CN108116623A - Mining vehicle lays the control method and device of recovery system - Google Patents
Mining vehicle lays the control method and device of recovery system Download PDFInfo
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- CN108116623A CN108116623A CN201711038887.3A CN201711038887A CN108116623A CN 108116623 A CN108116623 A CN 108116623A CN 201711038887 A CN201711038887 A CN 201711038887A CN 108116623 A CN108116623 A CN 108116623A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses the control methods and device that a kind of mining vehicle lays recovery system, belong to marine machinery field, and the control method includes：Obtain by hull wave caused by heave direction compared with sea level wave displacement and sway velocity；Determine the target velocity indicated by mining vehicle heave velocity target instruction target word；When the target velocity is 0, according to the realistic objective speed waved displacement and determine mining vehicle；When the target velocity is not 0, the realistic objective speed of mining vehicle is determined according to the target velocity and the sway velocity；According to the lifting of mining vehicle described in the realistic objective speed control.The embodiment of the present invention by according to caused by being waved hull on heave direction waving displacement and sway velocity and determine the realistic objective speed of mining vehicle compared with sea level, the danger in seabed is hit so as to reduce mining vehicle in decentralization.
Description
Technical field
The present invention relates to marine machinery field, more particularly to a kind of mining vehicle lays the control method and dress of recovery system
It puts.
Background technology
, it is necessary to be transferred mining vehicle to operation seabed using recovery system is laid during deep-sea mining.Lay recycling
System is mounted on working ship, when working ship under the action of wave when waving, mining vehicle lay with can be in removal process
Working ship waves together.When mining vehicle is close to seabed, there is the danger for hitting seabed in mining vehicle, mining vehicle is damaged.
The content of the invention
The possibility with reduction seabed in removal process is being laid in order to reduce mining vehicle, an embodiment of the present invention provides one
Kind mining vehicle lays the control method and device of recovery system.The technical solution is as follows：
On the one hand, an embodiment of the present invention provides the control method that a kind of mining vehicle lays recovery system, the controlling parties
Method includes：
Obtain by hull wave caused by heave direction compared with sea level wave displacement and sway velocity；
Determine the target velocity indicated by mining vehicle heave velocity target instruction target word；
When the target velocity is 0, according to the realistic objective speed waved displacement and determine mining vehicle；
When the target velocity is not 0, the reality of mining vehicle is determined according to the target velocity and the sway velocity
Target velocity；
According to the lifting of mining vehicle described in the realistic objective speed control.
Further, the realistic objective speed that mining vehicle is determined according to the target velocity and the sway velocity,
Including：
Determine current winch wiring diameter；
The compensation speed of mining vehicle is calculated according to the current winch wiring diameter and the sway velocity；
Using the sum of the compensation speed and the target velocity as the realistic objective speed.
Further, the realistic objective speed that displacement determines mining vehicle is waved described in the basis, including：
Determine mining vehicle on heave direction compared with the displacement of target location；
Based on the displacement compared with target location and it is described wave displacement, using the classical ratio without integration-
Integrated Derivative algorithm determines the realistic objective speed.
Further, it is described based on the displacement compared with target location and it is described wave displacement, using without
The classical proportional-integral-differential algorithm of integration, determines the realistic objective speed, using the following formula：
f2(x2,x3)=kp(x3-x2)+kd[(x3 /-x2 /)-(x3-x2)],
Wherein, kpAnd kdTo set coefficient, x2To wave displacement, x3For mining vehicle heave direction on compared with target position
The displacement put, x2 /For the x in a upper cycle2, x3 /For the x in a upper cycle3, DdjaFor real-time winch wiring diameter, I is motor
With the rotating ratio of winch.
Wherein, the mining vehicle is currently wrapped on heave direction compared with the displacement of target location equal to steel wire rope
Length on winch and receive the difference for starting length of the wirerope-winding on winch when at the time of active compensation of undulation instructing.
On the other hand, the embodiment of the present invention additionally provides the control device that a kind of mining vehicle lays recovery system, the control
Device processed includes：
Acquiring unit, for obtain by hull wave caused by heave direction on wave displacement compared with sea level
And sway velocity；
Processing unit, for determining the target velocity indicated by mining vehicle heave velocity target instruction target word；When target speed
Spend for 0 when, according to the realistic objective speed waved displacement and determine mining vehicle；When the target velocity is not 0, according to institute
It states target velocity and determines the realistic objective speed of mining vehicle with the sway velocity；According to described in the realistic objective speed control
The lifting of mining vehicle.
