CN108946517A - A kind of test method of active compensation crane - Google Patents
A kind of test method of active compensation crane Download PDFInfo
- Publication number
- CN108946517A CN108946517A CN201810877826.4A CN201810877826A CN108946517A CN 108946517 A CN108946517 A CN 108946517A CN 201810877826 A CN201810877826 A CN 201810877826A CN 108946517 A CN108946517 A CN 108946517A
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- degree
- displacement
- freedom
- control unit
- active compensation
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Classifications
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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
-
- 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
-
- 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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of test methods of active compensation crane, belong to lifting technique field.Motion reference units by being mounted on six degree of freedom test platform by the test method, control the movement of six degree of freedom test platform simulated waves, to test active compensation crane, to judge whether the active compensation function of active compensation crane meets the requirements.It is light-weight since motion reference units are small in size, therefore, install relatively simple.Small volume can also be chosen six degree of freedom test platform is tested simultaneously, reduces experimentation cost.
Description
Technical field
The present invention relates to lifting technique field, in particular to a kind of test method of active compensation crane.
Background technique
When carrying out deep-sea lifting operation, it will usually the erection crane on floating platform, crane be equipped with winch and
Winch is connected with the weight on sea bed by wirerope, and controls the raising of weight by the positive and negative rotation of winch by wirerope
And decline.And floating platform is located on sea, by ocean Lidar Equation, crane can be heaved with floating platform, rolling, be indulged
Shake, swaying, surging and beat six-freedom degree movement, may result in suspended object and collide with sea bed, influence lifting make
Industry.
Suspended object collides with sea bed in order to prevent, at present frequently with the crane with active compensation function into
Row deep-sea lifting operation is heaved, pitching and when the movement of rolling three degree of freedom, caused lifting with compensating floating platform
The displacement of machine suspension hook vertical direction enables the movement of suspension hook in vertical direction not influenced by floating platform movement.And it leads
Dynamic heave compensation crane needs to test its active compensation function before factory to judge that active compensation rises
Whether the active compensation function of heavy-duty machine meets the requirements, and currently used test method is to pacify active compensation crane
On six degree of freedom test platform, make the movement of six degree of freedom test platform simulated waves, to detect the active liter of crane
Heavy compensation function.
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems:
Since the volume of crane is big, and weight weight, therefore crane is mounted on six degree of freedom test platform, it operates
Get up sufficiently complex, need to waste a large amount of manpower and material resources, experimentation cost is too high.
Summary of the invention
The embodiment of the invention provides a kind of test methods of active compensation crane, can be to the active of crane
Heave compensation function is verified, and easy to operate, and experimentation cost is low.The technical solution is as follows:
A kind of test method of active compensation crane, the active compensation crane include motion reference list
Member, control unit, winch and wirerope, the motion reference units are connect with described control unit, and described control unit is used for
The winch rotation is controlled, in the niggerhead, the other end of the wirerope is equipped with for one end of the wirerope
The suspension hook connecting with suspended object, the test method include:
The motion reference units are mounted on six degree of freedom test platform；
Control the six degree of freedom test platform simulated waves movement；
It controls the motion reference units and detects the six degree of freedom test platform in three heave, roll and pitch freedom
Kinematic parameter and the kinematic parameter that will test on degree direction are sent to described control unit；
Described control unit determines that the first displacement, first displacement are institute according to the kinematic parameter received
State the displacement of suspended object in vertical direction caused by the wave motion of six degree of freedom test platform simulation；
Described control unit controls the winch according to first displacement and rotates；
Second displacement amount is obtained, the second displacement amount is that the winch rotates so that the wirerope drives described hung
The displacement of object in vertical direction；
The active liter of the active compensation crane is judged according to first displacement and the second displacement amount
Whether heavy compensation function meets the requirements.
It is further, described that the motion reference units are mounted on six degree of freedom test platform, comprising:
The motion reference units are mounted in mounting base；
The mounting base is connected with the six degree of freedom test platform using bolt.
