CN107986179A - The heave compensator of operation on the sea crane - Google Patents
The heave compensator of operation on the sea crane Download PDFInfo
- Publication number
- CN107986179A CN107986179A CN201711213176.5A CN201711213176A CN107986179A CN 107986179 A CN107986179 A CN 107986179A CN 201711213176 A CN201711213176 A CN 201711213176A CN 107986179 A CN107986179 A CN 107986179A
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- Prior art keywords
- hydraulic
- secondary component
- load
- controller
- control valve
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
-
- 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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A kind of heave compensator of operation on the sea crane, including：Hydraulic oil container, the volume adjustable hydraulic pump being respectively connected with hydraulic oil container and overflow valve, sensor, the encoder for detecting spool motion signal, the controller being connected with sensor, hydraulic control valve, the secondary component being respectively connected with controller, wherein, controller is connected with volume adjustable hydraulic pump；Load is connected with reel, and drives the rotation of secondary component, exports high pressure oil；Hydraulic control valve is connected with hydraulic motor, generator, inverter and proportional control valve, accumulator respectively；Secondary component is connected with reel, load, and load is connected with controller；Inverter is connected with super capacitor, motor, and interactive information；Motor is connected with dynamic coupling device；Controller output control signal changes the discharge capacity of volume adjustable hydraulic pump, so as to control the rotating speed of secondary component, reaches compensation purpose.The present invention solves the problem of needing extra power source, energy consumption is huge, greatly improves energy utilization rate, has saved production cost.
Description
Technical field
The present invention relates to crane, more particularly to a kind of heave compensator for operation on the sea crane.Belong to sea
Foreign energy extraction hoisting operation engineering field.
Background technology
With marine energy exploitation it is increasingly extensive, marine engineering equipment also flourishes.Operation on the sea crane
One of important equipment as ocean engineering, plays an important role in fields such as energy extraction, marine logistics, rescues.
At present, the lash ship of operation on the sea crane, under the influence of the various interference such as sea wind, wave, ocean current are subject to, it will
The wave frequency for producing space sways movement.Wherein, influence maximum to the motion state of ship is the heave movement on gravity direction.
Due to the presence of heave movement, cause the security of operation on the sea, operating efficiency to substantially reduce.And due to heave movement
Influence, also the relative position between two ships or ship and underwater platform can be made to change, the raising of cargo and declined very
Difficulty is accurately controlled, and therefore, is easily produced the hanging again of collision and cargo, is caused supply to be normally carried out.In order to
Solve the above problems, a kind of heave compensation system is at sea added on operation crane.Different according to control mode, heave is mended
The system of repaying can be divided into two class of passive type heave compensation system and active heave compensation system.Wherein, passive type compensation system
Advantage is to be not required to consumption additional energy, but its precision is relatively low, hysteresis is larger, therefore, it is impossible to meet high performance requirements.And actively
Formula heave compensation system can be divided into two kinds of hydraulic cylinder type, winch type according to the difference of its executive component.Wherein, hydraulic cylinder type position
Shifting compensation range is smaller, occupied space is larger.Winch type heave compensation mode has an obviously advantage, the displacement of compensation from
Limitation；Compensating movement and raising can be acted and integrated by differential speed reducer by hydraulic motor, both share a set of lifting mechanism,
Therefore, space and equipment cost have been saved.Active heave compensation system hysteresis is smaller, compensation efficiency is higher, it is to ensure that
The necessary equipment of operation on the sea security.But active compensation system is complicated, cost is higher, and needs extra dynamic
Power source, energy consumption are huge.
The content of the invention
It is a primary object of the present invention to overcome disadvantages mentioned above existing in the prior art, and one kind is provided and is used for operation on the sea
The heave compensator of crane, it can not only recycle caused gravitional force when load declines, it is extra to solve needs
Power source, the problem of energy consumption is huge, greatly improve energy utilization rate；Moreover, substantially increasing system performance, production has been saved
Cost.
