CN104930000B - A kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system - Google Patents
A kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system Download PDFInfo
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- CN104930000B CN104930000B CN201510266671.7A CN201510266671A CN104930000B CN 104930000 B CN104930000 B CN 104930000B CN 201510266671 A CN201510266671 A CN 201510266671A CN 104930000 B CN104930000 B CN 104930000B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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Abstract
The invention provides a kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system, including hydraulic drive module, hydraulic control module and electric control module, hydraulic drive module includes base, spud leg and four hydraulic transmission assemblies, spud leg is fixed on base, and ear mount is provided with above the base；Hydraulic transmission assembly includes structure identical Left Drive component, rear transmission component, right transmission component and driving front component, hydraulic control module includes hydraulic oil container, fluid pressure line, air cleaner, motor, hydraulic pump, check valve, overflow valve, four hydraulic pressure drive control system components and four hydraulic bolt control assemblies, hydraulic pump is connected with motor, one end of hydraulic pump is connected by fluid pressure line, air cleaner with fuel tank, and the other end is connected by fluid pressure line with hydraulic pressure drive control system component and hydraulic bolt control assembly.Instant invention overcomes the problems such as the non-linear friction resistance of the presence such as the leakage of hydraulic system, executive component, have a good application prospect.
Description
Technical field
The present invention relates to jack up ocean installing engineering platform technology field, more particularly to a kind of wind turbine installation vessel high accuracy
The high-precision transmission side control case of hydraulic synchronizing lifting control system, specially jack up ocean installing engineering platform leg.
Background technology
The spud leg kind of drive of jack up ocean installing engineering platform includes rack pinion and the species of hydraulic drive two
Type.Rack pinion is simple in construction, easy to control, and cylindrical leg typically uses rack pinion, but rack soaks for a long time
Bubble easily corrosion in the seawater, influences the service life of spud leg.Hydraulic drive is often used on the spud leg of polygonized structure, hydraulic pressure
Drive disk assembly more than sea level, therefore, is not influenceed all by sea water intrusion, but leakage due to hydraulic system, is held
Difference, the system loaded between performance difference, each executive component between the non-linear friction resistances of the presence such as units, control element
The influence of the factors such as the foozle of each part, will cause the synchronous error of many executing agencies, so that whole control
System architecture is complicated, and debugging is difficult.
A kind of hydraulic pressure of many spud leg lifting mechanisms is for example disclosed in Chinese patent (Application No. 201110079193.0)
System, including working connection, latch oil circuit and control oil circuit, wherein：The working connection includes high-pressure pump, M type function 3-position 4-ways
Electro-hydraulic reversing valve, the first lift cylinders group and the second lift cylinders group；The latch oil circuit includes latch medium lift pump, two y-functions
Three-position four-way electromagnetic directional valve, the first latch cylinder group and the second latch cylinder group；The control oil circuit includes the control being sequentially connected
Medium lift pump, two-position four-way solenoid directional control valve and the hydraulic directional valve with unidirectional damping.Although the technical scheme improves hydraulic pressure system
The composition of system, but there are still between the non-linear friction resistance of the presence such as leakage, the executive component of hydraulic system, control element
Performance difference, the influence of the factor such as the difference, the foozle of system components that load between each executive component, cause many
The problem of synchronous error of executing agency.
The content of the invention
The non-linear friction resistance of the presence such as leakage, executive component to overcome hydraulic system present in prior art,
The problems such as difference that is loaded between performance difference, each executive component between control element, foozle of system components, this
Invention provides a kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system.
The technical solution adopted by the present invention is：A kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system, including
Hydraulic drive module, hydraulic control module and electric control module, its innovative point are：The hydraulic drive module includes bottom
Seat, spud leg and four hydraulic transmission assemblies, spud leg are fixed on base, and several ear mounts are provided with above the base；The liquid
Transmission component is pressed to include structure identical Left Drive component, rear transmission component, right transmission component and driving front component, the hydraulic pressure
Control module includes hydraulic oil container, fluid pressure line, air cleaner, motor, hydraulic pump, check valve, overflow valve, four hydraulic pressure
Control assembly and four hydraulic bolt control assemblies are driven, the hydraulic pump is connected with motor, one end of the hydraulic pump leads to
Cross fluid pressure line, air cleaner with fuel tank to be connected, the other end is inserted by fluid pressure line and hydraulic pressure drive control system component and hydraulic pressure
Sell control assembly connection.
On this basis, the Left Drive component includes left lateral journey feel cylinder, left oil cylinder, the middle round-meshed left side of setting
Sliding block, upper pin, the next pin, left bolt device, the left bolt device include support, left plugging pin oil cylinder, latch；Specific connection knot
Structure is：Upper oil cavitie, upper oil cavitie, the lower oil cavitie of lower oil cavitie respectively with left oil cylinder of the left lateral journey feel cylinder pass through fluid pressure line
Connection, the left lateral journey feel cylinder forms a hydraulic cylinder group, i.e. left hydraulic cylinder group after being connected with the upper lower oil cavitie of left oil cylinder；Institute
State the left slider of left lateral journey feel cylinder has piston rod by upper pin connection, and the cylinder body of the left lateral journey feel cylinder is through bottom
Pin is connected with the ear mount on base, and the piston rod of the left oil cylinder is connected through upper pin with left slider, the cylinder body of the left oil cylinder
It is connected through bottom pin with the ear mount on base；Support in the left bolt device is connected with left slider；The left plugging pin oil cylinder
In the circular hole in the middle of left slider, realization is moved left and right in circular hole；The piston rod of the left plugging pin oil cylinder and support phase
Even, the cylinder body of the left plugging pin oil cylinder is connected with latch.
On this basis, the rear transmission component include rear stroke sensing oil cylinder, rear oil cylinder, it is middle set it is round-meshed after
Sliding block, upper pin, the next pin and rear bolt device, the rear bolt device include support, rear plugging pin oil cylinder and latch, specific connection
Structure is：Upper oil cavitie, the lower oil cavitie of the upper oil cavitie of stroke sensing oil cylinder, lower oil cavitie respectively with rear oil cylinder are connected by fluid pressure line afterwards
Logical, the rear stroke sensing oil cylinder forms a hydraulic cylinder group after being connected with the upper lower oil cavitie of rear oil cylinder, i.e., rear hydraulic cylinder group；Institute
The piston rod for stating rear stroke sensing oil cylinder is connected through upper pin with rear slider, and the cylinder body of the rear stroke sensing oil cylinder is sold through bottom
It is connected with the ear mount on base；The piston rod of the rear oil cylinder is connected by upper pin with rear slider, the cylinder body of the rear oil cylinder
It is connected through bottom pin with the ear mount on base；Support in the rear bolt device is connected with rear slider；The rear plugging pin oil cylinder
In the circular hole in the middle of rear slider, it can be moved forward and backward in circular hole；The piston rod of the rear plugging pin oil cylinder and support phase
Even, the cylinder body of the rear plugging pin oil cylinder is connected with latch.
