CN107720551A - A kind of suspension centre heave compensation system and compensation method - Google Patents
A kind of suspension centre heave compensation system and compensation method Download PDFInfo
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- CN107720551A CN107720551A CN201710760954.6A CN201710760954A CN107720551A CN 107720551 A CN107720551 A CN 107720551A CN 201710760954 A CN201710760954 A CN 201710760954A CN 107720551 A CN107720551 A CN 107720551A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of suspension centre heave compensation system and compensation method, belong to marine machinery field.The compensation system includes suspension centre detection module, for obtaining the relative position relation of suspension centre and hull center of gravity；Motion detection block, for obtaining the kinematic parameter of hull center of gravity；Processing module, the relative position relation for the kinematic parameter according to hull center of gravity and suspension centre and hull center of gravity calculate movement velocity of the suspension centre on heave direction；Control module, for controlling loop wheel machine folding and unfolding steel wire rope according to movement velocity of the suspension centre on heave direction, by obtaining the relative position relation of suspension centre and hull center of gravity and the kinematic parameter of hull center of gravity, movement velocity of the suspension centre on heave direction is calculated with the relative position relation of the kinematic parameter according to hull center of gravity and suspension centre and hull center of gravity, so as to control loop wheel machine folding and unfolding steel wire rope according to movement velocity of the suspension centre on heave direction, reduce the amplitude that goods rises and falls with stormy waves, it is simple in construction, it is easy to accomplish.
Description
Technical field
The present invention relates to marine machinery field, more particularly to a kind of suspension centre heave compensation system and compensation method.
Background technology
Loop wheel machine is indispensable equipment during ocean operation.Loop wheel machine is generally arranged on the deck of hull, is being carried out
During ocean operation, hull can stop across the sea.
Because maritime environment is complicated and changeable, during ocean operation, hull can be with the heave of waves.When marine stormy waves ratio
When larger, hull can be caused to rock than more serious, this goods that can be hung on loop wheel machine also rises and falls, waved together, not only can
The efficiency of goods handling is reduced, and certain danger can be caused.
In order to reduce the amplitude that goods rises and falls, waved, suspension centre would generally be set (in hoisting and hanging operation on existing ship
The position connected between middle hanging object and suspended object) heave compensation system, suspension centre heave compensation system can control the steel wire of loop wheel machine
Rope with the fluctuating folding and unfolding of wave, so as to reduce the tension force on steel wire rope, make goods maintain a certain fixed position without with
Stormy waves fluctuating.But the structure of existing suspension centre heave compensation system is more complicated, involves great expense.
The content of the invention
In order to solve the problems, such as that the structure of existing suspension centre heave compensation system is more complicated, the embodiments of the invention provide
A kind of suspension centre heave compensation system and compensation method.The technical scheme is as follows：
On the one hand, the embodiments of the invention provide a kind of suspension centre heave compensation system, the compensation system to include：
Suspension centre detection module, for obtaining the relative position relation of suspension centre and hull center of gravity；
Motion detection block, for obtaining the kinematic parameter of hull center of gravity；
Processing module, for the kinematic parameter according to the hull center of gravity and the suspension centre and the relative position of hull center of gravity
Relation calculates movement velocity of the suspension centre on heave direction；
Control module, for controlling loop wheel machine folding and unfolding steel wire rope according to movement velocity of the suspension centre on heave direction.
Preferably, the suspension centre detection module includes：
Memory cell, for storing the tower body of the loop wheel machine and the relative position relation of the hull center of gravity and the tower
The length of the height of body, the principal arm and the folding arm；
Angle detection unit, for obtaining tower body corner, principal arm corner and folding arm corner；
Converting unit, relative position relation and the tower body for the tower body according to the loop wheel machine and the hull center of gravity
Height, the principal arm, the length of the folding arm, the tower body corner, the principal arm corner, the folding arm corner obtain it is described
Suspension centre and the relative position relation of the hull center of gravity；
Wherein, the angle that the tower body corner turns over for the tower body of the loop wheel machine relative to initial position, the principal arm turn
Angle of the angle between the principal arm of the loop wheel machine and the axis of rotation of the tower body, the folding arm corner are the folding arm of the loop wheel machine
With the angle between the principal arm.
Preferably, the angle detection unit includes first angle sensor, second angle sensor and third angle biography
Sensor, the first angle sensor are used to obtain the tower body corner, and the second angle sensor is used to obtain the master
Arm corner, the third angle sensor are used to obtain the folding arm corner.
