CN103149959A - Digital electric hydraulic control system for retraction and release of offshore spill oil recovery treatment device - Google Patents
Digital electric hydraulic control system for retraction and release of offshore spill oil recovery treatment device Download PDFInfo
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- CN103149959A CN103149959A CN201310100747XA CN201310100747A CN103149959A CN 103149959 A CN103149959 A CN 103149959A CN 201310100747X A CN201310100747X A CN 201310100747XA CN 201310100747 A CN201310100747 A CN 201310100747A CN 103149959 A CN103149959 A CN 103149959A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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Abstract
The invention discloses a digital electric hydraulic control system for the retraction and release of an offshore spill oil recovery treatment device based on a water level robot. The digital electric hydraulic control system comprises a hydraulic transmission loop, an electric control system and a detection system, and is used for realizing the intelligentized control cover the retraction and release process of the offshore spill oil recovery treatment device. The hydraulic transmission loop comprises an oil tank, a motor, a variable-displacement pump, a filter, a one-way valve, a proportional overflow valve, a proportional direction valve, a proportional balance valve, a two-way hydraulic motor, and a winding drum lifting mechanism. The electric control system is used to complete the sequential control over electric appliances, and comprises a speed regulation control process based on speed feedback and a force control process based on force feedback. The detection system comprises a displacement sensor, a speed sensor and a force sensor. According to the digital electric hydraulic control system disclosed by the invention, the operational output is carried out in a controller by means of monitoring the speed and force output by the system ceaselessly, the control over the speed and force of the system is realized through regulating the proportional direction valve and the proportional overflow valve, and the stability, safety and reliability of the retraction and release control process under a high sea condition are realized.
Description
Technical field
The present invention relates to a kind of folding and unfolding control system of marine carrying platform, particularly relate to a kind of numerically controlled electrohydraulic control system.
Background technology
If folding and unfolding oil spilling recycling and processing device is considered the interaction of unmanned boat, wave, marine oil overflow recycling and processing device, draw off gear under high sea situation.In the process of oil spilling recycling and processing device folding and unfolding, the effect of wave makes the safe folding and unfolding of oil spilling recycling and processing device very undesirable, alleviates wave as far as possible and processes the adverse effect that the folding and unfolding of water surface robot brings to marine oil overflow therefore introduce now the function of tension force and speed feedback.
Various ships are taken the formula skimming system all needs to have a good draw off gear to realize the safe folding and unfolding of oil spilling retracting device.This has also been done a lot of research both at home and abroad.Global Davit GmbH company can provide the draw off gear scheme for working ship and ro-ro passenger ship, and all Rhp.HC.type type draw off gears are A type structure, adopts integrated hydraulic system, equipment to satisfy that SOLAS requires and the MED identification.For quick rescue boat, integrated snubber assembly is housed, automatically wave compensation system, tele-control system and subtract the device such as oscillator system on arm.The equipment of Norway VestDavit adopts HYDRAULIC CONTROL SYSTEM fully, and emergency system satisfies SOLAS requirement and IMO regulation, has buffer system, constant tension system and subtracts oscillator system.Norway Hydramarine AS, typical feature: high speed heave compensation system, hydropneumatic damping of shocks system, diaxon subtract pendulum system.Present marine folding and unfolding control system need to realize that the electric hydraulic control system integration degree of Digital Control is not high in the situation that there are personnel involved completes mostly, and is intelligent low.
Summary of the invention
The problem to be solved in the present invention is under high sea situation, in the situation of load variations, by the electric-hydraulic proportion control technique, realizes in the folding and unfolding control procedure control of speed and power is realized the steady folding and unfolding of system.The technical scheme that technical solution problem of the present invention adopts is as described below.