On this basis, the right transmission component includes right lateral journey feel cylinder, right oil cylinder, right sliding block, upper pin, bottom
Pin and right pin device, the right pin device are made up of support, right pin oil cylinder and latch, and specific attachment structure is：Right lateral journey
Upper oil cavitie, upper oil cavitie, the lower oil cavitie of lower oil cavitie respectively with right oil cylinder of feel cylinder are connected by fluid pressure line, right stroke sensing
Oil cylinder forms a hydraulic cylinder group, i.e., right hydraulic cylinder group after being connected with the upper lower oil cavitie of right oil cylinder；The right lateral journey feel cylinder
Piston rod be connected through upper pin with right sliding block, the cylinder body of the right lateral journey feel cylinder is through bottom pin and the ear mount phase on base
Even；The piston rod of the right oil cylinder is connected through upper pin with right sliding block, and the cylinder body of right oil cylinder is through the next pin and the ear mount on base
It is connected；Support in the right pin device is connected with right sliding block；The right pin oil cylinder is arranged on the circular hole in the middle of right sliding block
It is interior, it can be moved left and right in circular hole；The piston rod of the right pin oil cylinder is connected with support, and the cylinder body of right pin oil cylinder is with inserting
Pin is connected.
On this basis, the driving front component includes front travel feel cylinder, preceding oil cylinder, front-slider, upper pin, bottom
Pin and preceding bolt device, the preceding bolt device include support, preceding plugging pin oil cylinder and latch, and specific attachment structure is：Front travel is passed
Upper oil cavitie, upper oil cavitie, the lower oil cavitie of lower oil cavitie respectively with preceding oil cylinder of sense oil cylinder are connected by fluid pressure line, and the front travel is passed
Sense oil cylinder forms a hydraulic cylinder group before being connected with the upper lower oil cavitie of preceding oil cylinder, i.e., preceding hydraulic cylinder group；The front travel sensing oil
The piston rod of cylinder is connected through upper pin with front-slider, and the cylinder body of the front travel feel cylinder is through the next pin and the ear mount on base
It is connected；The piston rod of the preceding oil cylinder is connected through upper pin with front-slider, and the cylinder body of the preceding oil cylinder is through on bottom pin and base
Ear mount be connected；Support in the preceding bolt device is connected with front-slider；The preceding plugging pin oil cylinder is arranged in the middle of front-slider
Circular hole in, can be moved forward and backward in circular hole；The piston rod of the preceding plugging pin oil cylinder is connected with support, the preceding plugging pin oil cylinder
Cylinder body be connected with latch.
Wherein, left lateral journey feel cylinder, rear stroke sensing oil cylinder, right lateral journey feel cylinder, front travel feel cylinder can be with
Select as built-in ultrasonic type stroke sensing oil cylinder.
On this basis, the hydraulic pressure drive control system component respectively include left Hydraulic Conirol Unit, rear Hydraulic Conirol Unit,
Right Hydraulic Conirol Unit and preceding Hydraulic Conirol Unit；Left Hydraulic Conirol Unit controls Left Drive component, rear Hydraulic Conirol Unit control
Transmission component after system, right Hydraulic Conirol Unit controls right transmission component, and preceding Hydraulic Conirol Unit controls driving front component.
On this basis, the left Hydraulic Conirol Unit includes left pressure sensor, is provided with the left commutation of 4 ports
Valve, left flow speed control valve, left pressure regulator valve, one end of the left pressure regulator valve and the in-line of fluid pressure line are connected, and the other end passes through a left side
Flow speed control valve is connected with left reversal valve；The a port of the left reversal valve is connected with left flow speed control valve, a port and fluid pressure line
Return line connection, a port is connected with the upper oil cavitie of left hydraulic cylinder group, the lower oil cavitie of a port and left hydraulic cylinder group
It is connected；Left pressure sensor is connected to by fluid pressure line on the upper oil cavitie of left hydraulic cylinder group.
On this basis, the rear Hydraulic Conirol Unit includes rear pressure sensor, rear reversal valve, rear flow speed control valve and rear tune
Pressure valve, one end of the rear pressure regulator valve and the in-line of fluid pressure line are connected, and one end is connected by rear flow speed control valve and rear reversal valve
Connect；The a port of the rear reversal valve is connected with rear flow speed control valve, the return line connection of a port and fluid pressure line, one
Port is connected with the upper oil cavitie of rear hydraulic cylinder group, and a port is connected with the lower oil cavitie of rear hydraulic cylinder group, the rear pressure sensing
Device is connected to by fluid pressure line on the upper oil cavitie of rear hydraulic cylinder group.
On this basis, the right Hydraulic Conirol Unit includes right pressure sensor, right reversal valve, right flow speed control valve and right tune
Pressure valve, one end of the right pressure regulator valve and the in-line of fluid pressure line are connected, and one end is connected by right flow speed control valve and right reversal valve
Connect；The a port of the right reversal valve is connected with right flow speed control valve, the return line connection of a port and fluid pressure line, one
Port is connected with the upper oil cavitie of right hydraulic cylinder group, and a port is connected with the lower oil cavitie of right hydraulic cylinder group；The right pressure sensing
Device is connected to by fluid pressure line on the upper oil cavitie of right hydraulic cylinder group.
On this basis, the preceding Hydraulic Conirol Unit includes preceding pressure sensor, preceding reversal valve, preceding flow speed control valve, preceding tune
Pressure valve, one end of the preceding pressure regulator valve and the in-line of fluid pressure line are connected, and one end is connected by preceding flow speed control valve and preceding reversal valve
Connect；The a port of the preceding reversal valve is connected with preceding flow speed control valve, the return line connection of a port and fluid pressure line, one
Port is connected with the upper oil cavitie of preceding hydraulic cylinder group, and a port is connected with the lower oil cavitie of preceding hydraulic cylinder group；The preceding pressure sensing
Before device is connected to by fluid pressure line on the upper oil cavitie of hydraulic cylinder group；Four hydraulic bolt control assemblies are respectively left hydraulic pressure
Latch control assembly, rear hydraulic bolt control assembly, right hydraulic bolt control assembly, preceding hydraulic bolt control assembly, the left side
Hydraulic bolt control assembly includes left plugging pin oil cylinder reversal valve and left plugging pin oil cylinder pressure regulator valve, the left plugging pin oil cylinder pressure regulator valve
The in-line connection of one end and fluid pressure line, one end is connected with left plugging pin oil cylinder reversal valve；The left plugging pin oil cylinder reversal valve
One end be connected with plugging pin oil cylinder pressure regulator valve, the connection of the return line of one end and fluid pressure line, one end and left plugging pin oil cylinder
Front oil pocket is connected, and one end is connected with the back oil pocket of left plugging pin oil cylinder；The rear hydraulic bolt control assembly includes rear plugging pin oil cylinder
Reversal valve and rear plugging pin oil cylinder pressure regulator valve, one end of the rear plugging pin oil cylinder pressure regulator valve and the in-line of fluid pressure line are connected,
One end is connected with rear plugging pin oil cylinder reversal valve；One end of the rear plugging pin oil cylinder reversal valve is connected with plugging pin oil cylinder pressure regulator valve,
The return line connection of one end and fluid pressure line, one end is connected with the front oil pocket of rear plugging pin oil cylinder, one end and rear plugging pin oil cylinder
Back oil pocket is connected；The right hydraulic bolt control assembly includes right pin oil cylinder reversal valve and right pin oil cylinder pressure regulator valve, and the right side is inserted
Sell one end of oil cylinder pressure regulator valve and the in-line of fluid pressure line is connected, one end is connected with right pin oil cylinder reversal valve；The right side
One end of plugging pin oil cylinder reversal valve is connected with plugging pin oil cylinder pressure regulator valve, the return line connection of one end and fluid pressure line, one end
It is connected with the front oil pocket of right pin oil cylinder, one end is connected with the right oil pocket of right pin oil cylinder；The preceding hydraulic bolt control assembly
Including preceding plugging pin oil cylinder reversal valve and preceding plugging pin oil cylinder pressure regulator valve；One end of preceding plugging pin oil cylinder pressure regulator valve and the oil-feed of fluid pressure line
Pipeline is connected, and one end is connected with preceding plugging pin oil cylinder reversal valve；One end of the preceding plugging pin oil cylinder reversal valve in plugging pin oil cylinder with adjusting
Pressure valve is connected, and the return line connection of one end and fluid pressure line, one end is connected with the front oil pocket of preceding plugging pin oil cylinder, and one end is inserted with preceding
The front oil pocket for selling oil cylinder is connected.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) present invention is directed to non-linear installing engineering platform Synchronous lifting hydraulic system in jack up ocean, time variation, born greatly
The features such as carrying change, employs cross-coupling control mode, that is, is divided into multigroup hydraulic transmission assembly, and every group of hydraulic transmission assembly
In two hydraulic cylinders all with one preferably input for target, carry out real-Time Tracking Control；Simultaneously by two executive components
Output quantity is compared, and improves the quiet dynamic accuracy of Synchronous lifting closed-loop control system.