The purpose of the present invention is what is realized by following technical scheme：
A kind of heave compensator of operation on the sea crane, it is characterised in that：Including：It is arranged on the hydraulic oil of lash ship
Case, the volume adjustable hydraulic pump being respectively connected with hydraulic oil container and overflow valve, be arranged on lash ship for detecting ship motion state
Sensor, the encoder for detecting spool motion signal, the controller being connected with sensor, the hydraulic pressure control being respectively connected with controller
Valve processed, secondary component, wherein, the ship motion state collected is converted into electric signal by sensor, and is passed to by cable
Controller；Controller is connected with volume adjustable hydraulic pump, for changing the discharge capacity of hydraulic pump；Load is connected by steel wire rope with reel,
Loaded for being lifted；And load moves downward under gravity, the transform linear motion of load is rotary motion by reel,
To drive the rotation of secondary component, high pressure oil is exported；Hydraulic control valve respectively successively with hydraulic motor, generator, inverter
And proportional control valve, accumulator are connected, by controlling the recover energy discharge capacity of hydraulic motor, the moment of torsion of generator and ratio control
The openings of sizes of valve processed, to change back pressure, realizes the adjusting to secondary component rotating speed, and the gravitional force of load is converted to
Electric energy and hydraulic energy are stored in super capacitor and accumulator；Secondary component is connected with reel, load successively, load and controller
It is connected；Inverter is connected with super capacitor, motor, and interactive information；Motor is connected with dynamic coupling device；Controller output control
Signal processed changes the discharge capacity of volume adjustable hydraulic pump, so that the rotating speed of secondary component is controlled, to reach compensation purpose.
On the engine, volume adjustable hydraulic pump acts under the action of controller output signal for the volume adjustable hydraulic pump installation,
High pressure oil needed for driving load is provided.
The hydraulic control valve uses 3-position-3-way hydraulic control valve；The hydraulic control valve control volume adjustable hydraulic pump with it is secondary
Hydraulic oil flow direction between element.
The retarder being provided between the secondary component and reel, for raising descending motion and heave compensation will to be loaded
Movement synthesis；Secondary component is hydraulic motor or pump, is used for realization hydraulic energy and mechanical energy mutually converts.
The encoder is installed on reel, for detecting drum speed.
The signal of the controller combination load feedback, by sending instruction control volume adjustable hydraulic pump, hydraulic pressure control after calculating
Valve processed, secondary component, proportional control valve, hydraulic motor action.
The energy recycle device receives the hydraulic oil of secondary component hydraulic fluid port output and is connected to hydraulic motor, overflow valve,
Hydraulic motor rotates under fluid promotion, and drives electrical power generators to be delivered to the inverter for realizing AC-DC conversion, and profit
The super capacitor of energy is stored with potential difference, and is powered in subsequent action to motor, is loaded for assisted engine
The driving of raising.
The proportional control valve uses bi-bit bi-pass proportional control valve.
Beneficial effects of the present invention：The present invention due to the adoption of the above technical scheme, its can not only recycle load decline when
Caused gravitional force, its gravitional force organic efficiency is up to 51%；Solving needs extra power source, and energy consumption is huge
Problem, greatly improves energy utilization rate；Moreover, substantially increasing system performance, production cost has been saved.
Brief description of the drawings
Fig. 1 is overall structure hydraulic principle schematic diagram of the present invention；
Energy storage pressure situation curve synoptic diagram when Fig. 2A is converted to hydraulic energy for potential energy in the present invention；
Fig. 2 B are the energy regenerating effect curve schematic diagram of energy regenerating part of the present invention；
Fig. 3 A are voltage status curve synoptic diagram when super capacitor charges in the present invention；
Fig. 3 B are super capacitor energy-storage condition curve schematic diagram in the present invention.
Major Symbol explanation in figure：
1. hydraulic oil container, 2. volume adjustable hydraulic pumps, 3. overflow valves, 4. hydraulic control valves, 5. secondary components, 6. reels, 7. subtract
Fast device, 8. encoders, 9. steel wire ropes, 10. loads, 11. sensors, 12. controllers, 13. energy recycle devices, 14. accumulators,
15. proportional control valve, 16. overflow valves, 17. hydraulic motors, 18. super capacitors, 19. generators, 20. inverters, 21. motors,
22. engine, 23. dynamic coupling devices.