Further, the control six degree of freedom test platform simulated waves movement, comprising:
Control the six degree of freedom test platform heaved, at least one of roll and pitch three degree of freedom freely
The movement of degree.
Further, the winch is equipped with encoder, and the encoder is connect with described control unit, the acquisition institute
State second displacement amount, comprising:
Control the rope stretching length for the wirerope that the encoder detects on the winch；
The rope stretching length that described control unit obtains the wirerope of the encoder detection determines the second displacement
Amount.
Further, the encoder is absolute value encoder.
Further, described to judge that the active compensation rises according to first displacement and the second displacement amount
Whether the active compensation function of heavy-duty machine meets the requirements, comprising:
When the relationship between first displacement and the second displacement amount, which meets, to impose a condition, the active is judged
The active compensation function of heave compensation crane meets the requirements；
When the relationship between first displacement and the second displacement amount is unsatisfactory for imposing a condition, the master is judged
The active compensation function of dynamic heave compensation crane is undesirable.
Further, the setting condition are as follows: the second displacement amount is the 90%~110% of first displacement.
Further, described control unit is programmable logic controller (PLC).
Further, before controlling the winch rotation according to first displacement in described control unit, the examination
Proved recipe method further include:
The winch rotation is controlled, the wirerope is made to drive the suspended object far from ground a distance.
Technical solution provided in an embodiment of the present invention has the benefit that
By the way that motion reference units are mounted on six degree of freedom test platform, six degree of freedom test platform analog wave is controlled
Wave movement.It is light-weight since motion reference units are small in size, it therefore, installs relatively simple, and small volume can be chosen
Ground six degree of freedom test platform, reduces experimentation cost.Motion reference units can detecte six degree of freedom test platform heave,
Kinematic parameter on roll and pitch three degree of freedom direction and the kinematic parameter that will test are sent to control unit, and control is single
Member determines that the first displacement, the first displacement are the wave fortune of six degree of freedom test platform simulation according to the kinematic parameter received
Move the displacement of caused suspended object in vertical direction.Then control unit controls winch rotation according to the first displacement,
Second displacement amount is obtained, second displacement amount is that winch rotates so that wirerope drives the displacement of suspended object in vertical direction.
It is finally that can determine whether that the active compensation function of active compensation crane is according to the first displacement and second displacement amount
It is no to meet the requirements.Entire test process is simple, and convenient for operation.
Detailed description of the invention
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, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of operation schematic diagram of active compensation crane provided in an embodiment of the present invention；
Fig. 2 is the operation schematic diagram of another active compensation crane provided in an embodiment of the present invention；
Fig. 3 is the operation schematic diagram of another active compensation crane provided in an embodiment of the present invention；
Fig. 4 is a kind of method flow diagram of the test method of active compensation crane provided in an embodiment of the present invention；
Fig. 5 is a kind of test schematic diagram of active compensation crane provided in an embodiment of the present invention.
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 a better understanding of the present invention, a kind of structure of active compensation crane is briefly described below in conjunction with Fig. 1:
Fig. 1 is a kind of operation schematic diagram of active compensation crane provided in an embodiment of the present invention, as shown in Figure 1,
Active compensation crane 10 includes motion reference units 11, control unit 12, winch 13 and wirerope 14, motion reference list
Member 11 is connect with control unit 12, and control unit 12 is for controlling the rotation of winch 13, and one end of wirerope 14 is wound on winch 13
Reel in, the other end of wirerope 14 is equipped with the suspension hook 15 connecting with suspended object 20.
As shown in Figure 1, active compensation crane 10 is mounted on floating platform 30, floating platform 30 is located at sea 40
On.By ocean Lidar Equation, active compensation crane 10 can be heaved with floating platform 30, rolling, pitching, swaying,
The movement of surging and beat six-freedom degree.