A kind of folding and unfolding digital electrohydraulic control system of marine oil overflow recycling and processing device comprises hydraulic drive circuit, electric control system and detection system:
Described hydraulic drive circuit comprises having luffing range of cantilever support organization hydraulic pressure transmission loop and retracting device folding and unfolding hydraulic drive circuit, above-mentioned two identical transmission loop designs of transmission loop employing;
Described hydraulic drive circuit comprises motor 1, variable output pump 2, retaining valve 3, proportional pressure control valve 4, oil cylinder 5, filtrator 17, proportional direction valve 6, equalizing valve 7, equalizing valve 8, two-way hydraulic motor 14, variator 16, ball-screw 9, roller 10, reel 15; Motor 1 is connected with variable output pump 2 by shaft coupling; The oil-in of variable output pump 2 is connected with oil cylinder 5, and the oil-out of variable output pump 2 is connected with the oil-in of retaining valve 3; The oil-in of filtrator 17 is connected with the oil-out of retaining valve 3, and connects the oil-in of proportional pressure control valve 4; The oil-out of proportional pressure control valve 4 is connected with oil cylinder 5; The P mouth of proportional direction valve 6 is connected with the oil-out of filtrator 17, and the T mouth of proportional direction valve 6 is connected with oil cylinder 5, and the A mouth of proportional direction valve 6 is connected with the T mouth of equalizing valve 7, and the B mouth of proportional direction valve 6 is connected with the T mouth of equalizing valve 8; The hydraulic fluid port of one side of two-way hydraulic motor 14 is connected with the P mouth of equalizing valve 7, and the opposite side hydraulic fluid port of two-way hydraulic motor 14 is connected with the hydraulic fluid port of equalizing valve 8; Two-way hydraulic motor 14 is connected with reel 15 by reducing gear 16; Ball-screw 9 is connected with roller 10, and is connected with spool shaft by reducing gear 16;
Described electric control system comprises closed-loop control system based on speed feedback, based on closed-loop control system and the emergency situations disposal system of force feedback.
Described closed-loop control system based on the speed feedback comprises photoelectric encoder 12, photoelectric encoder 13, velocity reversal controller 20, proportional amplifier 22; Photoelectric encoder 12 is measured the speed of reel 15; Photoelectric encoder 13 is measured the speed of ball-screw 9; The speed of reel and the speed of ball-screw are as the input signal of velocity reversal controller 20; The output signal of velocity reversal controller 20 is as the input signal of proportional amplifier 22; The output signal of proportional amplifier is as the input control signal of proportional direction valve 6.
Described closed-loop control system based on force feedback comprises tension pick-up 18, force controller 21, proportional amplifier 23; Tension pick-up 18 is measured the tension force of rope; The tension force of the rope of measuring is as the input signal of force controller 21; The output signal of force controller is as the input signal of proportional amplifier 23; The output signal of proportional amplifier is as the input signal of equalizing valve 7, equalizing valve 8 and proportional pressure control valve 4.
Described emergency situations control system comprises approach switch sensor 11, approach switch sensor 19; Approach switch sensor 11,19 output signal are as the input signal of controller 24, and the output signal of controller 24 is as the control signal of motor 1.
Described detection system comprises the photoelectric encoder 12 that is installed on reel 15, be installed on photoelectric encoder 13 on ball-screw 9, be installed on tension pick-up 18, approach switch 11, approach switch 19 in the rope kinematic train.
The good effect that the present invention has is:
1) employing is based on the feedback control loop of speed, in the situation that loading speed changes, by the regulation speed of regulation and control proportional pressure control valve, it is not steady that release rate changes.
2) adopt feedback control loop based on power, in the situation that the stressed variation of load, flow the pressure of proportional pressure control valve by accents, the output torque of regulator solution pressure motor, the control of realization to the power of folding and unfolding process.
3) by the state variation of detection system, realize Digital Control, intelligent unmanned control.
Description of drawings
Fig. 1 is the mechanical construction drawing of the folding and unfolding digital electrohydraulic control system of marine oil overflow recycling and processing device in the embodiment of the present invention
Fig. 2 is the electric liquid structure principle chart of the folding and unfolding digital electrohydraulic control system of marine oil overflow recycling and processing device of the present invention
Embodiment
The below provides preferred embodiment of the present invention, these embodiment and unrestricted content of the present invention.
Embodiment
As shown in Figure 1, in the present invention the luffing range of cantilever support mechanism of marine oil overflow recycling and processing device by hoisting mechanism 101, guide wheel 201, wire rope 301, jib 401, guide wheel 501, jib 801; The retracting device jack of oil spilling recycling and processing device is by hoisting mechanism 601, guide wheel 701, wire rope 901, jib 1001, oil spilling retracting device 1101.