(2) structure design of hydraulic rotation component of the invention, overcomes leakage, executive component of conventional hydraulic etc.
Each composition portion of difference, system loaded between performance difference, each executive component between the non-linear friction resistance of presence, control element
The influence of the factors such as the foozle divided, will cause the synchronous error of many executing agencies, so that whole Control system architecture
Complexity, debugging is difficult.
(3) present invention judges whether spud leg contacts sea bed by detecting the pressure jump of oil cylinder upper oil cavitie, pitching pile or pulls out
During stake, treat latch or sliding block to be pulled pin is with driving the sliding block of support leg movement to be synchronized with the movement, latch is realized in motion or is pulled out
Work is sold, operation principle is easy and effective, accuracy is high, is quick on the draw, and structure complexity itself is not high, with large market
Change prospect.
(4) present invention is by speed governing valve regulation support leg movement speed, and the support leg movement speed that exceeds schedule time does not reach finger
Make and sea bed resistance is overcome by the operating pressure of pressure regulation valve regulation hydraulic cylinder group during value, so that support leg movement speed is improved, if
Meter is rationally ingenious, and sensitivity is high, and automaticity is high, reduces the input of manpower and materials, has saved manpower and time cost, had
Very high practical value.
Brief description of the drawings
Fig. 1 is the integrally-built front view of control system of the present invention；
Fig. 2 is the integrally-built A-A top views of control system of the present invention；
Fig. 3 is the integrally-built B-B top views of control system of the present invention；
Fig. 4 is hydraulic pressure pitching pile unit hydraulic drive block diagram of the present invention；
Fig. 5 is the ocean installing engineering platform Synchronous lifting hydraulic system Fuzzy RBF Neural Network control system of IGA optimizations
Schematic diagram；
Fig. 6 is IGA optimization RBF neural flow charts.
Embodiment
Below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein
Specific embodiment only to explain the present invention, is not intended to limit the present invention.
The present invention relates to a kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system, including hydraulic drive module,
Hydraulic control module and electric control module, as shown in Figure 1, Figure 2, shown in Fig. 3 different visual angles：Hydraulic drive module includes base 1, stake
Leg 2 and four hydraulic transmission assemblies, spud leg 2 are fixed on base 1, and the top of base 1 is provided with 4 ear mounts 4；Hydraulic drive group
Part includes structure identical Left Drive component, rear transmission component, right transmission component and driving front component, and hydraulic control module includes
Hydraulic oil container 34, fluid pressure line 29, air cleaner 31, motor 30, hydraulic pump 32, check valve 28, overflow valve 33, four liquid
Pressure transmission control assembly and four hydraulic bolt control assemblies, the hydraulic pump 32 are connected with motor 30, and the one of hydraulic pump 32
End is connected by fluid pressure line 29, air cleaner 31 with fuel tank 34, and the other end passes through fluid pressure line 29 and hydraulic pressure drive control system
Component and the connection of hydraulic bolt control assembly.
Specifically, Left Drive component includes left lateral journey feel cylinder 3, left oil cylinder 10, the middle round-meshed left slider of setting
6th, upper pin 5, the next pin 26, left bolt device, the left bolt device include support 7, left plugging pin oil cylinder 8, latch 9；Specifically connect
Binding structure is：Upper oil cavitie, lower oil cavitie of the upper oil cavitie, lower oil cavitie of left lateral journey feel cylinder 3 respectively with left oil cylinder 10 pass through hydraulic pressure
Pipeline connection, the left lateral journey feel cylinder 3 forms a hydraulic cylinder group, i.e., left hydraulic pressure after being connected with the upper lower oil cavitie of left oil cylinder 10
Cylinder group；The left slider 6 of left lateral journey feel cylinder 3 is connected with piston rod 27, the cylinder body of left lateral journey feel cylinder 3 by upper pin 5
It is connected through the next pin 26 with the ear mount 4 on base 1, the piston rod 27 of left oil cylinder 10 is connected through upper pin 5 with left slider 6, left oil
The cylinder body of cylinder 10 is connected through the next pin 26 with the ear mount 4 on base 1；Support 7 in left bolt device is connected with left slider 6；It is left
Plugging pin oil cylinder 8 is arranged in the circular hole in the middle of left slider 6, and realization is moved left and right in circular hole；The piston rod 27 of left plugging pin oil cylinder 8
It is connected with support 7, the cylinder body of left plugging pin oil cylinder 8 is connected with latch 9.
Afterwards transmission component include rear stroke sensing oil cylinder 11, rear oil cylinder 14, it is middle round-meshed rear slider 12 is set, it is upper
Pin 5, the next pin 26 and rear bolt device, the rear bolt device include support 7, rear plugging pin oil cylinder 13 and latch 9, specific connection knot
Structure is：Upper oil cavitie, the lower oil cavitie of the upper oil cavitie of stroke sensing oil cylinder 11, lower oil cavitie respectively with rear oil cylinder 14 pass through fluid pressure line afterwards
Connection, the rear stroke sensing oil cylinder 11 forms a hydraulic cylinder group after being connected with the upper lower oil cavitie of rear oil cylinder 14, i.e., rear hydraulic pressure
Cylinder group；The piston rod 27 of stroke sensing oil cylinder 11 is connected through upper pin 5 with rear slider 12 afterwards, the cylinder body of rear stroke sensing oil cylinder 11
It is connected through the next pin 26 with the ear mount 4 on base 1；The piston rod 27 of oil cylinder 14 is connected by upper pin 5 with rear slider 6 afterwards, after
The cylinder body of oil cylinder 14 is connected through the next pin 26 with the ear mount 4 on base 1；The support 7 in bolt device is connected with rear slider 12 afterwards；
Plugging pin oil cylinder 13 is arranged in the circular hole in the middle of rear slider 12 afterwards, can be moved forward and backward in circular hole；The work of plugging pin oil cylinder 13 afterwards
Stopper rod is connected with support 7, and the cylinder body of rear plugging pin oil cylinder 13 is connected with latch 9.
Right transmission component includes right lateral journey feel cylinder 15, right oil cylinder 18, right sliding block 16, upper pin 5, the next pin 26 and the right side
Bolt device, the right pin device is made up of support 7, right pin oil cylinder 17 and latch 9, and specific attachment structure is：Right lateral journey is passed
Feel upper oil cavitie, the lower oil cavitie of the upper oil cavitie, lower oil cavitie of oil cylinder 15 respectively with right oil cylinder 18 to connect by fluid pressure line, right lateral journey is passed
Sense oil cylinder 15 forms a hydraulic cylinder group, i.e., right hydraulic cylinder group after being connected with the upper lower oil cavitie of right oil cylinder 18；Right stroke sensing oil
The piston rod 27 of cylinder 15 is connected through upper pin 5 with right sliding block 16, and the cylinder body of right lateral journey feel cylinder 15 is through the next pin 26 and base 1
On ear mount 4 be connected；The piston rod 27 of right oil cylinder 18 is connected through upper pin 5 with right sliding block 6, and the cylinder body of right oil cylinder 18 is sold through bottom
26 are connected with the ear mount 4 on base 1；Support 7 in right pin device is connected with right sliding block 16；Right pin oil cylinder 17 is arranged on the right side
In circular hole in the middle of sliding block 16, it can be moved left and right in circular hole；The piston rod of right pin oil cylinder 17 is connected with support 7, and the right side is inserted
The cylinder body of pin oil cylinder 17 is connected with latch 9.