Specifically, when the rolling clockwise in wave 40 of floating platform 30, the active liter that is mounted on floating platform 30
Heavy compensation crane 10 will drive wirerope 14, suspension hook 15, suspended object 20 to close to sea bed with the rolling clockwise of floating platform 30
41 direction vertical downward movement.In active compensation mode, the movement being mounted on active compensation crane 10 is joined
It examines unit 11 and the kinematic parameter of floating platform 30 is transferred to control system 12, control system 12 controls winch 13 counterclockwise
Rotation drives wirerope 14, suspension hook 15, suspended object 20 to move to vertically upward direction.Winch 13 drives suspended object 20 vertical
Upward moving displacement amount drives the moving displacement amount of suspended object 20 vertically downward consistent with 30 rolling of floating platform, suspended object 20
Vertical range H between sea bed 41 is remained unchanged.
Fig. 2 is the operation schematic diagram of another active compensation crane provided in an embodiment of the present invention, such as Fig. 2 institute
Show, at this time the rolling counterclockwise in wave 40 of floating platform 30, the active compensation crane being mounted on floating platform 30
10, with the rolling counterclockwise of floating platform 30, will drive wirerope 14, suspension hook 15, suspended object 20 vertical to the direction far from sea bed 41
It moves upwards.In active compensation mode, the motion reference units 11 being mounted on active compensation crane 10 will be floated
The kinematic parameter of formula platform 30 is transferred to control system 11, and control system 11 controls winch 13 and is rotated clockwise, and drives steel
Cord 14, suspension hook 15, suspended object 20 are moved to direction vertically downward.Winch 13 drives the motion bit of suspended object 20 vertically downward
Shifting amount drives the moving displacement amount of suspended object 20 vertically upward consistent with 30 rolling of floating platform, between suspended object 20 and sea bed 41
Vertical range H remain unchanged.
Fig. 3 is the operation schematic diagram of another active compensation crane provided in an embodiment of the present invention, such as Fig. 3 institute
Show, when active compensation 10 surge motion of crane, X-axis direction can be moved along Fig. 3；When active compensation rises
When 10 swaying motion of heavy-duty machine, Y-axis direction it can be moved along Fig. 3；When active compensation 10 deep movement of crane, meeting
Z axis direction moves along Fig. 3.
When active compensation 10 rolling motion of crane, X-axis can be rotated in Fig. 3；When active compensation lifting
When 10 pitching of machine, Y-axis it can be rotated in Fig. 3；When the movement of 10 beat of active compensation crane, meeting Z axis in Fig. 3
Rotation.
The embodiment of the invention provides a kind of test methods of active compensation crane, are suitable for above-mentioned active liter
Heavy compensation crane is tested, and Fig. 4 is a kind of test method of active compensation crane provided in an embodiment of the present invention
Method flow diagram, as shown in figure 4, the test method includes:
Motion reference units are mounted on six degree of freedom test platform by step 101.
Fig. 5 is a kind of test schematic diagram of active compensation crane provided in an embodiment of the present invention, as shown in figure 5,
Motion reference units 11 are located on six degree of freedom test platform 50 at this time.
Specifically, step 101 includes:
Motion reference units are mounted in mounting base；Mounting base is connected with six degree of freedom test platform using bolt.
Motion reference units are fixed on six degree of freedom test platform by bolt, can prevent six degree of freedom test platform from moving
In the process, the position of motion reference units changes, and influences final test result.
Step 102, control six degree of freedom test platform simulated waves movement.
Specifically, step 102 includes:
Control six degree of freedom test platform heaved, at least one freedom degree in roll and pitch three degree of freedom
Movement.It is heaved since active compensation crane provided by the invention is merely able to mend floating platform, pitching and rolling three
When the movement of a freedom degree, caused crane hook makes the mobile energy of suspension hook in vertical direction in the displacement of vertical direction
It is enough not influenced by floating platform movement.Therefore six degree of freedom test platform can be controlled according to actual needs to be heaved, is horizontal
The movement at least one freedom degree in pitching three degree of freedom is shaken, is moved with simulated waves.
Step 103, control motion reference units detection six degree of freedom test platform are in three heave, roll and pitch freedom
Spend the kinematic parameter on direction.
Specifically, step 103 may include:
Control motion reference units detect respectively heave, the moving distance on roll and pitch three degree of freedom direction with
And rotational angle.
