CN115594098A - Active heave compensation device control system based on force and position combined control - Google Patents
Active heave compensation device control system based on force and position combined control Download PDFInfo
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- CN115594098A CN115594098A CN202211408291.9A CN202211408291A CN115594098A CN 115594098 A CN115594098 A CN 115594098A CN 202211408291 A CN202211408291 A CN 202211408291A CN 115594098 A CN115594098 A CN 115594098A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
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Abstract
The invention provides an active heave compensation device control system based on force and position combined control, which relates to the technical field of ocean engineering and comprises the following components: a central control unit; when the crane works normally, the central control unit monitors a normal working signal, analyzes the normal working signal according to a first safety scheme, and sends a corresponding compensation instruction to the crane hydraulic device; when the crane does not act, sending a corresponding compensation command to a crane hydraulic device; a crane hydraulic device; the crane hydraulic device receives the compensation command and controls a first hydraulic cylinder, a main suspension arm and a winch on the main suspension arm in the wave heave compensation device to act; a heave compensation means; the heave compensation device indirectly changes the height of the lifting hook from the receiving platform. The central control unit is arranged to control the crane hydraulic device and the wave heave compensation device, so that the ground clearance of the lifting hook is changed, and the heave compensation of goods is realized.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to a control system of an active heave compensation device based on force-position combined control.
Background
In the process of shipping goods, when two ships are combined for supply, the two ships combined for supply can generate six-degree-of-freedom motion such as heave and the like under the action of waves, supplied materials for hoisting are also excited by the ship motion to generate shaking, relatively large relative motion can exist between the hoisting ship and the receiving ship, danger can be brought to supplied materials, a ship body and deck operation personnel, serious consequences can be caused, and the same problem also exists in supply of the ships on the bank. Therefore, the heave compensation of the goods is needed, so that the hidden danger of the goods shaking is eliminated.
The existing relatively mature heave compensation system is an active compensation system and a passive compensation system, the active compensation system is that a six-degree-of-freedom or three-degree-of-freedom motion compensation platform is arranged on a deck of a ship, a crane which is in charge of connection is arranged on the motion compensation platform, the motion compensation platform compensates the crane and goods which are hoisted and loaded at the same time, the precision of the compensation mode is very high, but the motion compensation platform needs to compensate the crane and the goods at the same time, and the power consumption is large. The passive compensation system usually adopts a mechanical mode to compensate the energy of the heave of the goods in a mode of absorbing, storing and releasing through a steel spring or a cylinder, and the compensation precision of the compensation mode is low.
Disclosure of Invention
According to the technical problems of low compensation precision or excessive power consumption of the two compensation modes, the control system of the active heave compensation device based on force and position combined control is provided. The invention mainly utilizes the central control unit to control the crane hydraulic device and the wave heave compensation device, thereby achieving the purpose of accurately performing heave compensation on goods.
The technical means adopted by the invention are as follows:
an active heave compensation device control system based on force-level joint control, comprising: a central control unit; when the crane works normally, the central control unit monitors a normal working signal, analyzes the normal working signal according to a first safety scheme, and sends a corresponding compensation instruction to the crane hydraulic device; when the crane does not act, the central control unit monitors the non-action signal, analyzes the non-action signal according to a second safety scheme, and sends a corresponding compensation command to the crane hydraulic device;
a crane hydraulic device; the crane hydraulic device receives the compensation command and controls a first hydraulic cylinder, a main suspension arm and a winch on the main suspension arm in the wave heave compensation device to act;
a heave compensation means; the wave heave compensation device comprises a movable pulley mechanism, a first hydraulic cylinder and a fixed pulley mechanism, a main sling is repeatedly wound between the fixed pulley mechanism of the movable pulley mechanism and the fixed pulley mechanism, the front end of the main sling is connected with a lifting hook, a cargo is lifted on the lifting hook, and the first hydraulic cylinder in the wave heave compensation device acts to drive the movable pulley mechanism to move, so that the length of the main sling between the movable pulley mechanism and the fixed pulley mechanism is changed, and the height of the lifting hook from a receiving platform is further changed.
Further, the normal working signals comprise a tension signal of the main sling, an angle signal of the main sling, a length signal of the rope, a relative movement signal between the lifting ship and the target ship and a distance signal between the lifting hook and the receiving platform; the tension signal is measured by a tension sensor arranged at a winch, the angle signal is measured by an angle sensor arranged at an amplitude-variable joint of a main suspension arm, the length signal is measured by a coaxial encoder arranged at the winch, the relative motion signal between the lifting ship and the target ship is measured by motion reference units respectively arranged on the lifting ship and the target receiving ship, and the distance signal between the lifting hook and the receiving platform is measured by a laser distance measuring device arranged at the lifting hook.