Further, the processing unit is used to, when the target velocity is not 0, determine that current winch wiring is straight
Footpath；The compensation speed of mining vehicle is calculated according to the current winch wiring diameter and the sway velocity；By the compensation speed
The sum of degree and the target velocity are used as the realistic objective speed.
Further, the processing unit is used for when the target velocity is 0, determines mining vehicle phase on heave direction
For the displacement of target location；Based on the displacement compared with target location and it is described wave displacement, using without product
The classical proportional-integral-differential algorithm divided, determines the realistic objective speed.
Further, the processing unit is used for, and the realistic objective speed is determined using the following formula：
f2(x2,x3)=kp(x3-x2)+kd[(x3 /-x2 /)-(x3-x2)],
Wherein, kpAnd kdTo set coefficient, x2To wave displacement, x3For mining vehicle heave direction on compared with target position
The displacement put, x2 /For the x in a upper cycle2, x3 /For the x in a upper cycle3x3, DdjaFor real-time winch wiring diameter, I is horse
Up to the rotating ratio with winch.
Wherein, the mining vehicle is currently wrapped on heave direction compared with the displacement of target location equal to steel wire rope
Length on winch and receive the difference for starting length of the wirerope-winding on winch when at the time of active compensation of undulation instructing.
The advantageous effect that technical solution provided in an embodiment of the present invention is brought is：
The embodiment of the present invention waves generated the waving compared with sea level on heave direction by obtaining by hull
Displacement and sway velocity, and displacement and sway velocity are waved according to what is got, the realistic objective speed of mining vehicle is determined, with right
Hull waves displacement and/or speed of the caused mining vehicle on heave direction with wave and compensates, and reduces mining vehicle and hits
Hit the danger in seabed.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the structure chart that mining vehicle provided in an embodiment of the present invention lays recovery system；
Fig. 2 is the flow chart for the control method that mining vehicle provided in an embodiment of the present invention lays recovery system；
Fig. 3 is the course of work schematic diagram that mining vehicle provided in an embodiment of the present invention lays recovery system；
Fig. 4 is the structure diagram for the control device that mining vehicle provided in an embodiment of the present invention lays recovery system.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
For the ease of understanding the embodiment of the present invention, first the knot that mining vehicle lays recovery system is simply introduced with reference to Fig. 1 below
Structure and the course of work.As shown in Figure 1, mining vehicle lays recovery system on working ship, generally comprise：Control device 1 twists
Vehicle 2, door frame 3 and steel wire rope 4, bottom, control device 1 and the winch 2 of door frame 3 are arranged on the deck a of working ship.Steel wire rope
4 one end is fixed and is wrapped on winch 2, the other end around 3 top of the fixed pulley 5 on a of deck and door frame go out rope pulley 6 after
It is connected with mining vehicle 7.Winch 2 rotates under the control of control device 1, real by the winding and release that twist the steel wire rope 4 on 2 vehicles
The lifting of existing mining vehicle 7.
Further, the bottom of door frame 3 is hinged on a of deck, and telescopic oil cylinder 3a, telescopic oil cylinder are also configured on door frame 3
The telescopic end of 3a and the middle part of door frame 3 are hinged, and the fixing end of telescopic oil cylinder 3a is hinged on a of deck.Telescopic oil cylinder 3a's is flexible
The stretching and retraction of bar can control mining vehicle 7 and the distance of working ship in the horizontal direction.
When working ship is waved with wave, mining vehicle laying with can be as hull waves together, when adopting in removal process
When mine car is close to seabed, there is the danger for hitting seabed in mining vehicle, and destruction is generated to mining vehicle.To avoid this dangerous, the present invention
Embodiment provides the control method and device that a kind of mining vehicle lays recovery system, by obtain by hull with wave wave and
The mining vehicle of generation (is hereinafter referred to as waving displacement and wave on heave direction compared with the displacement on sea level and speed
Speed is only used for distinguishing, and is not intended as the limitation to the embodiment of the present invention), and according to the displacement and speed got come pair twist
The drive motor of vehicle is controlled, and so as to carry out Active Compensation to the displacement and/or speed, is particularly suitable for Sea miner cloth
Put recovery system.