Step 104, the kinematic parameter for detecting motion reference units are sent to control unit.
In the present embodiment, control unit is programmable logic controller (PLC).
Step 105, control unit determine the first displacement according to the kinematic parameter received.
Wherein, the first displacement is suspended object caused by the wave motion of six degree of freedom test platform simulation in Vertical Square
Upward displacement.
Since heave, rolling, pitching three degree of freedom iteration occur under wave action for active compensation crane
Movement, three points can determine a plane in space, thus can by active compensation crane wave effect
The fortune of three fixed points in the vertical direction in compensation space is regarded in lower generation heave, rolling, the compensation of pitching as
It is dynamic.Therefore, control unit can be measured according to control unit according to motion reference units moving distance and rotational angle etc.
Kinematic parameter determines the displacement of suspended object in vertical direction caused by the wave motion institute energy of six degree of freedom test platform simulation
Amount.
Step 106, control unit control winch rotation according to the first displacement.
Specifically, step 106 includes:
Winch rotation is controlled according to the first displacement, so that suspension hook moves up or down and first in vertical direction
Equal distance is measured in shifting.
Further, before executing step 106, which can also include:
Winch rotation is controlled, wirerope is made to drive suspended object far from ground a distance.
By the way that suspended object is sling a distance in advance, to prevent suspended object on the ground, and when executing step 106,
It needs to move down suspension hook in vertical direction, but generation the case where suspension hook can not continue the case where moving down.
Step 107 obtains second displacement amount.
Wherein, second displacement amount is that winch rotates so that wirerope drives the displacement of suspended object in vertical direction.
Specifically, winch is equipped with encoder, and encoder is connect with control unit, then step 107 may include:
The rope stretching length of the wirerope on encoder detection winch is controlled, control unit obtains the wirerope of encoder detection
Rope stretching length determine second displacement amount.
Specifically, the rope stretching length of wirerope is second displacement amount, i.e. control unit control winch rotation is so that suspension hook
The distance moved in vertical direction.
Preferably, encoder can be absolute value encoder, and the noiseproof feature of absolute value encoder is strong, and measure
The high reliablity of data.
Step 108 judges that the active heave of active compensation crane is mended according to the first displacement and second displacement amount
Repay whether function meets the requirements.
Specifically, step 108 includes:
When the relationship between the first displacement and second displacement amount, which meets, to impose a condition, active compensation lifting is judged
The active compensation function of machine meets the requirements.When the relationship between the first displacement and second displacement amount is unsatisfactory for imposing a condition
When, judge that the active compensation function of active compensation crane is undesirable.
In the present embodiment, setting condition can be with are as follows: second displacement amount is the 90%~110% of the first displacement.
The embodiment of the present invention is provided by the way that motion reference units are mounted on six degree of freedom test platform, and control six is freely
Spend the movement of test platform simulated waves.It is light-weight since motion reference units are small in size, therefore, install it is relatively simple, and
Small volume can be chosen six degree of freedom test platform, reduces experimentation cost.Motion reference units can detecte six freely
Degree test platform is sent in heave, the kinematic parameter on roll and pitch three degree of freedom direction and the kinematic parameter that will test
To control unit, control unit determines that the first displacement, the first displacement are six degree of freedom examination according to the kinematic parameter received
Test the displacement of suspended object caused by the wave motion of platform simulation in vertical direction.Then control unit is according to first
Shifting amount controls winch rotation, obtains second displacement amount, and second displacement amount is that winch rotates so that wirerope drives suspended object hanging down
The upward displacement of histogram.It is finally that can determine whether the master of active compensation crane according to the first displacement and second displacement amount
Whether dynamic heave compensation function meets the requirements.Entire test process is simple, and convenient for operation.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store 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 in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of test method of active compensation crane, the active compensation crane include motion reference list
Member, control unit, winch and wirerope, the motion reference units are connect with described control unit, and described control unit is used for
The winch rotation is controlled, in the niggerhead, the other end of the wirerope is equipped with for one end of the wirerope
The suspension hook being connect with suspended object, which is characterized in that the test method includes:
The motion reference units are mounted on six degree of freedom test platform；
Control the six degree of freedom test platform simulated waves movement；
It controls the motion reference units and detects the six degree of freedom test platform in heave, roll and pitch three degree of freedom side
The upward kinematic parameter and kinematic parameter that will test is sent to described control unit；
Described control unit determines that the first displacement, first displacement are described six according to the kinematic parameter received
The displacement of suspended object in vertical direction caused by the wave motion of freedom degree test platform simulation；
Described control unit controls the winch according to first displacement and rotates；
Second displacement amount is obtained, the second displacement amount is that the winch rotates so that the wirerope drives the suspended object to exist
Displacement in vertical direction；
Judge that the active heave of the active compensation crane is mended according to first displacement and the second displacement amount
Repay whether function meets the requirements.