Embodiment
As shown in Fig. 1-Fig. 3 B, the present invention includes：The hydraulic oil container 1 that is arranged on lash ship, be respectively connected with hydraulic oil container 1
Volume adjustable hydraulic pump 2 and overflow valve 3, be arranged on lash ship be used for detect ship motion state sensor 11, detection reel 6 transport
The encoder 8 of dynamic signal, the controller 12 being connected with sensor 11, the hydraulic control valve 4, two being respectively connected with controller 12
Item 5, wherein, the ship motion state collected is converted into electric signal by sensor 11, and passes to control by cable
Device 12；Controller 12 is connected with volume adjustable hydraulic pump 2, for changing the discharge capacity of hydraulic pump；Load 10 passes through steel wire rope 9 and reel 6
It is connected, is loaded for being lifted；And load 10 moves downward under gravity, reel 6 by load 10 transform linear motion
For rotary motion, to drive the rotation of secondary component 5, high pressure oil is exported；Hydraulic control valve 4 respectively successively with hydraulic motor
17th, generator 19, inverter 20 and proportional control valve 15, accumulator 14 are connected, by controlling the hydraulic motor 17 that recovers energy
The openings of sizes of discharge capacity, the moment of torsion of generator 19 and proportional control valve 15, to change back pressure, is realized to 5 turns of secondary component
The adjusting of speed, and the gravitional force of load is converted into electric energy and hydraulic energy is stored in super capacitor 18 and accumulator 14；Two
Item 5 is connected with reel 6, load 10 successively, and load 10 is connected with controller 12；Inverter 20 and super capacitor 18, motor
21 connected and interactive information；Motor 21 is connected with dynamic coupling device 23；It is moved with compensating ship when load needs to rise
During influence caused by state, 4 right position of hydraulic control valve work, secondary component 5 works in motor operating conditions at this time, and engine 22 carries
For the required power of the present invention, volume adjustable hydraulic pump 2 exports high pressure oil, drives secondary component 5, lifting load.Controller 12 exports
Control signal changes the discharge capacity of volume adjustable hydraulic pump 2, so that the rotating speed of secondary component 5 is controlled, to reach compensation purpose.Accumulator 14
Release is last to decline the energy recycled during compensation, hydraulic motor 17 that high pressure oil driving recovers energy and co-axial is connected
Generator 19 rotate together, generator 19 generates electricity, and hydraulic energy is converted into electric energy, and keeps hydraulic motor 17 and generator 19
All the time it is in running order.
Above-mentioned volume adjustable hydraulic pump 2 is installed on engine 22, and volume adjustable hydraulic pump 2 is exported in controller 12 under the action of signal
Action, there is provided the high pressure oil needed for driving load 10.
Above-mentioned hydraulic control valve 4 uses 3-position-3-way hydraulic control valve；Hydraulic control valve 4 controls volume adjustable hydraulic pump 2 and two
Hydraulic oil flow direction between item 5.
The retarder 7 being provided between above-mentioned secondary component 5 and reel 6, for raising descending motion and heave will to be loaded
Compensation campaign synthesizes；Secondary component 5 is hydraulic motor or pump, is used for realization hydraulic energy and mechanical energy mutually converts.
Above-mentioned encoder 8 is installed on reel 6, for detecting drum speed.
Controller noted above 12 combines the signal of the feedback of load 10, by sending instruction control volume adjustable hydraulic pump 2, liquid after calculating
Pressure control valve 4, secondary component 5, proportional control valve 15, hydraulic motor 17 act.
Above-mentioned energy recycle device 13 receives the hydraulic oil of 5 hydraulic fluid port C of secondary component outputs and is connected to hydraulic motor 17, overflows
Valve 16 is flowed, hydraulic motor 17 rotates under fluid promotion, and drives the power generation of generator 19 to be delivered to and realize AC-DC conversion
Inverter 20, stores to by the way that its internal electrolyte is carried out polarization process, and stores energy using the potential difference that it is formed
The super capacitor 18 of amount, and power in subsequent action to motor 21, the driving of load raising is carried out for assisted engine 22.
Aforementioned proportion control valve 7 uses bi-bit bi-pass proportional control valve.
Such as Fig. 2A, shown in Fig. 2 B, Fig. 3 A, Fig. 3 B, in energy recovery process, 18 parameter of accumulator 14 and super capacitor
State, wherein, 0-9.5s this periods, load carries out rising compensation for the first time, and the present invention does not work, so, accumulator 14 is pressed
Power and 18 voltage of super capacitor all keep initial value constant.During 9.5-19s, load is declined compensating movement first, at this moment,
Secondary component 5 enters pump condition under the action of 10 gravity are loaded, and high pressure oil is exported, at this time by controlling proportioning valve 15 to be open greatly
Small, 19 moment of torsion of 17 discharge capacity of hydraulic motor and generator, makes the present invention while ship movement is compensated, the gesture that recycling load declines
Energy.