Fig. 2 is the flow chart for the control method that mining vehicle provided in an embodiment of the present invention lays recovery system.The controlling party
Method can be realized by foregoing control device, as shown in Fig. 2, the control method can include：
S201：Obtain by hull wave caused by heave direction waving displacement and wave speed compared with sea level
Degree.
With reference to Fig. 1, during realization, the top of door frame 3 can be equipped with Attitude sensor (Motion Reference
Unit, MRU) 8 (referring to Fig. 1).Waving displacement and sway velocity can be detected by MRU 8 and obtained, and feed back to control device 1.
Further, the central point of the MRU 8 goes out the surface of rope pulley 6 described on door frame 3.The center of MRU 8
Point remains at the surface of 3 overlap pulley 6 of door frame, can more so that the data that MRU 8 is measured are more accurate.In this reality
It applies in example, the MRU of the model IMU-106 specifications of SMC companies may be employed in MRU.
S202：Determine the target velocity indicated by mining vehicle heave velocity target instruction target word；When the target velocity is 0,
Perform step S203；When the target velocity is not 0, step S204 is performed.
During realization, control device receives the mining vehicle heave velocity target instruction target word that operation handle is sent, and determines the mining
Target velocity indicated by vehicle heave velocity target instruction target word.
Specifically, the target velocity indicated by mining vehicle heave velocity target instruction target word that operation handle is sent, for setting
The speed that mining vehicle is needed to rise or transfer, i.e., when hull is without the movement of heave direction in the case of being fluctuated on no sea, mining
Vehicle rises or the speed of decentralization.
S203：According to the realistic objective speed waved displacement and determine mining vehicle.
S204：The realistic objective speed of mining vehicle is determined according to the target velocity and the sway velocity.
Wherein, step S204 can include：
Determine current winch wiring diameter；
The compensation speed of mining vehicle is calculated according to the current winch wiring diameter and the sway velocity；
Using the sum of the compensation speed and the target velocity as the realistic objective speed.
S205：According to the lifting of mining vehicle described in the realistic objective speed control.
Fig. 3 lays the electricity original block diagram of recovery system for the mining vehicle in the embodiment of the present invention.As shown in figure 3, control dress
It puts the reception MRU sway velocities measured and the mining vehicle heave velocity target waved displacement and sent by joystick refers to
Order, the target velocity indicated by mining vehicle heave velocity target instruction target word and compensation speed are overlapped, and obtain realistic objective speed
Degree.Wherein, compensation speed according to sway velocity and waves displacement and is calculated.After realistic objective speed is obtained, it can incite somebody to action
The realistic objective speed is exported to motor driver, is run by motor driver according to the realistic objective speed control hydraulic motor
(such as hydraulic motor pivot angle proportioning valve by controlling winch), so as to which winch be driven to rotate.In general, motor with winch by subtracting
Fast machine connection, the speed for controlling motor control the velocity of rotation of winch.When controlling the speed of motor, it may be employed and close
Ring controls the mode of motor pivot angle, specifically, detects the actual speed of motor in real time, and by the actual speed of motor and actual mesh
Mark rotating speed compares, and the hydraulic motor pivot angle proportioning valve of winch is controlled according to comparative result, and then adjusts the actual speed of motor.
It should be noted that above-mentioned control method can be performed in entire lay of mining vehicle in removal process, also may be used
To be performed when mining vehicle is close to (including reaching) seabed.When being performed when mining vehicle is close to seabed, this method can also include：
The instruction of active compensation of undulation is received, when receiving the instruction of active compensation of undulation, mining vehicle is controlled according to control method shown in Fig. 2
Lifting.It, can be according to the mining vehicle heave velocity mesh that operation handle is sent when being not received by the instruction of active compensation of undulation
The lifting of the indicated target velocity control mining vehicle of mark instruction.Wherein, active compensation of undulation instruction can be pressed by operating personnel
The lower button triggering for starting active compensation of undulation.