Further, the first angle sensor, the second angle sensor and the third angle sensor are equal
For single-ring encoder.
Preferably, the motion detection block includes motion reference units.
Preferably, the kinematic parameter of the hull center of gravity comprises at least the roll angle of hull, the pitch angle and ship of hull
Speed of the body on heave direction.
On the other hand, the embodiment of the present invention additionally provides a kind of suspension centre heave compensation method, and the compensation method includes：
Obtain suspension centre and the relative position relation of hull center of gravity；
Obtain the kinematic parameter of hull center of gravity；
According to calculating the relative position relation of the kinematic parameter of the hull center of gravity and the suspension centre and hull center of gravity
Movement velocity of the suspension centre on heave direction；
Loop wheel machine folding and unfolding steel wire rope is controlled according to movement velocity of the suspension centre on heave direction.
Specifically, the acquisition suspension centre and the relative position relation of hull center of gravity, including：
Obtain the tower body of the loop wheel machine and the height of the relative position relation of the hull center of gravity and the tower body, described
The length of principal arm and the folding arm；
Obtain tower body corner, principal arm corner and folding arm corner；
According to the tower body of the loop wheel machine and the relative position relation and the tower body corner, the principal arm of the hull center of gravity
Corner, the folding arm corner obtain the relative position relation of the suspension centre and the hull center of gravity；
Wherein, the angle that the tower body corner turns over for the tower body of the loop wheel machine relative to initial position, the principal arm turn
Angle of the angle between the principal arm of the loop wheel machine and the axis of rotation of the tower body, the folding arm corner are the folding arm of the loop wheel machine
With the angle between the principal arm.
Preferably, the kinematic parameter of the hull center of gravity comprises at least the roll angle of hull, the pitch angle of hull, hull and existed
Speed, angular velocity in roll, the angular velocity in pitch of hull of hull on heave direction.
Further, it is described that loop wheel machine folding and unfolding steel wire rope, bag are controlled according to movement velocity of the suspension centre on heave direction
Include：
The loop wheel machine is controlled with speed VaFolding and unfolding steel wire rope,
Wherein, VaMeet below equation：
Va=nVb,
VbFor movement velocity of the suspension centre on heave direction, n is constant.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：By obtaining suspension centre and the phase of hull center of gravity
It is relative with hull center of gravity with the kinematic parameter according to hull center of gravity and suspension centre to position relationship and the kinematic parameter of hull center of gravity
Position relationship calculates movement velocity of the suspension centre on heave direction, so as to the movement velocity according to suspension centre on heave direction
Loop wheel machine folding and unfolding steel wire rope is controlled, reduces the amplitude that goods rises and falls with stormy waves, it is simple in construction, it is easy to accomplish.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of structural representation of suspension centre heave compensation system provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of suspension centre detection module provided in an embodiment of the present invention；
Fig. 3 is a kind of side view of hull provided in an embodiment of the present invention；
Fig. 4 is a kind of top view of hull provided in an embodiment of the present invention；
Fig. 5 is a kind of flow chart of suspension centre heave compensation method provided in an embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Fig. 1 is a kind of structural representation of suspension centre heave compensation system provided in an embodiment of the present invention, as shown in figure 1, mending
Repaying system includes suspension centre detection module 10, motion detection block 20, processing module 30 and control module 40, wherein, suspension centre detection
Module 10 is used to obtain suspension centre and the relative position relation of hull center of gravity；Motion detection block 20 is used for the fortune for obtaining hull center of gravity
Dynamic parameter；Processing module 30 is used to be calculated according to the kinematic parameter and suspension centre of hull center of gravity and the relative position relation of hull center of gravity
Movement velocity of the suspension centre on heave direction；Control module 40 is used to be hung according to movement velocity control of the suspension centre on heave direction
Machine folding and unfolding steel wire rope.
Wherein, heave direction refers to the direction that hull rises and falls with stormy waves.
The embodiment of the present invention by obtaining the relative position relation of suspension centre and hull center of gravity and the kinematic parameter of hull center of gravity,
Suspension centre is calculated on heave direction with the relative position relation of the kinematic parameter according to hull center of gravity and suspension centre and hull center of gravity
Movement velocity, so as to according to suspension centre heave direction on movement velocity control loop wheel machine folding and unfolding steel wire rope, reduce goods with
The amplitude that stormy waves rises and falls, it is simple in construction, it is easy to accomplish.