Driving front component includes front travel feel cylinder 19, preceding oil cylinder 22, front-slider 21, upper pin 5, the next pin 26 and preceding
Bolt device, the preceding bolt device includes support 7, preceding plugging pin oil cylinder 20 and latch 9, and specific attachment structure is：Front travel is sensed
Upper oil cavitie, lower oil cavitie of the upper oil cavitie, lower oil cavitie of oil cylinder 19 respectively with preceding oil cylinder 22 are connected by fluid pressure line, front travel sensing
Oil cylinder 19 forms a hydraulic cylinder group before being connected with the upper lower oil cavitie of preceding oil cylinder 22, i.e., preceding hydraulic cylinder group；Front travel feel cylinder
19 piston rod 27 is connected through upper pin 5 with front-slider 21, and the cylinder body of front travel feel cylinder 19 is through on the next pin 26 and base 1
Ear mount 4 be connected；The piston rod 27 of the preceding oil cylinder 22 is connected through upper pin 5 with front-slider 6, and the cylinder body of preceding oil cylinder 22 is through bottom
Pin 26 is connected with the ear mount 4 on base 1；Support 7 in preceding bolt device is connected with front-slider 21；The preceding plugging pin oil cylinder 20 is pacified
In the circular hole in the middle of front-slider 21, it can be moved forward and backward in circular hole；The piston rod of preceding plugging pin oil cylinder 20 and the phase of support 7
Even, the cylinder body of preceding plugging pin oil cylinder 20 is connected with latch 9.
Wherein, left lateral journey feel cylinder 3, rear stroke sensing oil cylinder 11, right lateral journey feel cylinder 15, front travel feel cylinder
19 selections are built-in ultrasonic type stroke sensing oil cylinder.
Hydraulic pressure drive control system component above-mentioned includes left Hydraulic Conirol Unit, rear Hydraulic Conirol Unit, right liquid respectively
Press control assembly and preceding Hydraulic Conirol Unit；Left Hydraulic Conirol Unit controls Left Drive component, after rear Hydraulic Conirol Unit control
Transmission component, right Hydraulic Conirol Unit controls right transmission component, and preceding Hydraulic Conirol Unit controls driving front component.
Left Hydraulic Conirol Unit includes left pressure sensor Y1, is provided with left reversal valve F1, the left flow speed control valve of 4 ports
S1, left pressure regulator valve J1, one end of the left pressure regulator valve J1 are connected with the in-line of fluid pressure line 29, and the other end passes through left speed governing
Valve S1 is connected with left reversal valve F1；The a port of the left reversal valve F1 is connected with left flow speed control valve S1, a port and hydraulic pressure
The return line connection of pipeline 29, a port is connected with the upper oil cavitie of left hydraulic cylinder group, a port and left hydraulic cylinder group
Lower oil cavitie is connected；Left pressure sensor Y1 is connected to by fluid pressure line 29 on the upper oil cavitie of left hydraulic cylinder group.
Hydraulic Conirol Unit includes rear pressure sensor Y2, rear reversal valve F2, rear flow speed control valve S2 and rear pressure regulator valve J2 afterwards, after
Pressure regulator valve J2 one end is connected with the in-line of fluid pressure line 29, and one end is connected by rear flow speed control valve S2 with rear reversal valve F2；
Reversal valve F2 a port is connected with rear flow speed control valve S2 afterwards, and a port is connected with the return line of fluid pressure line 29, one
Port is connected with the upper oil cavitie of rear hydraulic cylinder group, and a port is connected with the lower oil cavitie of rear hydraulic cylinder group, rear pressure sensor Y2
On the upper oil cavitie that rear hydraulic cylinder group is connected to by fluid pressure line 29.
Right Hydraulic Conirol Unit includes right pressure sensor Y3, right reversal valve F3, right flow speed control valve S3 and right pressure regulator valve J3, right
Pressure regulator valve J3 one end is connected with the in-line of fluid pressure line 29, and one end is connected by right flow speed control valve S3 with right reversal valve F3；
Right reversal valve F3 a port is connected with right flow speed control valve S3, and a port is connected with the return line of fluid pressure line 29, one
Port is connected with the upper oil cavitie of right hydraulic cylinder group, and a port is connected with the lower oil cavitie of right hydraulic cylinder group；Right pressure sensor Y3
On the upper oil cavitie that right hydraulic cylinder group is connected to by fluid pressure line 29.
Preceding Hydraulic Conirol Unit includes preceding pressure sensor Y4, preceding reversal valve F4, preceding flow speed control valve S4, preceding pressure regulator valve J4, preceding
Pressure regulator valve J4 one end is connected with the in-line of fluid pressure line 29, and one end is connected by preceding flow speed control valve S4 with preceding reversal valve F4；
Preceding reversal valve F4 a port is connected with preceding flow speed control valve S4, and a port is connected with the return line of fluid pressure line 29, one
Port is connected with the upper oil cavitie of preceding hydraulic cylinder group, and a port is connected with the lower oil cavitie of preceding hydraulic cylinder group；Preceding pressure sensor Y4
Before being connected to by fluid pressure line 29 on the upper oil cavitie of hydraulic cylinder group；Four hydraulic bolt control assemblies are respectively left hydraulic bolt
Control assembly, rear hydraulic bolt control assembly, right hydraulic bolt control assembly, preceding hydraulic bolt control assembly, left hydraulic bolt
Control assembly include left plugging pin oil cylinder reversal valve F5 and left plugging pin oil cylinder pressure regulator valve J5, left plugging pin oil cylinder pressure regulator valve J5 one end with
The in-line connection of fluid pressure line 29, one end is connected with left plugging pin oil cylinder reversal valve F5；The one of left plugging pin oil cylinder reversal valve F5
End is connected with left plugging pin oil cylinder pressure regulator valve J5, and one end is connected with the return line of fluid pressure line 29, one end and left plugging pin oil cylinder 8
Front oil pocket is connected, and one end is connected with the back oil pocket of left plugging pin oil cylinder 8；Hydraulic bolt control assembly commutates including rear plugging pin oil cylinder afterwards
Valve F6 and rear plugging pin oil cylinder pressure regulator valve J6, rear plugging pin oil cylinder pressure regulator valve J6 one end is connected with the in-line of fluid pressure line 29,
One end is connected with rear plugging pin oil cylinder reversal valve F6；Plugging pin oil cylinder reversal valve F6 one end and rear plugging pin oil cylinder pressure regulator valve J6 phases afterwards
Even, one end is connected with the return line of fluid pressure line 29, and one end is connected with the front oil pocket of rear plugging pin oil cylinder 13, one end and rear latch
The back oil pocket of oil cylinder 13 is connected；Right hydraulic bolt control assembly includes right pin oil cylinder reversal valve F7 and right pin oil cylinder pressure regulator valve
J7, right pin oil cylinder pressure regulator valve J7 one end is connected with the in-line of fluid pressure line 29, one end and right pin oil cylinder reversal valve
F7 is connected；One end of the right pin oil cylinder reversal valve F7 is connected with right pin oil cylinder pressure regulator valve J7, one end and fluid pressure line 29
Return line connection, one end is connected with the front oil pocket of right pin oil cylinder 17, and one end is connected with the right oil pocket of right pin oil cylinder 17；
Preceding hydraulic bolt control assembly includes preceding plugging pin oil cylinder reversal valve F8 and preceding plugging pin oil cylinder pressure regulator valve J8；Preceding plugging pin oil cylinder pressure regulator valve
J8 one end is connected with the in-line of fluid pressure line 29, and one end is connected with preceding plugging pin oil cylinder reversal valve F8；The preceding latch oil
Cylinder reversal valve F8 one end is connected with preceding plugging pin oil cylinder pressure regulator valve J8, and one end is connected with the return line of fluid pressure line 29, one end
It is connected with the front oil pocket of preceding plugging pin oil cylinder 20, one end is connected with the front oil pocket of preceding plugging pin oil cylinder 20.