Further, control device can calculate the realistic objective rotating speed of motor according to formula (1).The calculating of formula (1)
As a result it is rev/min.
f(x1,x2,x3,x4)=f1(x1)+k1f2(x2,x3)+k2f3(x4) (1)
In formula (1), x1For operation handle opening degree instruction, scope is -100% to+100%, and -100% representative needs to twist
Vehicle rises according to mining vehicle maximum permission speed (compared with sea level) control mining vehicle, and+100% represents and needs winch according to adopting
Mine car maximum permission speed (compared with sea level) control mining vehicle decentralization, 0 representative need mining vehicle motionless (compared with Hai Ping
Face).x2It is generated for the MRU installation points that MRU is measured as hull waves and is heaving the displacement of direction RELATIVE SEA LEVEL, unit is
mm。x3For mining vehicle, in heave direction, compared with target location, (target location can be to receive to start active compensation of undulation
At the time of instruction) displacement, unit mm.x4MRU installation points for MRU measurements are generated as hull waves in heave side
To the speed of RELATIVE SEA LEVEL, unit mm/s.
Work as x1When ≠ 0 (i.e. target velocity is not 0), k1=0, k2=1, be mining vehicle also not on earth seabed when, manipulator
Handle is, it is necessary to ensure that the speed of mining vehicle RELATIVE SEA LEVEL is consistent with the target velocity of handle by controlling, at this point, f (x1,x2,x3,
x4)=f1(x1)+f3(x4)；Work as x1When=0 (i.e. target velocity is 0), k1=1, k2=0, be mining vehicle also not on earth seabed or
On earth during seabed, operation handle is not, it is necessary to ensure that the position of mining vehicle RELATIVE SEA LEVEL is constant by controlling, at this point, f (x1,x2,
x3,x4)=f2(x2,x3)。
Separately below to f1(x1)、f2(x2,x3)、f3(x4) be described.
f1(x1)=(x1×Vmax)÷(π×Ddja)×I (2)
Wherein, VmaxFor mining vehicle maximum permission speed, unit m/min is fixed value；I is the rotating speed of motor and winch
Than being fixed value；DdjaFor real-time winch wiring diameter.
f3(x4)=(x4×60÷1000)÷(π×Ddja)×I (3)
Wherein, I is the rotating ratio of motor and winch, is fixed value；DdjaFor real-time winch wiring diameter.
Ddja=Ddj+kdjads (4)
Wherein, DdjIt is fixed value for the bottom footpath of niggerhead, unit m.dsIt is fixed value for the diameter of steel wire rope, it is single
Position is m.kdjaTo expire the layer wiring number of plies in real time.
Wherein, zdjjtIt is fixed value for the individual layer number of turns, function ceil (x) is defined as the smallest positive integral not less than x.
mdjjtFor compared with the actual winding number of turns of winch cord-pressing block (starting point of steel wire rope), it is exhausted that multi-turn may be employed in real time
The measured value of value encoder is calculated, formula (6) calculating specifically may be employed：
mdjjt=(E-E0)÷(2J) (6)
In above formula, E be the real-time measured value of winch encoder, E0Number is measured for the winch encoder at steel wire rope cord-pressing block
According to for fixed value, J is the individual pen precision of encoder, is fixed value.Shape is communicated using SSI between encoder and control device 1
Formula, control device directly read the numerical value of encoder, and the encoder individual pen precision that the present apparatus uses is 16, J 16, then winch
It turns around, the numerical value change that controller reads encoder is 65536, then data often change 1, represents 1/65536 circle of variation.
f2(x2,x3) the classical PID algorithm without integration is used, formula is as follows：
f2(x2,x3)={ kp(x3-x2)+kd[(x3 /-x2 /)-(x3-x2)]}×60÷1000÷(π×Ddja)×I (7)
Wherein, kpAnd kdTo set coefficient, x2To wave displacement, x3For mining vehicle heave direction on compared with target position
The displacement put, x2 /For the x in a upper cycle2, x3 /For the x in a upper cycle3, DdjaFor real-time winch wiring diameter, I is motor
With the rotating ratio of winch.
During realization, x2, x3It can be updated once with every 10ms cycles, renewal speed takes MRU renewal speed and controller to cycle meter
Calculate the greater value in cycle.kpAnd kdFor the coefficient adjusted when being tested, the system kp=4, kd=10.