Fig. 2 is a kind of structural representation of suspension centre detection module provided in an embodiment of the present invention, as shown in Fig. 2 suspension centre is examined
Memory cell 11, angle detection unit 12 and converting unit 13 can be included by surveying module 10, wherein, memory cell 11 is used to store
The tower body of loop wheel machine and the relative position relation of hull center of gravity.Angle detection unit 12 be used for obtain tower body corner, principal arm corner and
Folding arm corner.Converting unit 13 is used for height, master according to the tower body of loop wheel machine and the relative position relation of hull center of gravity and tower body
Arm, the length of folding arm, tower body corner, principal arm corner, folding arm corner obtain the relative position relation of suspension centre and hull center of gravity.Tower body
The angle that corner turns over for the tower body of loop wheel machine relative to initial position, principal arm corner are the principal arm of loop wheel machine and the axis of rotation of tower body
Between angle, folding arm corner for loop wheel machine folding arm and principal arm between angle.
Wherein, the tower body of loop wheel machine and the relative position relation of hull center of gravity can be the axis of rotation and first of the tower body of loop wheel machine
The intersection point of plate and the relative position relation of hull center of gravity.
Fig. 3 is a kind of side view of hull provided in an embodiment of the present invention, and Fig. 4 is a kind of ship provided in an embodiment of the present invention
The top view of body, with reference to Fig. 3 and Fig. 4, the tower body 1 of loop wheel machine can be included in hull weight with the relative position relation of hull center of gravity
The heart is in the space coordinates of origin, the distance x of the tower body 1 of loop wheel machine with origin on the direction for pointing to stem parallel to ship stern1、
Distance y of the tower body 1 of loop wheel machine with origin on the direction perpendicular to ship stern sensing stem and parallel to deck1And the tower of loop wheel machine
Body 1 and distance z of the origin on the direction perpendicular to deck1.In the present embodiment, the direction of stem is pointed to as X side using ship stern
To being Z-direction perpendicular to the direction on deck, be Y-direction both perpendicular to the direction of X-direction and Z-direction.Wherein, X positive directions by
Ship stern point to stem, Z positive directions perpendicular to deck and upwards, Y positive directions by hull starboard point to larboard.
When realizing, the tower body 1 of loop wheel machine can be input to by artificial mode with the relative position relation of hull center of gravity and be deposited
In storage unit.Height, principal arm 2, the length of folding arm 3 of tower body 1 can also be input in memory cell by artificial mode.Hang
The tower body 1 of machine and the relative position of hull center of gravity can be (x1, y1, z1)。
The tower body 1 of loop wheel machine has an initial position, and when tower body 1 is in initial position, tower body corner is 0 °, tower body corner
Scope be [0 °, 360 °), the angle that tower body 1 turns in the same direction relative to initial position is tower body corner.In this reality
Apply in example, the position that the angle that initial position is demarcated as the orthographic projection of principal arm 2 above deck and Y positive directions is 0 °, tower body turns
Angle is then the orthographic projection of principal arm 2 above deck and the angle theta of Y positive directions1。
Specifically, angle detection unit 12 can include first angle sensor 121, second angle sensor 122 and the
Three angular transducers 123, wherein, first angle sensor 121 is used to obtain tower body rotational angle theta1, second angle sensor 122 uses
In acquisition principal arm rotational angle theta2, third angle sensor 123 is for obtaining folding arm rotational angle theta3.By setting three angular transducers point
Jian Ce not tower body rotational angle theta1, principal arm rotational angle theta2With folding arm rotational angle theta3, make the angle of acquisition more accurate.
When realizing, first angle sensor 121, second angle sensor 122 and third angle sensor 123 can be
Single-ring encoder.The accuracy of detection of single-ring encoder is high, can detect 0.005 ° of angle change.In the present embodiment,
One angular transducer 121, second angle sensor 122 and third angle sensor 123 can select the model of PEPPERL FUCHS brand
For AVS58N-011AAR0GN-0016 encoder, its interface shape is synchronous serial interface.