Fig. 2A is gas pressure change curve in accumulator 14, and pressure rise in load decline stage accumulator 14, this is
Gas in the high pressure oil compression accumulator 14 exported due to secondary component 5, hydraulic energy storage is converted to by the gravitional force of load
Get up, at this time, the volume of gas reduces accordingly in accumulator 14, its volume change curve is as shown in Figure 2 B.Fig. 3 A are super
The voltage change curve of capacitance 18, its initial value are taken as 380V by foregoing, and in 9-12s this periods, its magnitude of voltage does not raise,
One is due to that the hydraulic motor 17 that recovers energy and generator 19 need certain response time, is started second, declining compensation first
When, since loading speed is low, recyclable power is smaller, and all consumption in generator 19 and recycles energy to the gravitional force recycled
In 17 internal friction of hydraulic motor of amount, 18 non-energy storage of super capacitor, after 12s, with the increase super capacitor 18 to recover energy
Voltage raises, and when decline closes to an end, 10 speed of load reduce again, 18 not energy storage of super capacitor, and its internal resistance consumption one
Portion of energy causes voltage to decrease.Fig. 3 B are 18 energy storage state curve of super capacitor, its value is put down with 18 voltage of super capacitor
Just into related；During 19-28.5s, load second rises compensation, and hydraulic control valve 4 is operated in right position, isolated operation of the present invention,
Accumulator 14 releases energy at this time, the hydraulic motor 17 and co-axial connected generator 19 1 that high pressure oil driving recovers energy
Rotation is played, generator 19 generates electricity, hydraulic energy is converted to electric energy, is stored in super capacitor 18, so, can be to avoid hair
19 frequent starting of motor is braked.The variable condition of each element shown in Fig. 2 and Fig. 3 can be seen that the present invention is ensureing to compensate
Energy recovery function is realized in the case of efficiency.
Above-mentioned hydraulic oil container, volume adjustable hydraulic pump, overflow valve, hydraulic control valve, reel, retarder, encoder, load, biography
Sensor, controller, accumulator, proportional control valve, overflow valve, hydraulic motor, super capacitor, generator, inverter, motor, hair
Motivation is the prior art, and the content not illustrated is the prior art, therefore is no longer repeated.
The above described is only a preferred embodiment of the present invention, not make limitation in any form to the present invention, it is all
It is any simple modification, equivalent change and modification made according to the technical spirit of the present invention to above example, still falls within
In the range of technical solution of the present invention.
Claims (8)
- A kind of 1. heave compensator of operation on the sea crane, it is characterised in that：Including：Be arranged on lash ship hydraulic oil container, The volume adjustable hydraulic pump and overflow valve that are respectively connected with hydraulic oil container, be arranged on and be used for the sensing for detecting ship motion state on lash ship Device, the encoder for detecting spool motion signal, the controller being connected with sensor, the hydraulic control being respectively connected with controller Valve, secondary component, wherein, the ship motion state collected is converted into electric signal by sensor, and passes to control by cable Device processed；Controller is connected with volume adjustable hydraulic pump, for changing the discharge capacity of hydraulic pump；Load is connected by steel wire rope with reel, is used Loaded in lifting；And load moves downward under gravity, the transform linear motion of load is rotary motion by reel, is used To drive the rotation of secondary component, high pressure oil is exported；Hydraulic control valve respectively successively with hydraulic motor, generator, inverter and Proportional control valve, accumulator are connected, by controlling the discharge capacity of hydraulic motor that recovers energy, the moment of torsion of generator and ratio to control The openings of sizes of valve, to change back pressure, realizes the adjusting to secondary component rotating speed, and the gravitional force of load is converted to electricity It can be stored in hydraulic energy in super capacitor and accumulator；Secondary component is connected with reel, load successively, load and controller phase Even；Inverter is connected with super capacitor, motor, and interactive information；Motor is connected with dynamic coupling device；Controller output control Signal changes the discharge capacity of volume adjustable hydraulic pump, so that the rotating speed of secondary component is controlled, to reach compensation purpose.
- 2. the heave compensator of operation on the sea crane according to claim 1, it is characterised in that：The variable delivery hydraulic On the engine, volume adjustable hydraulic pump acts under the action of controller output signal, there is provided the height needed for driving load for pump installation Pressure oil.
- 3. the heave compensator of operation on the sea crane according to claim 1, it is characterised in that：The hydraulic control Valve uses 3-position-3-way hydraulic control valve；The hydraulic control valve controls the hydraulic pressure oil stream between volume adjustable hydraulic pump and secondary component To.
- 4. the heave compensator of operation on the sea crane according to claim 1, it is characterised in that：The secondary component The retarder being provided between reel, for raising descending motion and heave compensation movement synthesis will to be loaded；Secondary component is Hydraulic motor or pump, are used for realization hydraulic energy and mechanical energy mutually converts.