Workflow is: at first luffing range of cantilever support mechanism under the driving of described electrohydraulic control system, completes the stretching, extension of horizontal direction, is arranged on angular transducer 1301 between jib 401 and jib 801 by detection, determines whether to reach the stretch amplitude of need of work; When angle reached requirement, the jack of oil spilling retracting device carried out the folding and unfolding action under the driving of electrohydraulic control system.
As shown in Figure 2, the folding and unfolding digital electrohydraulic control system of marine oil overflow recycling and processing device of the present invention comprises hydraulic drive circuit, electric control system and detection system:
Described hydraulic drive circuit comprises having luffing range of cantilever support organization hydraulic pressure transmission loop and retracting device folding and unfolding hydraulic drive circuit, above-mentioned two identical transmission loop designs of transmission loop employing;
Described hydraulic drive circuit comprises motor 1, variable output pump 2, retaining valve 3, proportional pressure control valve 4, oil cylinder 5, filtrator 17, proportional direction valve 6, equalizing valve 7, equalizing valve 8, two-way hydraulic motor 14, variator 16, ball-screw 9, roller 10, reel 15; Motor 1 is connected with variable output pump 2 by shaft coupling; The oil-in of variable output pump 2 is connected with oil cylinder 5, and the oil-out of variable output pump 2 is connected with the oil-in of retaining valve 3; The oil-in of filtrator 17 is connected with the oil-out of retaining valve 3, and connects the oil-in of proportional pressure control valve 4; The oil-out of proportional pressure control valve 4 is connected with oil cylinder 5; The P mouth of proportional direction valve 6 is connected with the oil-out of filtrator 17, and the T mouth of proportional direction valve 6 is connected with oil cylinder 5, and the A mouth of proportional direction valve 6 is connected with the T mouth of equalizing valve 7, and the B mouth of proportional direction valve 6 is connected with the T mouth of equalizing valve 8; The hydraulic fluid port of one side of two-way hydraulic motor 14 is connected with the P mouth of equalizing valve 7, and the opposite side hydraulic fluid port of two-way hydraulic motor 14 is connected with the hydraulic fluid port of equalizing valve 8; Two-way hydraulic motor 14 is connected with reel 15 by reducing gear 16; Ball-screw 9 is connected with roller 10, and is connected with spool shaft by reducing gear 16;
Described electric control system comprises closed-loop control system based on speed feedback, based on closed-loop control system and the emergency situations disposal system of force feedback.
Described closed-loop control system based on the speed feedback comprises photoelectric encoder 12, photoelectric encoder 13, velocity reversal controller 20, proportional amplifier 22; Photoelectric encoder 12 is measured the speed of reel 15; Photoelectric encoder 13 is measured the speed of ball-screw 9; The speed of the speed of reel 15 and ball-screw 9 is as the input signal of velocity reversal controller 20; The output signal of velocity reversal controller 20 is as the input signal of proportional amplifier 22; The output signal of proportional amplifier is as the input control signal of proportional direction valve 6.
Described closed-loop control system based on force feedback comprises tension pick-up 18, force controller 21, proportional amplifier 23; Tension pick-up 18 is measured the tension force of rope; The tension force of the rope of measuring is as the input signal of force controller 21; The output signal of force controller 21 is as the input signal of proportional amplifier 23; The output signal of proportional amplifier 23 is as the input signal of equalizing valve 7, equalizing valve 8 and proportional pressure control valve 4.
Described emergency situations control system comprises approach switch sensor 11, approach switch sensor 19; Approach switch sensor 11,19 output signal are as the input signal of controller 24, and the output signal of controller 24 is as the control signal of motor 1.
Described detection system comprises the photoelectric encoder 12 that is installed on reel 15, be installed on photoelectric encoder 13 on ball-screw 9, be installed on tension pick-up 18, approach switch 11, approach switch 19 in the rope kinematic train.