Converting unit 13 is according to the tower body 1 of loop wheel machine and the height L of the relative position relation of hull center of gravity and tower body 11, principal arm
2 length L2, folding arm 3 length L3, tower body rotational angle theta1, principal arm rotational angle theta2, folding arm rotational angle theta3The position that suspension centre can be obtained is
(x2, y2, z2).Wherein：
x2=x1+L2sinθ1sinθ2+L3sinθ1sin(θ2+θ3),
y2=y1+L2cosθ1sinθ2+L3cosθ1sin(θ2+θ3),
z2=z1+L1+L2cosθ2+L3cos(θ2+θ3)。
When realizing, motion detection block 20 can include MRU (English：motion reference unit；Chinese：Motion
Reference unit).MRU can be arranged on the center of gravity of hull, accurately to detect the kinematic parameter of hull center of gravity.It can specifically select
The MRU for being IMU-108 with SMC brand and models.
Specifically, the kinematic parameter of hull center of gravity comprises at least the roll angle of hull, the pitch angle of hull, hull and heaved
Angular velocity in roll, the angular velocity in pitch of hull of speed, hull on direction.
Wherein, the roll angle of hull is hull in the rotational angle theta in X-directionx, hull pitch angle for hull around Y side
Upward rotational angle thetay, speed of the hull on heave direction is the speed V of hull center of gravity in z-directionz, the roll angle speed of hull
Spend ωxThe angular speed rotated for hull around X-direction, the angular velocity in pitch ω of hullyThe angular speed rotated for hull around Y-direction,
ωxPositive direction along ship stern point to stem direction, ωyPositive direction along starboard point to larboard direction.Suspension centre is in heave direction
On movement velocity include the size and Orientation of movement velocity.
Processing module 30 can be according to the kinematic parameter and suspension centre and the relative position relation meter of hull center of gravity of hull center of gravity
Calculate movement velocity of the suspension centre on heave direction.
Specifically, movement velocity V of the suspension centre on heave directionbMeet below equation：
Control module 40 can include PLC (English：Programmable Logic Controller, Chinese：It is programmable
Logic controller), PLC can control loop wheel machine folding and unfolding steel wire rope according to movement velocity of the suspension centre on heave direction, steel wire rope
Folding and unfolding speed.PLC can specifically select the CPU315-2PN/DP of Siemens S7-300 series.
The folding and unfolding speed V of steel wire ropeaThe Formula V such as satisfactiona=nVb, wherein n is constant, in loop wheel machine, the canoe of steel wire rope
Difference, then n value is also different, and n values can be loop wheel machine in normal lifting or decentralization process, within the same period, from for
The ratio of the length for the steel wire rope for being involved in or releasing on the winch of haulage cable and the distance of suspension centre movement.
For example, the movement velocity V when suspension centre on heave directionbDuring=d meter per seconds, represent suspension centre with the speed of d meter per seconds
Moved along Z positive direction, can now control steel wire rope to release steel wire rope with the speed of n*d meter per seconds, when suspension centre is in heave direction
On movement velocity VbDuring=- d meter per seconds, when representing that suspension centre is moved with the speed of d meter per seconds along Z negative direction, then it can control
Steel wire rope takes in steel wire rope with the speed of n*d meter per seconds, and d span can be 0~1.39m/s.
Suspension centre heave compensation system can also include displacement transducer, and displacement transducer can be arranged on the winch of loop wheel machine
On, the length for the steel wire rope being wrapped in detection on winch.Because the total length of steel wire rope is certain, can thus obtain
The total length for the steel wire rope that winch is released, the change of the total length for the steel wire rope released according to winch can detect steel wire in real time
The folding and unfolding speed of rope, by controlling the speed of winch, the folding and unfolding speed for the steel wire rope that can make to detect and the steel being calculated
The folding and unfolding speed V of cordaIt is equal.
During specific implementation, the displacement transducer being arranged on winch can select the model AVM58N- of PEPPERL FUCHS brand
011AAR0GN-1213 encoder, its interface shape are synchronous serial interface.
Alternatively, angle detection unit can use Siemens ET200SP series IM155-PN interface modules to connect with PLC
Connect.
Fig. 5 is a kind of flow chart of suspension centre heave compensation method provided in an embodiment of the present invention, and the compensation method is applied to
Compensation system shown in Fig. 1, as shown in figure 5, compensation method includes：
S11：Obtain suspension centre and the relative position relation of hull center of gravity.
When realizing, step S11 can be performed by foregoing suspension centre detection module.
S12：Obtain the kinematic parameter of hull center of gravity.
When realizing, step S12 can be performed by foregoing motion detection block.
S13：Suspension centre is calculated according to the relative position relation of the kinematic parameter of hull center of gravity and suspension centre and hull center of gravity rising
Movement velocity on heavy direction.
When realizing, step S13 can be performed by foregoing processing module.