Wherein, x3The length computation that can be released according to steel wire rope, such as be currently wrapped in equal to steel wire rope on winch
Length and the difference for receiving length of the wirerope-winding on winch when at the time of starting the instruction of active compensation of undulation.Below to x3
Calculating process be described in detail.x3The following formula (8)-(15) calculating may be employed.
x3=x31-x30 (8)
Wherein, x31It is mining vehicle in real time compared with the distance of door frame overlap pulley, x30It is pressed for mining vehicle in compensation of undulation
Button is pressed the moment, mining vehicle compared with door frame overlap pulley distance.
x31=L-L0-f4(E) (9)
x30=L-L0-f4(E30) (10)
In formula (9) and formula (10), L is the total length of steel wire rope, is fixed value；L0 for rope winch rope-out end extremely
The distance of door frame overlap pulley, after being pressed due to active compensation of undulation button, door frame does not allow to change, therefore the L0 phases in two formulas
Deng.f4(E) it is real-time lay winding wire ropes length on winch, the following formula (11) calculating, f may be employed4(E30) it is actively
Compensation of undulation button is pressed the moment, the lay winding wire ropes length on winch, E30It is pressed the moment for active compensation of undulation button, winch
The numerical value of encoder measurement.
It can be obtained by formula (8)-(10)：x3=f4(E)-f4(E30) (11)
f4(E)=f5(kdja)+f6(mdjjt) (12)
f6(mdjjt)=π (mdjjt-zdjjt·kdja)(Ddj+kdja·ds) (14)
In formula (12), f5(kdja) calculate the rope capacity for having wound full layer, f6(mdjjt) outermost layer is calculated less than layer
Rope capacity.Such as steel wire rope is at the 7th layer, then kdja=6, f5(kdja) 6 layers of total coiling length before calculating, f6(mdjjt)
Calculate the 7th layer of coiling length.
It can be obtained by formula (11)-(14)：
F can be calculated with reference to aforementioned formula (6)4(E) value.f4(E30) can also adopt and be counted in a like fashion
It calculates, omits be described in detail herein.
The embodiment of the present invention waves generated the waving compared with sea level on heave direction by obtaining by hull
Displacement and sway velocity, and displacement and sway velocity are waved according to what is got, the realistic objective speed of mining vehicle is determined, with right
Hull waves displacement and/or speed of the caused mining vehicle on heave direction with wave and compensates, and reduces mining vehicle and hits
Hit the danger in seabed.
Fig. 4 is the structure diagram for the control device that mining vehicle provided in an embodiment of the present invention lays recovery system, such as Fig. 4 institutes
Show, which includes：Acquiring unit 401 and processing unit 402.
Wherein, acquiring unit 401 for obtain by hull wave caused by heave direction on compared with sea level
Wave displacement and sway velocity.Processing unit 402 is used to determine the target velocity indicated by mining vehicle heave velocity target instruction target word；
When the target velocity is 0, according to the realistic objective speed waved displacement and determine mining vehicle；When the target velocity not
For 0 when, the realistic objective speed of mining vehicle is determined according to the target velocity and the sway velocity；According to the realistic objective
The lifting of mining vehicle described in speed control.
Further, the processing unit 402 is used to, when the target velocity is not 0, determine current winch wiring
Diameter；The compensation speed of mining vehicle is calculated according to the current winch wiring diameter and sway velocity；By the compensation speed
The realistic objective speed is used as with the sum of the target velocity.
Further, the processing unit 402 is used for when the target velocity is 0, determines mining vehicle in heave direction
On compared with target location displacement；Based on the displacement compared with target location and it is described wave displacement, using warp
Allusion quotation proportional-integral-differential algorithm determines the realistic objective speed.
Wherein processing unit determines that the mode of realistic objective speed may refer to preceding method embodiment, omits herein detailed
Description.
It should be noted that：The control device that the mining vehicle that above-described embodiment provides lays recovery system is carrying out mining vehicle
Elevating control when, only with the division progress of above-mentioned each function module for example, in practical application, can incite somebody to action as needed
Above-mentioned function distribution is completed by different function modules, i.e., the internal structure of equipment is divided into different function modules, with complete
Into all or part of function described above.In addition, the mining vehicle that above-described embodiment provides lays the control dress of recovery system
It puts and the control method embodiment of recovery system is laid with mining vehicle belongs to same design, specific implementation process refers to method implementation
Example, which is not described herein again.