The electric control module of the present embodiment can use following scheme：Including on-off model change-over circuit 35, input
Interface circuit 36, reversing unit 37, A/D converting units 38, data wire 39, pressure regulation unit 40, speed adjustment unit 41, industrial computer
Before 42nd, motor control assembly 44 and host computer 43, the input port of on-off model change-over circuit 35 and four plugging pin oil cylinders,
Back oil pocket travel switch is connected, and output end is connected with input interface circuit 36, the input port of A/D converting units 38 and four pressures
Force snesor, the ultrasonic device for detecting distance of travel of four built-in ultrasonic stroke sensing hydraulic jacks are connected, output port and input
Interface circuit is connected；The input of input interface circuit respectively with A/D converting units 38, on-off model change-over circuit 35 it is defeated
Go out end to be connected, the output end of input interface circuit 36 is connected with industrial computer 42；The input port of industrial computer 42 with it is defeated
Incoming interface circuit 36 be connected, output port respectively with pressure regulation unit 40, speed adjustment unit 41, reversing unit 37 input port phase
Even, the communication interface of industrial computer 42 is connected with host computer 43；The input of reversing unit 37 is defeated with industrial computer 42
Exit port is connected, the output port of reversing unit 37 coil respectively with the three-position four-way electromagnetic directional valve of four hydraulic cylinder groups,
The coil of the three-position four-way electromagnetic directional valve of four plugging pin oil cylinders is connected；The input of speed adjustment unit 41 and industrial computer 42
Output port is connected, and the output port of speed adjustment unit 41 is connected with the electromagnetic speed-adjusting valve coil of four hydraulic cylinder groups；Pressure regulation unit
40 input port is connected with the output port of industrial computer 42, the output port of pressure regulation unit 40 and four hydraulic cylinder groups
Electromagnetic voltage adjusting valve, the coil of the electromagnetic voltage adjusting valve of four plugging pin oil cylinders are connected；The input of motor control assembly 44 is calculated with industry
Machine 42 is connected, and output end is connected with motor 40.
The inventive method and the details and workflow of device are described in detail with reference to Fig. 5, Fig. 6：
1st, to meet the actual complicated sea situation faced of ocean installing engineering platform Synchronous lifting hydraulic system, hydraulic cylinder is improved
The rapidity and accuracy of group synchronized tracking, present invention application Fuzzy RBF Neural Network Controller control two hydraulic cylinders in real time
Travel position, controller input is two hydraulic cylinder travel site error e and its change e ', e are to be surveyed to go by the hydraulic cylinder of left and right two
Journey position, which compares, to be obtained, i.e. e=x-xr；E ' is e first differential, and em is left oil cylinder with reference to output and right oil cylinder reality output
The deviation of position signalling, i.e. em=xm-xr；ω jk are the connection weight between the second layer and third layer；ω ko be third layer with
Connection weight between 4th layer；Yo (4) is the output of the 4th layer of network.Fuzzy RBF Neural Network parameter passes through immune genetic
Algorithm carries out on-line optimization acquisition, so that the traveled distance position of right oil cylinder can accurately track the ginseng of left oil cylinder stroke position
Examine output, that is, difference e is leveled off to zero.Immune genetic algorithm is led to by calculating fitness function in the hope of optimized parameter solution
On-line control adaptation parameter is crossed, to improve the Synchronous lifting control performance of two hydraulic cylinders.
2nd, according to the experience of ocean installing engineering platform Synchronous lifting hydraulic system actual motion, it can be deduced that such as the institute of table 1
The fuzzy control rule table shown, Fuzzy RBF Neural Network is made up of input layer, obfuscation layer, fuzzy reasoning layer and output layer, hidden
Gauss type function is used containing layer, output layer uses linear activation primitive.Functionally, each node layer of network exactly corresponds to obscure
The obfuscation of logic control, three steps of rule-based reasoning and ambiguity solution, thus with clear and definite fuzzy logic meaning.By from mould
Mapping and combination of the fuzzy logic to neural network structure, it is possible to by the most important parameter of fuzzy logic be the shape of membership function
The weighted value of neutral net is converted into position and fuzzy rule, on this basis just using the self study of neutral net,
Adaptive ability optimizes these parameters, finally realizes the purpose of Optimization of Fuzzy logic control effect.
The hydraulic cylinder lifting system fuzzy control rule table of table 1
3rd, in ocean installing engineering platform Synchronous lifting hydraulic system, the input of immune genetic algorithm refers to for left oil cylinder
Output and the deviation e of right oil cylinder reality output position signallingm.Fuzzy RBF Neural Network as whole hydraulic synchronous system master
Controller, recycles immune genetic algorithm on-line optimization Training Fuzzy Neural Networks controller parameter, and specific Optimal Parameters include：
Connection weight ω between the second layer and third layerjk；Connection weight ω between third layer and the 4th layerko；Second layer Gaussian function
Several average cijWith standard deviation bijDeng.The network is trained using immune genetic algorithm and adjusting parameter, to seek to obtain
The global combination control effect for optimizing membership function and control rule in fuzzy control, so that the control program is to sea
Foreign installing engineering platform Synchronous lifting hydraulic system has stronger robustness to the disturbance such as Parameters variation, external wind, stream, wave.
What IGA was realized comprises the following steps that：
1. initialize, the control problem of wind turbine installation vessel high-precision hydraulic Synchronous lifting is considered as antigen, determines change to be optimized
Measure ωjk, ωko, cij, bij。
2. IGA operational factors are determined：Wherein, population size Q=160, crossover probability Pc=0.60, mutation probability Pm=
0.015。
3. encode, standard genetic algorithm typically uses binary coding, its search capability is strong, cross and variation convenience of calculation,
But need frequently to encode and decode, amount of calculation is larger and precision is not high.Based on this, this research is higher using precision, and search is empty
Between bigger decimal coded, the decimal value that parameter to be optimized is corresponded on antibody coding so that ginseng to be optimized
The number of amount is equal to antibody coding length.(ω may be selected in the systemjk, ωko, cij, bij) for the network knot corresponding to each antibody
Structure parameter, has 100 groups of initial antibodies.
4. fitness is calculated, and Population Size is 160, and optimal fuzzy membership functions parameter c is searched for IGAij、bij,
Calculate the fitness of each antibody.Due to evolving always towards the direction for increasing fitness function value, thus fitness function
To construct the form that object function is reciprocal, if the object function corresponding to antibody PS is network energy function ES, energy function is
The quadratic sum of the difference of system desired output and reality output.Because object function is minimum problems, fitness function is made
In formula, c is the conservative estimation value of object function boundary, UdiAnd UiRespectively i-th training sample is in output node
Desired output and reality output.