S14：Loop wheel machine folding and unfolding steel wire rope is controlled according to movement velocity of the suspension centre on heave direction.
When realizing, step S14 can be performed by foregoing control module.
The embodiment of the present invention by obtaining the relative position relation of suspension centre and hull center of gravity and the kinematic parameter of hull center of gravity,
Suspension centre is calculated on heave direction with the relative position relation of the kinematic parameter according to hull center of gravity and suspension centre and hull center of gravity
Movement velocity, so as to according to suspension centre heave direction on movement velocity control loop wheel machine folding and unfolding steel wire rope, reduce goods with
The amplitude that stormy waves rises and falls, it is simple in construction, it is easy to accomplish.
Specifically, step S11 can include：
Obtain the tower body of loop wheel machine and the length of the height of the relative position relation of hull center of gravity and tower body, principal arm and folding arm
Degree.
Obtain tower body corner, principal arm corner and folding arm corner.
Obtained according to the tower body of loop wheel machine and relative position relation and tower body corner, principal arm corner, the folding arm corner of hull center of gravity
To suspension centre and the relative position relation of hull center of gravity.
Wherein, the angle that tower body corner turns over for the tower body of loop wheel machine relative to initial position, principal arm corner are the master of loop wheel machine
Angle between arm and the axis of rotation of tower body, angle of the folding arm corner between the folding arm and principal arm of loop wheel machine.
When realizing, the tower body of loop wheel machine and the height of the relative position relation of hull center of gravity and tower body, principal arm and folding arm
Length can be inputted by artificial mode and be saved in foregoing memory cell.Tower body corner, principal arm corner and folding arm corner
It can be obtained by foregoing angle detection unit, suspension centre and the relative position relation of hull center of gravity can pass through foregoing conversion
Unit obtains, and is no longer described in detail herein.
Specifically, the kinematic parameter of hull center of gravity comprises at least the roll angle θ of hullx, hull pitch angle θy, hull exists
Heave the speed V on directionz, hull angular velocity in roll ωx, hull angular velocity in pitch ωy.Suspension centre is on heave direction
Movement velocity includes the size and Orientation of movement velocity.Processing module can be according to the kinematic parameter and suspension centre and ship of hull center of gravity
The relative position relation of the body weight heart calculates movement velocity of the suspension centre on heave direction.
Specifically, step S14 can include：
Loop wheel machine is controlled with speed VaFolding and unfolding steel wire rope.
Wherein, VaMeet below equation：
Va=nVb,
VbFor movement velocity of the suspension centre on heave direction, n is constant.VbCalculating may refer to foregoing device and implement
Example.
In different loop wheel machines, the canoe of steel wire rope is different, then n value is also different, and n values can be loop wheel machine normal
In lifting or decentralization process, within the same period, the steel wire rope that is involved in or releases from the winch for haulage cable
The ratio of length and the distance of suspension centre movement.VbCalculating process be referred to foregoing suspension centre heave direction on movement velocity
Computational methods, be no longer described in detail herein.By using speed VaWinch on control loop wheel machine is involved in or released steel wire rope, makes steel wire
Rope is released with the floating of hull, is sunk and is involved in, can reduce the tension force on steel wire rope, avoids goods floating with hull
Move and rise and fall.
It should be noted that：The suspension centre heave compensation system that above-described embodiment provides is when carrying out suspension centre heave compensation, only
With the division progress of above-mentioned each functional module for example, in practical application, can as needed and by above-mentioned function distribution by
Different functional modules is completed, i.e., the internal structure of equipment is divided into different functional modules, described above complete to complete
Portion or partial function.In addition, suspension centre heave compensation method and suspension centre heave compensation system embodiment that above-described embodiment provides
Belong to same design, its specific implementation process refers to device embodiment, repeats no more here.
One of ordinary skill in the art will appreciate that hardware can be passed through by realizing all or part of step of above-described embodiment
To complete, by program the hardware of correlation can also be instructed to complete, described program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only storage, disk or CD etc..
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of suspension centre heave compensation system, it is characterised in that the compensation system includes：
Suspension centre detection module, for obtaining the relative position relation of suspension centre and hull center of gravity；
Motion detection block, for obtaining the kinematic parameter of hull center of gravity；
Processing module, for the kinematic parameter according to the hull center of gravity and the suspension centre and the relative position relation of hull center of gravity
Calculate movement velocity of the suspension centre on heave direction；
Control module, for controlling loop wheel machine folding and unfolding steel wire rope according to movement velocity of the suspension centre on heave direction.