2. test method according to claim 1, which is characterized in that described that the motion reference units are mounted on six certainly
By on degree test platform, comprising:
The motion reference units are mounted in mounting base；
The mounting base is connected with the six degree of freedom test platform using bolt.
3. test method according to claim 1, which is characterized in that the control six degree of freedom test platform simulation
Wave motion, comprising:
Control the six degree of freedom test platform heaved, at least one freedom degree in roll and pitch three degree of freedom
Movement.
4. test method according to claim 1, which is characterized in that described in the control motion reference units detection
Kinematic parameter of the six degree of freedom test platform on heave, roll and pitch three degree of freedom direction, comprising:
It controls the motion reference units and detects the six degree of freedom test platform respectively in three heave, roll and pitch freedom
Spend the moving distance and rotational angle on direction.
5. test method according to claim 1, which is characterized in that the winch is equipped with encoder, the encoder
It is connect with described control unit, it is described to obtain the second displacement amount, comprising:
Control the rope stretching length for the wirerope that the encoder detects on the winch；
The rope stretching length that described control unit obtains the wirerope of the encoder detection determines the second displacement amount.
6. test method according to claim 5, which is characterized in that the encoder is absolute value encoder.
7. test method according to claim 1, which is characterized in that described according to first displacement and described second
Displacement judges whether the active compensation function of the active compensation crane meets the requirements, comprising:
When the relationship between first displacement and the second displacement amount, which meets, to impose a condition, the active heave is judged
The active compensation function of compensation crane meets the requirements；
When the relationship between first displacement and the second displacement amount is unsatisfactory for imposing a condition, the active liter is judged
The active compensation function of heavy compensation crane is undesirable.
8. test method according to claim 7, which is characterized in that the setting condition are as follows: the second displacement amount is
The 90%~110% of first displacement.
9. test method according to claim 1, which is characterized in that described control unit is programmable logic controller (PLC).
10. test method according to claim 1, which is characterized in that in described control unit according to first displacement
Before amount controls the winch rotation, the test method further include:
The winch rotation is controlled, the wirerope is made to drive the suspended object far from ground a distance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810877826.4A CN108946517B (en) | 2018-08-03 | 2018-08-03 | Test method of active heave compensation cranes |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810877826.4A CN108946517B (en) | 2018-08-03 | 2018-08-03 | Test method of active heave compensation cranes |
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| CN108946517B CN108946517B (en) | 2020-01-31 |
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| CN113526375A (en) * | 2021-06-25 | 2021-10-22 | 上海海事大学 | Wave compensation function verification device |
| CN113884323A (en) * | 2021-09-23 | 2022-01-04 | 武汉船用机械有限责任公司 | Offshore wave compensation crane testing device and testing method |
| CN114608798A (en) * | 2022-03-07 | 2022-06-10 | 江苏科技大学 | Land test method for active wave compensation performance of marine retraction system |
| CN114735139A (en) * | 2022-03-23 | 2022-07-12 | 武汉船用机械有限责任公司 | Offshore parallel supply wave compensation control method and control device |
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|---|---|
| CN108946517B (en) | 2020-01-31 |
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