Its course of work is as follows: give controller 24 signals, and controller 24 output starter motors 1, hydraulic system is started working.Fluid is divided into two-way by variable output pump 2, retaining valve 3, and one the tunnel connects the oil-in of proportional pressure control valve 4, and the outlet fluid of passing ratio surplus valve 4 flows into oil cylinder 5, and opening pressure can be set up by setting surplus valve 4 by system.Another road connects the P mouth of proportional direction valve 6, velocity reversal controller 20 is by control ratio amplifier 22 control ratio direction valves 6, when the left side of proportional direction valve 6 proportion electro-magnet gets when electric, the P mouth of proportional direction valve 6 and the A mouth of equalizing valve 7 are connected, the B mouth of proportional direction valve 6 and the T mouth of equalizing valve 7 are connected, two-way hydraulic motor 14 forwards, two-way hydraulic motor 14 drives reel 15 by gear 16 and rotates, and system completes the process of putting down; When the right side of proportional direction valve 6 proportion electro-magnet gets when electric, the P mouth of proportional direction valve 6 and the B mouth of equalizing valve 8 are connected, the A mouth of proportional direction valve 6 and the T mouth of equalizing valve 8 are connected, two-way hydraulic motor 14 counter-rotatings, two-way hydraulic motor 14 drives reel 15 by gear 16 and rotates, and system completes the process of packing up.In rotating and reverse process, size that can passing ratio amplifier 22 output signals gets the aperture of electric big or small by-pass valve control by the control ratio electromagnet, thus the speed of regulating system.Force controller 21 output signal control ratio amplifiers 23, proportional amplifier signal output control ratio equalizing valve 7,8, set respectively the back pressure of forward and backward process oil return line, under the system with proportional pressure control valve 4 pressure settings coordinates, the control of completion system output torque.
The described speed of measuring reel 15 based on the photoelectric encoder 12 in the closed-loop control system of speed feedback; Photoelectric encoder 13 is measured the speed of ball-screw 9; The speed of the speed of reel 15 and ball-screw 9 is compared with the speed of given input control device as the input signal of velocity reversal controller 20; The output signal of velocity reversal controller 20 process computings is as the input signal of proportional amplifier 22, size according to the deviation of measuring speed and given speed, regulate the input signal of proportional amplifier 22, when deviation increases, the output signal of proportional amplifier 22 increases, when deviation signal reduced, the output signal of proportional amplifier 22 reduced.The variation of the proportion electro-magnet by-pass valve control aperture of proportional direction valve 6 and the output signal of proportional amplifier 22 are proportional, thereby according to the velocity variations of rate signal regulating system of monitoring.
The described tension force of measuring rope based on tension pick-up in the closed-loop control system of force feedback 18; The tension force of the rope of measuring is as the input signal of force controller 21; The output signal of force controller 21 is as the input signal of proportional amplifier 23; The output signal of proportional amplifier 23 is as equalizing valve 7,8 and the input signal of proportional pressure control valve 4, equalizing valve 7,8 and the proportion electro-magnet of proportional pressure control valve 4 get the directly proportional relation of output signal of electric size and proportional amplifier 23, can set the pressure of in-line by regulating proportional pressure control valve 4, can set the back pressure of oil return line by adjustment valve 7,8, thus the output torque of the system of setting.
In described emergency situations control system, approach switch sensor 11,19 output signal are as the input signal of controller 24, the output signal of controller 24 is as the control signal of motor 1, when roller surpass the scope of activities of its setting the time, the approach switch output signal, controller 24 receives cut-offfing of signal control motor 1.
The present invention can be applied to the control of marine similar draw off gear, so the present invention has covered the change that falls into the various control system in the appending claims scope.