2. compensation system according to claim 1, it is characterised in that the suspension centre detection module includes：
Memory cell, for storing the tower body of the loop wheel machine and the relative position relation of the hull center of gravity and the tower body
Highly, the length of the principal arm and the folding arm；
Angle detection unit, for obtaining tower body corner, principal arm corner and folding arm corner；
Converting unit, for the tower body according to the loop wheel machine and the relative position relation of the hull center of gravity and the height of the tower body
Degree, the length of the principal arm, the folding arm, the tower body corner, the principal arm corner, the folding arm corner obtain the suspension centre
With the relative position relation of the hull center of gravity；
Wherein, the angle that the tower body corner turns over for the tower body of the loop wheel machine relative to initial position, the principal arm corner are
Angle between the axis of rotation of the principal arm of the loop wheel machine and the tower body, folding arm and institute of the folding arm corner for the loop wheel machine
State the angle between principal arm.
3. compensation system according to claim 2, it is characterised in that the angle detection unit senses including first angle
Device, second angle sensor and third angle sensor, the first angle sensor is used to obtain the tower body corner, described
Second angle sensor is used to obtain the principal arm corner, and the third angle sensor is used to obtain the folding arm corner.
4. compensation system according to claim 3, it is characterised in that the first angle sensor, the second angle
Sensor and the third angle sensor are single-ring encoder.
5. according to the compensation system described in any one of Claims 1 to 4, it is characterised in that the motion detection block includes fortune
Dynamic reference unit.
6. according to the compensation system described in any one of Claims 1 to 4, it is characterised in that the kinematic parameter of the hull center of gravity
Speed on heave direction of the pitch angle of roll angle, hull including at least hull, hull, angular velocity in roll, the ship of hull
The angular velocity in pitch of body.
A kind of 7. suspension centre heave compensation method, it is characterised in that the compensation method includes：
Obtain suspension centre and the relative position relation of hull center of gravity；
Obtain the kinematic parameter of hull center of gravity；
The suspension centre is calculated according to the kinematic parameter of the hull center of gravity and the suspension centre and the relative position relation of hull center of gravity
Movement velocity on heave direction；
Loop wheel machine folding and unfolding steel wire rope is controlled according to movement velocity of the suspension centre on heave direction.
8. compensation method according to claim 7, it is characterised in that described to obtain suspension centre and the relative position of hull center of gravity
Relation, including：
Obtain the tower body of the loop wheel machine and the relative position relation of the hull center of gravity and height, the principal arm of the tower body
With the length of the folding arm；
Obtain tower body corner, principal arm corner and folding arm corner；
Turned according to the relative position relation and the tower body corner of the tower body of the loop wheel machine and the hull center of gravity, the principal arm
Angle, the folding arm corner obtain the relative position relation of the suspension centre and the hull center of gravity；
Wherein, the angle that the tower body corner turns over for the tower body of the loop wheel machine relative to initial position, the principal arm corner are
Angle between the axis of rotation of the principal arm of the loop wheel machine and the tower body, folding arm and institute of the folding arm corner for the loop wheel machine
State the angle between principal arm.
9. compensation method according to claim 8, it is characterised in that the kinematic parameter of the hull center of gravity comprises at least ship
Speed on heave direction of the roll angle of body, the pitch angle of hull, hull, the angular velocity in roll of hull, the pitch angle of hull
Speed.
10. compensation method according to claim 9, it is characterised in that it is described according to the suspension centre heave direction on
Movement velocity controls loop wheel machine folding and unfolding steel wire rope, including：
The loop wheel machine is controlled with speed VaFolding and unfolding steel wire rope,
Wherein, VaMeet below equation：
Va=nVb,
VbFor movement velocity of the suspension centre on heave direction, n is constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760954.6A CN107720551B (en) | 2017-08-30 | 2017-08-30 | Lifting point heave compensation system and compensation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760954.6A CN107720551B (en) | 2017-08-30 | 2017-08-30 | Lifting point heave compensation system and compensation method |
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| Publication Number | Publication Date |
|---|---|
| CN107720551A true CN107720551A (en) | 2018-02-23 |
| CN107720551B CN107720551B (en) | 2019-12-20 |
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| CN201710760954.6A Active CN107720551B (en) | 2017-08-30 | 2017-08-30 | Lifting point heave compensation system and compensation method |
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