5. immunological memory mechanism, after the completion of per generation evolves, IGA chooses the higher antibody of fitness from current population and sent into
Data base, ensures that antibody has higher fitness and good diversity in data base, and choose a part of anti-from storehouse with this
Body substitutes most bad antibody in current population, improves convergence rate.
6. selection operation, calculate in current population the close antibody concentration of fitness value, i.e. antibody in colony with its phase
Ratio like shared by antibody.When the timing of concentration one, fitness is bigger, and the selected probability of antibody is bigger；When the timing of fitness one,
Antibody concentration is higher, and the selected probability of antibody is smaller, so can both retain the antibody with outstanding fitness, can suppress dense again
High antibody is spent, a kind of new diversity maintenance is formed.
7. intersect and mutation operation, carry out intersecting with standard genetic algorithm identical by crossover probability Pc and mutation probability Pm
And mutation operation.
8. population recruitment, the fitness value peace that operation above improves constantly the optimal antibody of colony is circulated to population of new generation
Equal adaptive value, until optimal antibody reaches defined scope, while all constraintss are met, iteration ends, output result,
IGA algorithms terminate.
The control system combination immune genetic algorithm of the present invention synchronizes optimizing to the parameters of controller, is studied
Control strategy can effectively improve the dynamic static accuracy of ocean installing engineering platform Synchronous lifting hydraulic system, and can make the control be
System has higher Synchronous lifting control accuracy and stronger robustness.When installing engineering platform in ocean is rushed by wind, stream, wave
Hit and hull own load change etc. interference when, can accurately ensure the high level of synchronization of system improving.
The preferred embodiments of the present invention have shown and described in described above, as previously described, it should be understood that not office of the invention
Be limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and available for various other combinations, modification and
Environment, and can be changed in invention contemplated scope described herein by the technology or knowledge of above-mentioned teaching or association area
It is dynamic., then all should be appended by the present invention and the change and change that those skilled in the art are carried out do not depart from the spirit and scope of the present invention
In scope of the claims.
Claims (8)
1. a kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system, including hydraulic drive module, hydraulic control module
And electric control module, it is characterised in that：The hydraulic drive module includes base (1), spud leg (2) and four hydraulic drive groups
Part, spud leg (2) is fixed on base (1), and several ear mounts (4) are provided with above the base (1)；The hydraulic transmission assembly bag
Structure identical Left Drive component, rear transmission component, right transmission component and driving front component are included, the hydraulic control module includes
Hydraulic oil container (34), fluid pressure line (29), air cleaner (31), motor (30), hydraulic pump (32), check valve (28), overflow
Flow valve (33), four hydraulic pressure drive control system components and four hydraulic bolt control assemblies, the hydraulic pump (32) and motor
(30) connect, one end of the hydraulic pump (32) is connected by fluid pressure line (29), air cleaner (31) with fuel tank (34), separately
One end is connected by fluid pressure line (29) with hydraulic pressure drive control system component and hydraulic bolt control assembly；
The Left Drive component include left lateral journey feel cylinder (3), left oil cylinder (10), it is middle set round-meshed left slider (6),
Upper pin (5), the next pin (26), left bolt device, the left bolt device include support (7), left plugging pin oil cylinder (8), latch
(9)；Specifically attachment structure is：The upper oil cavitie of the left lateral journey feel cylinder (3), lower oil cavitie oil with left oil cylinder (10) respectively
Chamber, lower oil cavitie are connected by fluid pressure line, and the left lateral journey feel cylinder (3) is formed after being connected with the upper lower oil cavitie of left oil cylinder (10)
One hydraulic cylinder group, i.e. left hydraulic cylinder group；The left slider (6) of the left lateral journey feel cylinder (3) is connected with by upper pin (5)
Piston rod (27), the cylinder body of the left lateral journey feel cylinder (3) is connected through bottom pin (26) with the ear mount (4) on base (1), institute
The piston rod (27) for stating left oil cylinder (10) is connected through upper pin (5) with left slider (6), and the cylinder body of the left oil cylinder (10) is through bottom
Pin (26) is connected with the ear mount (4) on base (1)；Support (7) in the left bolt device is connected with left slider (6)；It is described
Left plugging pin oil cylinder (8) is arranged in the circular hole in the middle of left slider (6), and realization is moved left and right in circular hole；The left plugging pin oil cylinder
(8) piston rod (27) is connected with support (7), and the cylinder body of the left plugging pin oil cylinder (8) is connected with latch (9)；
The right transmission component includes right lateral journey feel cylinder (15), right oil cylinder (18), right sliding block (16), upper pin (5), bottom
(26) and right pin device are sold, the right pin device is made up of support (7), right pin oil cylinder (17) and latch (9), specific connection
Structure is：Upper oil cavitie, lower oil cavitie of the upper oil cavitie, lower oil cavitie of right lateral journey feel cylinder (15) respectively with right oil cylinder (18) pass through liquid
Pipeline connection, right lateral journey feel cylinder (15) is pressed to form a hydraulic cylinder group after being connected with the upper lower oil cavitie of right oil cylinder (18), i.e.,
Right hydraulic cylinder group；The piston rod (27) of the right lateral journey feel cylinder (15) is connected through upper pin (5) with right sliding block (16), described
The cylinder body of right lateral journey feel cylinder (15) is connected through bottom pin (26) with the ear mount (4) on base (1)；The right oil cylinder (18)
Piston rod (27) is connected through upper pin (5) with right sliding block (6), and the cylinder body of right oil cylinder (18) is through on bottom pin (26) and base (1)
Ear mount (4) be connected；Support (7) in the right pin device is connected with right sliding block (16)；Right pin oil cylinder (17) peace
In the circular hole in the middle of right sliding block (16), it can be moved left and right in circular hole；The piston rod of the right pin oil cylinder (17) with
Support (7) is connected, and the cylinder body of right pin oil cylinder (17) is connected with latch (9)；
Control the stroke position of the left hydraulic cylinder group and the right hydraulic cylinder group in real time using Fuzzy RBF Neural Network Controller
Put, controller input is the travel position error e and its change e ' of the left hydraulic cylinder group and the right hydraulic cylinder group, wherein, e
To be compared to obtain by the hydraulic cylinder of left and right two actual measurement travel position, i.e. e=x-xr；E ' is e first differential；In addition, emFor left oil
Cylinder is with reference to output and the deviation of right oil cylinder reality output position signalling, i.e. em=xm-xr, ωjkFor between the second layer and third layer
Connection weight, ωkoFor the connection weight between third layer and the 4th layer, yo (4)For the 4th layer of output of network；Fuzzy RBF nerve
Network parameter by immune genetic algorithm carry out on-line optimization acquisition so that the traveled distance position of right oil cylinder can accurately with
The reference output of the left oil cylinder stroke position of track, that is, difference e is leveled off to zero；Immune genetic algorithm is by calculating fitness function
In the hope of optimized parameter solution, by on-line control adaptation parameter, to improve the Synchronous lifting control performance of two hydraulic cylinders；
Fuzzy RBF Neural Network is made up of input layer, obfuscation layer, fuzzy reasoning layer and output layer, and hidden layer uses Gaussian
Function, output layer uses linear activation primitive；By the mapping and combination from fuzzy logic to neural network structure, patrolled fuzzy
Volume most important parameter is that the shape and position and fuzzy rule of membership function are converted into the weighted value of neutral net, in this base
It just can optimize these parameters using the self study of neutral net, adaptive ability on plinth, finally realize Optimization of Fuzzy logic control
The purpose of effect processed；
In ocean installing engineering platform Synchronous lifting hydraulic system, the input of immune genetic algorithm for left oil cylinder with reference to output with