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
It completes, relevant hardware can also be instructed to complete by program, the program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modifications, equivalent replacements and improvements are made should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of mining vehicle lays the control method of recovery system, which is characterized in that the control method includes：
Obtain by hull wave caused by heave direction compared with sea level wave displacement and sway velocity；
Determine the target velocity indicated by mining vehicle heave velocity target instruction target word；
When the target velocity is 0, according to the realistic objective speed waved displacement and determine mining vehicle；
When the target velocity is not 0, the realistic objective of mining vehicle is determined according to the target velocity and the sway velocity
Speed；
According to the lifting of mining vehicle described in the realistic objective speed control.
2. control method according to claim 1, which is characterized in that described that speed is waved with described according to the target velocity
Degree determines the realistic objective speed of mining vehicle, including：
Determine current winch wiring diameter；
The compensation speed of mining vehicle is calculated according to the current winch wiring diameter and the sway velocity；
Using the sum of the compensation speed and the target velocity as the realistic objective speed.
3. control method according to claim 1, which is characterized in that wave displacement described in the basis and determine mining vehicle
Realistic objective speed, including：
Determine mining vehicle on heave direction compared with the displacement of target location；
Based on the displacement compared with target location and it is described wave displacement, using the classical proportional, integral without integration-
Differential algorithm determines the realistic objective speed.
4. control method according to claim 3, which is characterized in that described based on the displacement compared with target location
Amount waves displacement with described, using the classical proportional-integral-differential algorithm without integration, determines the realistic objective speed, adopts
Use the following formula：
f2(x2,x3)={ kp(x3-x2)+kd[(x3 /-x2 /)-(x3-x2)]}×60÷1000÷(π×Ddja) × I,
Wherein, kpAnd kdTo set coefficient, x2To wave displacement, x3For mining vehicle heave direction on compared with target location position
Shifting amount, x2 /For the x in a upper cycle2, x3 /For the x in a upper cycle3, DdjaFor real-time winch wiring diameter, I is motor and winch
Rotating ratio.
5. control method according to claim 4, which is characterized in that the mining vehicle is on heave direction compared with target
The displacement of position be equal to the length that is currently wrapped on winch of steel wire rope and receiving start the instruction of active compensation of undulation when
Carve the difference of length of the wirerope-winding on winch.
6. a kind of mining vehicle lays the control device of recovery system, which is characterized in that the control device includes：
Acquiring unit, for obtain by hull wave caused by heave direction waving displacement and shake compared with sea level
Slew rate degree；
Processing unit, for determining the target velocity indicated by mining vehicle heave velocity target instruction target word；When the target velocity is 0
When, according to the realistic objective speed waved displacement and determine mining vehicle；When the target velocity is not 0, according to the mesh
Mark speed determines the realistic objective speed of mining vehicle with the sway velocity；According to mining described in the realistic objective speed control
The lifting of vehicle.
7. control device according to claim 6, which is characterized in that the processing unit is used to work as the target velocity not
For 0 when, determine current winch wiring diameter；Mining is calculated according to the current winch wiring diameter and the sway velocity
The compensation speed of vehicle；Using the sum of the compensation speed and the target velocity as the realistic objective speed.
8. control device according to claim 6, which is characterized in that the processing unit be used for when the target velocity be
When 0, determine mining vehicle on heave direction compared with the displacement of target location；Based on the displacement compared with target location
Amount waves displacement with described, using the classical proportional-integral-differential algorithm without integration, determines the realistic objective speed.
9. control device according to claim 8, which is characterized in that the processing unit is used for, true using the following formula
The fixed realistic objective speed：
f2(x2,x3)={ kp(x3-x2)+kd[(x3 /-x2 /)-(x3-x2)]}×60÷1000÷(π×Ddja) × I,
Wherein, kpAnd kdTo set coefficient, x2To wave displacement, x3For mining vehicle heave direction on compared with target location position
Shifting amount, x2 /For the x in a upper cycle2, x3 /For the x in a upper cycle3, DdjaFor real-time winch wiring diameter, I is motor and winch
Rotating ratio.
10. control device according to claim 9, which is characterized in that the mining vehicle is on heave direction compared with mesh
The displacement of cursor position is equal to the length that steel wire rope is currently wrapped on winch and starts the instruction of active compensation of undulation with receiving
The difference of length of the wirerope-winding on winch during the moment.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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