tunnel, the first via connects the oil inlet of proportional pressure control valve (6), the second the tunnel connects the oil inlet of reducing valve (8), Third Road is divided into three the tunnel again behind first shutoff valve (10), the first via connects pressure sensor (13), the second the tunnel connects energy storage (14), Third Road connects HM Hydraulic Motor (16) high pressure chest through second shutoff valve (15), HM Hydraulic Motor (16) low-pressure cavity is divided into two-way, the first via connects pilot overflow valve (17) oil inlet, and the second the tunnel connects the oil outlet of reducing valve (8) through second check valve (11); The output termination proportional pressure control valve (6) of controller (9) carries amplifier input terminal, the input end of controller (9) divides two-way, the first via connects the mouth that is installed in the depth transducer (12) in the underwater towed-body, and the second the tunnel connects the mouth of pressure sensor (13); HM Hydraulic Motor (16) from belt brake is fixed on the releasing winch pedestal, and the output shaft of HM Hydraulic Motor (16) is connected with winch by spline, and trailing cable one end is fixed on the winch, and an end links to each other with underwater towed-body.
2, a kind of underwater drawing body passive heave compensation system according to claim 1 based on constant pressure difference, it is characterized in that: described fuel-feed system comprises oil suction oil filter (1), electrical motor (2), fix-displacement pump (3), high-pressure filter (4), safety valve (5) and first check valve (7); The input end of first check valve (7) divides two the tunnel, and the first via connects the input end of safety valve (5), the second tunnel fix-displacement pump (3), oil suction oil filter (1) connected tank through electrical motor (2) driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100679440A CN100439200C (en) | 2007-04-10 | 2007-04-10 | Underwater drawing body passive heave compensation system based on constant pressure difference |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100679440A CN100439200C (en) | 2007-04-10 | 2007-04-10 | Underwater drawing body passive heave compensation system based on constant pressure difference |
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| CN101032996A true CN101032996A (en) | 2007-09-12 |
| CN100439200C CN100439200C (en) | 2008-12-03 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102536921A (en) * | 2012-02-27 | 2012-07-04 | 三一重型综采成套装备有限公司 | Coil cable motor system |
| CN102691484A (en) * | 2012-06-06 | 2012-09-26 | 中国石油大学(华东) | Winch heave compensation device of marine floating drilling platform |
| CN105370633A (en) * | 2015-11-26 | 2016-03-02 | 中国航空工业集团公司沈阳飞机设计研究所 | Variable load hydraulic motor dragging device |
| CN105398965A (en) * | 2015-12-22 | 2016-03-16 | 浙江大学 | Video-ranging offshore platform crane heave compensation control system and method |
| CN105417381A (en) * | 2015-12-22 | 2016-03-23 | 浙江大学 | Direct pump control type electro-hydraulic heaving compensation device |
| CN106241633A (en) * | 2016-08-23 | 2016-12-21 | 三峡大学 | A kind of towing winch hydraulic control system peculiar to vessel and actuating device and control method |
| CN113003453A (en) * | 2021-02-08 | 2021-06-22 | 广东工业大学 | Traction winch between crude oil barge and oil tanker and control method thereof |
| CN115184059A (en) * | 2022-09-13 | 2022-10-14 | 山东大学 | Winch type heave compensation experiment table based on four-quadrant motor and working method thereof |
| CN115818490A (en) * | 2022-11-22 | 2023-03-21 | 哈尔滨工程大学 | Semi-active heave compensation device for ROV release and recovery |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS558932A (en) * | 1978-06-30 | 1980-01-22 | Komatsu Ltd | Tension control device of submarine cable |
| US4349179A (en) * | 1979-06-19 | 1982-09-14 | Gec Mechanical Handling Limited | Control means for motion compensation devices |
| FR2669381B1 (en) * | 1990-11-21 | 1993-03-19 | Bovy Henry | STABILIZED SUSPENSION SYSTEM WITH LOAD CONTROLLED STRENGTH FOR SUSPENDED VEHICLE AND OBJECT. |
| FR2764008B1 (en) * | 1997-06-03 | 2000-07-21 | Henri Louis Pierre Bovy | ELECTROHYDROSTATIC MOBILE SUSPENDED PLATFORM SERVOACTUATOR |
-
2007
- 2007-04-10 CN CNB2007100679440A patent/CN100439200C/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102536921A (en) * | 2012-02-27 | 2012-07-04 | 三一重型综采成套装备有限公司 | Coil cable motor system |
| CN102536921B (en) * | 2012-02-27 | 2014-10-01 | 三一重型综采成套装备有限公司 | Coil cable motor system |
| CN102691484A (en) * | 2012-06-06 | 2012-09-26 | 中国石油大学(华东) | Winch heave compensation device of marine floating drilling platform |
| CN102691484B (en) * | 2012-06-06 | 2014-04-16 | 中国石油大学(华东) | Winch heave compensation device of marine floating drilling platform |
| CN105370633B (en) * | 2015-11-26 | 2018-11-13 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of changeable load hydraulic motor actuator |
| CN105370633A (en) * | 2015-11-26 | 2016-03-02 | 中国航空工业集团公司沈阳飞机设计研究所 | Variable load hydraulic motor dragging device |
| CN105398965A (en) * | 2015-12-22 | 2016-03-16 | 浙江大学 | Video-ranging offshore platform crane heave compensation control system and method |
| CN105417381A (en) * | 2015-12-22 | 2016-03-23 | 浙江大学 | Direct pump control type electro-hydraulic heaving compensation device |
| CN106241633A (en) * | 2016-08-23 | 2016-12-21 | 三峡大学 | A kind of towing winch hydraulic control system peculiar to vessel and actuating device and control method |
| CN106241633B (en) * | 2016-08-23 | 2018-08-14 | 三峡大学 | A kind of towing winch hydraulic control system peculiar to vessel and transmission device and control method |
| CN113003453A (en) * | 2021-02-08 | 2021-06-22 | 广东工业大学 | Traction winch between crude oil barge and oil tanker and control method thereof |
| CN115184059A (en) * | 2022-09-13 | 2022-10-14 | 山东大学 | Winch type heave compensation experiment table based on four-quadrant motor and working method thereof |
| CN115184059B (en) * | 2022-09-13 | 2023-01-31 | 山东大学 | Winch type heave compensation experiment table based on four-quadrant motor and working method thereof |
| CN115818490A (en) * | 2022-11-22 | 2023-03-21 | 哈尔滨工程大学 | Semi-active heave compensation device for ROV release and recovery |
| CN115818490B (en) * | 2022-11-22 | 2023-07-21 | 哈尔滨工程大学 | Semi-active heave compensation device for ROV release recovery |
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| CN100439200C (en) | 2008-12-03 |
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