Claims (4)
1. the folding and unfolding digital electrohydraulic control system of marine oil overflow recycling and processing device, is characterized in that, comprises hydraulic drive circuit, electric control system and detection system:
Described hydraulic drive circuit comprises having luffing range of cantilever support organization hydraulic pressure transmission loop and retracting device folding and unfolding hydraulic drive circuit, above-mentioned two identical transmission loop designs of transmission loop employing;
Described hydraulic drive circuit comprises motor (1), variable output pump (2), retaining valve (3), proportional pressure control valve (4), oil cylinder (5), filtrator (17), proportional direction valve (6), equalizing valve (7), equalizing valve (8), two-way hydraulic motor (14), variator (16), ball-screw (9), roller (10), reel (15); Motor (1) is connected with variable output pump (2) by shaft coupling; The oil-in of variable output pump (2) is connected with oil cylinder (5), and the oil-out of variable output pump (2) is connected with the oil-in of retaining valve (3); The oil-in of filtrator (17) is connected with the oil-out of retaining valve (3), and connects the oil-in of proportional pressure control valve (4); The oil-out of proportional pressure control valve (4) is connected with oil cylinder (5); The P mouth of proportional direction valve (6) is connected with the oil-out of filtrator (17), the T mouth of proportional direction valve (6) is connected with oil cylinder (5), the A mouth of proportional direction valve (6) is connected with the T mouth of equalizing valve (7), and the B mouth of proportional direction valve (6) is connected with the T mouth of equalizing valve (8); The hydraulic fluid port of one side of two-way hydraulic motor (14) is connected with the P mouth of equalizing valve (7), and the opposite side hydraulic fluid port of two-way hydraulic motor (14) is connected with the hydraulic fluid port of equalizing valve (8); Two-way hydraulic motor (14) is connected with reel (15) by reducing gear (16); Ball-screw (9) is connected with roller (10), and is connected with spool shaft by reducing gear (16);
Described electric control system comprises closed-loop control system based on speed feedback, based on closed-loop control system and the emergency situations disposal system of force feedback;
Described detection system comprises the photoelectric encoder (12) that is installed on reel (15), be installed on photoelectric encoder (13) on ball-screw (9), be installed on tension pick-up (18), approach switch (11), approach switch (19) in the rope kinematic train.
2. folding and unfolding digital electrohydraulic control system as claimed in claim 1, it is characterized in that, described closed-loop control system based on the speed feedback comprises photoelectric encoder (12), photoelectric encoder (13), velocity reversal controller (20), proportional amplifier (22); Photoelectric encoder (12) is measured the speed of reel (15); Photoelectric encoder (13) is measured the speed of ball-screw (9); The speed of reel and the speed of ball-screw are as the input signal of velocity reversal controller (20); The output signal of velocity reversal controller (20) is as the input signal of proportional amplifier (22); The output signal of proportional amplifier is as the input control signal of proportional direction valve (6).
3. folding and unfolding digital electrohydraulic control system as claimed in claim 1, is characterized in that, described closed-loop control system based on force feedback comprises tension pick-up (18), force controller (21), proportional amplifier (23); Tension pick-up (18) is measured the tension force of rope; The tension force of the rope of measuring is as the input signal of force controller (21); The output signal of force controller is as the input signal of proportional amplifier (23); The output signal of proportional amplifier is as the input signal of equalizing valve (7), equalizing valve (8) and proportional pressure control valve (4).
4. folding and unfolding digital electrohydraulic control system as claimed in claim 1, is characterized in that, described emergency situations control system comprises approach switch sensor (11), approach switch sensor (19); The output signal of approach switch sensor (11), (19) is as the input signal of controller (24), and the output signal of controller (24) is as the control signal of motor (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310100747.XA CN103149959B (en) | 2013-03-26 | 2013-03-26 | Digital electric hydraulic control system for retraction and release of offshore spill oil recovery treatment device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310100747.XA CN103149959B (en) | 2013-03-26 | 2013-03-26 | Digital electric hydraulic control system for retraction and release of offshore spill oil recovery treatment device |
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| CN103149959A true CN103149959A (en) | 2013-06-12 |
| CN103149959B CN103149959B (en) | 2015-06-03 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104591022A (en) * | 2014-11-26 | 2015-05-06 | 燕山大学 | Automatic roller tension hydraulic control system and method of cable winding and unwinding trolley |
| CN106151142A (en) * | 2016-07-14 | 2016-11-23 | 浙江大学 | The independent spool control valve of flow pro-rata and control method thereof |
| CN109502494A (en) * | 2017-09-14 | 2019-03-22 | 上海中车艾森迪海洋装备有限公司 | A kind of deep-sea drawing cable hydraulic system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104591022A (en) * | 2014-11-26 | 2015-05-06 | 燕山大学 | Automatic roller tension hydraulic control system and method of cable winding and unwinding trolley |
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| CN109502494A (en) * | 2017-09-14 | 2019-03-22 | 上海中车艾森迪海洋装备有限公司 | A kind of deep-sea drawing cable hydraulic system |
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| CN103149959B (en) | 2015-06-03 |
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