- 5. the heave compensator of operation on the sea crane according to claim 1, it is characterised in that：The encoder peace On reel, for detecting drum speed.
- 6. the heave compensator of operation on the sea crane according to claim 1, it is characterised in that：The controller knot The signal of load feedback is closed, by sending instruction control volume adjustable hydraulic pump, hydraulic control valve, secondary component, ratio control after calculating Valve processed, hydraulic motor action.
- 7. the heave compensator of operation on the sea crane according to claim 1, it is characterised in that：The energy regenerating Device receives the hydraulic oil of secondary component hydraulic fluid port output and is connected to hydraulic motor, overflow valve, and hydraulic motor is under fluid promotion Rotation, and drive electrical power generators to be delivered to the inverter for realizing AC-DC conversion, and store energy using potential difference Super capacitor, and power in subsequent action to motor, the driving of load raising is carried out for assisted engine.
- 8. the heave compensator of operation on the sea crane according to claim 1, it is characterised in that：The ratio control Valve uses bi-bit bi-pass proportional control valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711213176.5A CN107986179A (en) | 2017-11-28 | 2017-11-28 | The heave compensator of operation on the sea crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711213176.5A CN107986179A (en) | 2017-11-28 | 2017-11-28 | The heave compensator of operation on the sea crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107986179A true CN107986179A (en) | 2018-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711213176.5A Pending CN107986179A (en) | 2017-11-28 | 2017-11-28 | The heave compensator of operation on the sea crane |
Country Status (1)
| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110436344A (en) * | 2019-06-05 | 2019-11-12 | 天津大学青岛海洋技术研究院 | A kind of energy-saving winch type Active Heave Compensation System and method |
| CN113753783A (en) * | 2021-09-10 | 2021-12-07 | 北京三一智造科技有限公司 | Winch follow-up control method and device and double-wheel slot milling machine |
| US20220281724A1 (en) * | 2019-08-27 | 2022-09-08 | J. D. Neuhaus Holding Gmbh & Co. Kg | Fluid-operated lifting gear |
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| CN102691484A (en) * | 2012-06-06 | 2012-09-26 | 中国石油大学(华东) | Winch heave compensation device of marine floating drilling platform |
| CN202829415U (en) * | 2012-08-28 | 2013-03-27 | 中国科学院沈阳自动化研究所 | Underwater robot driving heaving compensation system |
| CN104495672A (en) * | 2015-01-04 | 2015-04-08 | 湖南科技大学 | Active heave compensation control system and active heave compensation control method of marine ship-borne AC variable-frequency winch |
| CN204355998U (en) * | 2015-01-04 | 2015-05-27 | 湖南科技大学 | Ocean boat-carrying AC frequency conversion winch active compensation control system |
| CN104832464A (en) * | 2015-05-23 | 2015-08-12 | 长安大学 | Rotary drilling rig main winch downward placing potential energy recycling device |
| CN105523493A (en) * | 2016-03-08 | 2016-04-27 | 吉林大学 | Power compensation type workover rig power transmission system |
| CN205772987U (en) * | 2016-07-18 | 2016-12-07 | 中国石油大学(华东) | A kind of semi-active type marine drilling compensates winch |
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2017
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| CN102691484A (en) * | 2012-06-06 | 2012-09-26 | 中国石油大学(华东) | Winch heave compensation device of marine floating drilling platform |
| CN202829415U (en) * | 2012-08-28 | 2013-03-27 | 中国科学院沈阳自动化研究所 | Underwater robot driving heaving compensation system |
| CN104495672A (en) * | 2015-01-04 | 2015-04-08 | 湖南科技大学 | Active heave compensation control system and active heave compensation control method of marine ship-borne AC variable-frequency winch |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110436344A (en) * | 2019-06-05 | 2019-11-12 | 天津大学青岛海洋技术研究院 | A kind of energy-saving winch type Active Heave Compensation System and method |
| US20220281724A1 (en) * | 2019-08-27 | 2022-09-08 | J. D. Neuhaus Holding Gmbh & Co. Kg | Fluid-operated lifting gear |
| CN113753783A (en) * | 2021-09-10 | 2021-12-07 | 北京三一智造科技有限公司 | Winch follow-up control method and device and double-wheel slot milling machine |
| CN113753783B (en) * | 2021-09-10 | 2023-03-31 | 北京三一智造科技有限公司 | Winch follow-up control method and device and double-wheel slot milling machine |
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