The deviation e of right oil cylinder reality output position signallingm；Fuzzy RBF Neural Network as whole hydraulic synchronous system master controller,
Immune genetic algorithm on-line optimization Training Fuzzy Neural Networks controller parameter is recycled, specific Optimal Parameters include：The second layer
Connection weight ω between third layerjk；Connection weight ω between third layer and the 4th layerko；Second layer Gaussian function it is equal
Value cijWith standard deviation bij；Optimization and adjusting parameter are trained to the network using immune genetic algorithm, to seek to be obscured
The global combination control effect for optimizing membership function and control rule in control；
What IGA was realized specifically includes：
1. initialize, the control problem of wind turbine installation vessel high-precision hydraulic Synchronous lifting is considered as antigen, determines variable to be optimized
ωjk, ωko, cij, bij；
2. IGA operational factors are determined：Wherein, population size Q=160, crossover probability Pc=0.60, mutation probability Pm=0.015；
3. encode, standard genetic algorithm typically uses binary coding, its search capability is strong, cross and variation convenience of calculation, but needs
Frequently to encode and decode, amount of calculation is larger and precision is not high；Based on this, this research is higher using precision, and search space is more
Big decimal coded, the decimal value that parameter to be optimized is corresponded on antibody coding so that parameter to be optimized
Number is equal to antibody coding length；(ω may be selected in the systemjk, ωko, cij, bij) for the network structure ginseng corresponding to each antibody
Number, has 100 groups of initial antibodies；
4. fitness is calculated, and Population Size is 160, and optimal fuzzy membership functions parameter c is searched for IGAij、bij, calculate
The fitness of each antibody；Due to evolving always towards the direction for increasing fitness function value, thus fitness function is structure
Object function form reciprocal is made, if antibody PSCorresponding object function is network energy function ES, energy function is the system phase
Hope the quadratic sum of the difference of output and reality output；Because object function is minimum problems, fitness function is made
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In formula, c is the conservative estimation value of object function boundary, UdiAnd UiPhase of respectively i-th training sample in output node
Hope output and reality output；
5. immunological memory mechanism, after the completion of per generation evolves, IGA chooses the higher antibody feeding of fitness from current population and remembered
Storehouse, ensures in data base that antibody has higher fitness and good diversity with this, and chooses a part of antibody from storehouse to replace
For most bad antibody in current population, convergence rate is improved；
6. selection operation, calculates the close antibody concentration of fitness value, i.e. antibody in current population similar to its anti-in colony
Ratio shared by body；When the timing of concentration one, fitness is bigger, and the selected probability of antibody is bigger；When the timing of fitness one, antibody
Concentration is higher, and the selected probability of antibody is smaller, so can both retain the antibody with outstanding fitness, again can inhibition concentration mistake
High antibody, forms a kind of new diversity maintenance；
7. intersect and mutation operation, by crossover probability PcWith mutation probability PmProgress intersects and become with standard genetic algorithm identical
ETTHER-OR operation；
8. population recruitment, circulates to population of new generation and operates the fitness value for improving constantly the optimal antibody of colony to be fitted with average above
It should be worth, until optimal antibody reaches defined scope, while meeting all constraintss, iteration ends, output result, IGA
Algorithm terminates.
2. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 1, it is characterised in that：It is described
Transmission component includes rear stroke sensing oil cylinder (11), rear oil cylinder (14), the middle round-meshed rear slider (12) of setting, upper pin afterwards
(5), the next pin (26) and rear bolt device, the rear bolt device include support (7), rear plugging pin oil cylinder (13) and latch (9), tool
Attachment structure is：Upper oil cavitie, the lower oil cavitie of the upper oil cavitie of stroke sensing oil cylinder (11), lower oil cavitie respectively with rear oil cylinder (14) afterwards
Connected by fluid pressure line, the rear stroke sensing oil cylinder (11) forms a liquid after being connected with the upper lower oil cavitie of rear oil cylinder (14)
Cylinder pressure group, i.e., rear hydraulic cylinder group；The piston rod (27) of the rear stroke sensing oil cylinder (11) is through upper pin (5) and rear slider (12)
It is connected, the cylinder body of the rear stroke sensing oil cylinder (11) is connected through bottom pin (26) with the ear mount (4) on base (1)；After described
The piston rod (27) of oil cylinder (14) is connected by upper pin (5) with rear slider (6), and the cylinder body of the rear oil cylinder (14) is sold through bottom
(26) it is connected with the ear mount (4) on base (1)；Support (7) in the rear bolt device is connected with rear slider (12)；After described
Plugging pin oil cylinder (13) is arranged in the circular hole in the middle of rear slider (12), can be moved forward and backward in circular hole；The rear plugging pin oil cylinder
(13) piston rod is connected with support (7), and the cylinder body of the rear plugging pin oil cylinder (13) is connected with latch (9).
3. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 1, it is characterised in that：It is described
Driving front component include front travel feel cylinder (19), preceding oil cylinder (22), front-slider (21), upper pin (5), the next pin (26) and
Preceding bolt device, the preceding bolt device includes support (7), preceding plugging pin oil cylinder (20) and latch (9), and specific attachment structure is：Before
Upper oil cavitie, lower oil cavitie of the upper oil cavitie, lower oil cavitie of stroke sensing oil cylinder (19) respectively with preceding oil cylinder (22) are connected by fluid pressure line
Logical, the front travel feel cylinder (19) forms a hydraulic cylinder group before being connected with the upper lower oil cavitie of preceding oil cylinder (22), i.e., preceding liquid
Cylinder pressure group；The piston rod (27) of the front travel feel cylinder (19) is connected through upper pin (5) with front-slider (21), described to move ahead
The cylinder body of journey feel cylinder (19) is connected through bottom pin (26) with the ear mount (4) on base (1)；The piston of the preceding oil cylinder (22)
Bar (27) is connected through upper pin (5) with front-slider (6), and the cylinder body of the preceding oil cylinder (22) is through on bottom pin (26) and base (1)
Ear mount (4) be connected；Support (7) in the preceding bolt device is connected with front-slider (21)；Preceding plugging pin oil cylinder (20) peace
In the circular hole in the middle of front-slider (21), realize and moved forward and backward in circular hole；The piston rod of the preceding plugging pin oil cylinder (20) with
Support (7) is connected, and the cylinder body of the preceding plugging pin oil cylinder (20) is connected with latch (9).
4. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 1, it is characterised in that：It is described
Hydraulic pressure drive control system component includes left Hydraulic Conirol Unit, rear Hydraulic Conirol Unit, right Hydraulic Conirol Unit and preceding hydraulic pressure respectively
Control assembly；Left Hydraulic Conirol Unit controls Left Drive component, transmission component, right hydraulic control after rear Hydraulic Conirol Unit control
Component controls right transmission component, and preceding Hydraulic Conirol Unit controls driving front component.
5. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 4, it is characterised in that：It is described
Left Hydraulic Conirol Unit include left pressure sensor (Y1), the left reversal valve (F1) for being provided with 4 ports, left flow speed control valve (S1),
Left pressure regulator valve (J1), one end of the left pressure regulator valve (J1) is connected with the in-line of fluid pressure line (29), and the other end passes through a left side
Flow speed control valve (S1) is connected with left reversal valve (F1)；The a port of the left reversal valve (F1) is connected with left flow speed control valve (S1), and one
Individual port is connected with the return line of fluid pressure line (29), and a port is connected with the upper oil cavitie of left hydraulic cylinder group, a port
It is connected with the lower oil cavitie of left hydraulic cylinder group；Left pressure sensor (Y1) is connected to the upper of left hydraulic cylinder group by fluid pressure line (29)
On oil pocket.
6. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 4, it is characterised in that：It is described
Hydraulic Conirol Unit includes rear pressure sensor (Y2), rear reversal valve (F2), rear flow speed control valve (S2) and rear pressure regulator valve (J2), institute afterwards
The one end for stating rear pressure regulator valve (J2) is connected with the in-line of fluid pressure line (29), and one end passes through rear flow speed control valve (S2) and rear commutation
Valve (F2) is connected；The a port of the rear reversal valve (F2) is connected with rear flow speed control valve (S2), a port and fluid pressure line
(29) return line connection, a port is connected with the upper oil cavitie of rear hydraulic cylinder group, under a port and rear hydraulic cylinder group
Oil pocket is connected, and the rear pressure sensor (Y2) is connected to by fluid pressure line (29) on the upper oil cavitie of rear hydraulic cylinder group.
7. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 4, it is characterised in that：It is described
Right Hydraulic Conirol Unit includes right pressure sensor (Y3), right reversal valve (F3), right flow speed control valve (S3) and right pressure regulator valve (J3), institute
The one end for stating right pressure regulator valve (J3) is connected with the in-line of fluid pressure line (29), and one end passes through right flow speed control valve (S3) and right commutation
Valve (F3) is connected；The a port of the right reversal valve (F3) is connected with right flow speed control valve (S3), a port and fluid pressure line
(29) return line connection, a port is connected with the upper oil cavitie of right hydraulic cylinder group, under a port and right hydraulic cylinder group
Oil pocket is connected；The right pressure sensor (Y3) is connected to by fluid pressure line (29) on the upper oil cavitie of right hydraulic cylinder group.
8. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 4, it is characterised in that：It is described
Preceding Hydraulic Conirol Unit includes preceding pressure sensor (Y4), preceding reversal valve (F4), preceding flow speed control valve (S4), preceding pressure regulator valve (J4), institute
The one end for stating preceding pressure regulator valve (J4) is connected with the in-line of fluid pressure line (29), and one end passes through preceding flow speed control valve (S4) and preceding commutation
Valve (F4) is connected；The a port of the preceding reversal valve (F4) is connected with preceding flow speed control valve (S4), a port and fluid pressure line
(29) return line connection, a port is connected with the upper oil cavitie of preceding hydraulic cylinder group, under a port and preceding hydraulic cylinder group
Oil pocket is connected；Before the preceding pressure sensor (Y4) is connected to by fluid pressure line (29) on the upper oil cavitie of hydraulic cylinder group；It is described
Four hydraulic bolt control assemblies are respectively left hydraulic bolt control assembly, rear hydraulic bolt control assembly, right hydraulic bolt control
Component processed, preceding hydraulic bolt control assembly, the left hydraulic bolt control assembly include left plugging pin oil cylinder reversal valve (F5) and a left side
Plugging pin oil cylinder pressure regulator valve (J5), one end of the left plugging pin oil cylinder pressure regulator valve (J5) connects with the in-line of fluid pressure line (29)
Connect, one end is connected with left plugging pin oil cylinder reversal valve (F5)；One end of the left plugging pin oil cylinder reversal valve (F5) and left plugging pin oil cylinder
Pressure regulator valve (J5) is connected, and one end is connected with the return line of fluid pressure line (29), one end and the front oil pocket phase of left plugging pin oil cylinder (8)
Even, one end is connected with the back oil pocket of left plugging pin oil cylinder (8)；The rear hydraulic bolt control assembly includes rear plugging pin oil cylinder reversal valve
(F6) and rear plugging pin oil cylinder pressure regulator valve (J6), one end of the rear plugging pin oil cylinder pressure regulator valve (J6) and the oil-feed of fluid pressure line (29)
Pipeline is connected, and one end is connected with rear plugging pin oil cylinder reversal valve (F6)；Inserted with rear one end of the rear plugging pin oil cylinder reversal valve (F6)
Sell oil cylinder pressure regulator valve (J6) to be connected, one end is connected with the return line of fluid pressure line (29), one end and rear plugging pin oil cylinder (13)
Front oil pocket is connected, and one end is connected with the back oil pocket of rear plugging pin oil cylinder (13)；The right hydraulic bolt control assembly includes right pin
Oil cylinder reversal valve (F7) and right pin oil cylinder pressure regulator valve (J7), one end and the fluid pressure line (29) of right pin oil cylinder pressure regulator valve (J7)
In-line connection, one end is connected with right pin oil cylinder reversal valve (F7)；One end of the right pin oil cylinder reversal valve (F7)
It is connected with right pin oil cylinder pressure regulator valve (J7), one end is connected with the return line of fluid pressure line (29), one end and right pin oil cylinder
(17) front oil pocket is connected, and one end is connected with the right oil pocket of right pin oil cylinder (17)；The preceding hydraulic bolt control assembly includes
Preceding plugging pin oil cylinder reversal valve (F8) and preceding plugging pin oil cylinder pressure regulator valve (J8)；One end of preceding plugging pin oil cylinder pressure regulator valve (J8) and hydraulic tube
The in-line connection on road (29), one end is connected with preceding plugging pin oil cylinder reversal valve (F8)；The preceding plugging pin oil cylinder reversal valve (F8)
One end be connected with preceding plugging pin oil cylinder pressure regulator valve (J8), one end is connected with the return line of fluid pressure line (29), one end with it is preceding insert
The front oil pocket for selling oil cylinder (20) is connected, and one end is connected with the front oil pocket of preceding plugging pin oil cylinder (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510266671.7A CN104930000B (en) | 2015-05-22 | 2015-05-22 | A kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510266671.7A CN104930000B (en) | 2015-05-22 | 2015-05-22 | A kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system |
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| Publication Number | Publication Date |
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| US3986368A (en) * | 1975-05-27 | 1976-10-19 | Levingston Shipbuilding Company | Load equalizing and shock absorber system for off-shore drilling rigs |
| CN2289779Y (en) * | 1996-06-27 | 1998-09-02 | 胜利石油管理局钻井工艺研究院 | Self-raising platform lifting mechanism |
| CN101704477B (en) * | 2008-10-14 | 2013-04-10 | 上海海事大学 | Control system of self-propelled full-swinging floatingcrane crane and control method thereof |
| CN201593181U (en) * | 2009-10-16 | 2010-09-29 | 抚州市临川白勇海洋工程有限公司 | Self-lifting offshore wind power set mounting platform |
| CN201817802U (en) * | 2010-04-02 | 2011-05-04 | 烟台来福士海洋工程有限公司 | Ocean platform hydraulic lifting device |
| CN201722676U (en) * | 2010-06-05 | 2011-01-26 | 常州液压成套设备厂有限公司 | Hydraulic lifting system of self-installing oil production platform |
| CN102241371B (en) * | 2011-03-31 | 2013-07-17 | 武汉理工大学 | Hydraulic system applied to multi-spud leg lifting mechanism |
| CN102514690B (en) * | 2012-01-09 | 2014-04-16 | 广东华尔辰海上风电工程有限责任公司 | Multifunctional twin-hull wind power engineering ship for offshore high-altitude heavy-duty lifting installation operation |
| CN102747721B (en) * | 2012-07-05 | 2014-09-17 | 南通中远船务工程有限公司 | Hydraulic transmission control unit of self-elevating-type marine platform pile leg |
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