Further, the no-action signal comprises a distance signal between a lifting hook and the receiving platform and a relative motion signal between the lifting ship and the target ship, the distance signal between the lifting hook and the receiving platform is measured through a distance sensor arranged on the lifting hook, and the relative motion signal between the lifting ship and the target ship is measured through motion reference units respectively arranged on the lifting ship and the target ship.
Further, the first security scheme includes:
setting the maximum safe distance and the minimum safe distance between the lifting hook and the receiving platform;
acquiring real-time position data of the lifting hook and the receiving platform through a distance sensor arranged on the lifting hook to obtain a real-time distance between the lifting hook and the receiving platform;
when the real-time distance is larger than the maximum safety distance, the central control unit sends a compensation command to enable the first hydraulic cylinder to contract, and the steps are repeated until the real-time distance is smaller than the maximum safety distance;
when the real-time distance is smaller than the minimum safety distance, the central control unit sends a compensation command to enable the first hydraulic cylinder to extend, and the steps are repeated until the real-time distance is larger than the minimum safety distance;
and when the real-time distance is smaller than the maximum safe distance and larger than the minimum safe distance, the control system does not act.
Further, the second security scheme includes:
setting a fixed safety distance between the lifting hook and the receiving platform, wherein the fixed safety distance is 0 when the hoisted object falls on the receiving platform;
acquiring real-time position data of the lifting hook and the receiving platform through a distance sensor arranged on the lifting hook to obtain a real-time distance between the lifting hook and the receiving platform;
when the real-time distance is larger than the fixed safety distance, the central control unit sends a compensation instruction to enable the second hydraulic cylinder to contract, and meanwhile, the first hydraulic cylinder is matched with the second hydraulic cylinder to contract until the real-time distance is equal to the fixed safety distance;
when the real-time distance is smaller than the fixed safety distance, the central control unit sends a compensation instruction to enable the second hydraulic cylinder to extend, and meanwhile, the first hydraulic cylinder is matched with the second hydraulic cylinder to extend until the real-time distance is equal to the fixed safety distance;
when the real-time distance is equal to the fixed safe distance, the control system does not act.
Furthermore, the central control unit comprises a power supply unit, a main control chip, a wireless receiving unit and an element control unit, wherein the power supply unit is electrically connected with the main control chip, the wireless receiving unit and the element control unit, and the main control chip is wirelessly connected with the line receiving unit and the element control unit.
Furthermore, the crane hydraulic device comprises a hydraulic station, a lifting loop and a variable amplitude loop, and the central control unit controls the winch to receive and release the mooring rope through the lifting loop to hoist the hoisted object on the lifting hook; and the central control unit controls the second hydraulic cylinder at the main suspension arm to stretch and contract through the amplitude-changing loop so as to change the amplitude of the main suspension arm.
Compared with the prior art, the invention has the following advantages:
the central control unit is arranged to control the crane hydraulic device and the wave heave compensation device, so that the ground clearance of the lifting hook is changed, and the heave compensation of goods is realized;
according to the invention, through setting the first safety scheme and the second safety scheme, specific heave compensation conditions are provided, so that the heave compensation process is more accurate and safer;
the invention sets different heave compensation control modes for the crane by setting two conditions of normal operation and no action of the crane, so that heave compensation is carried out on goods under multiple conditions;
according to the invention, by arranging various sensors, measuring devices and MRUs, accurate measurement of various data of the ship is realized, and heave compensation control is more accurate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a control system according to the present invention.
Fig. 2 is a logic diagram of a first security scheme of the present invention.
Fig. 3 is a logic diagram of a second security scheme of the present invention.
Fig. 4 is a layout diagram of the control system of the present invention.
In the figure: 1. a receiving platform; 2. a heave compensation means; 3. a main boom; 4. a main sling; 5. crane hydraulic means.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the directions or positional relationships indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the directions or positional relationships shown in the drawings for the convenience of description and simplicity of description, and that these directional terms, unless otherwise specified, do not indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; 'above" may include both orientations "at 8230; \8230;' above 8230; 'at 8230;' below 8230;" above ". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1 to 4, the present invention provides an active heave compensation device control system based on force level joint control, which is characterized in that the system comprises:
a central control unit; when the crane works normally, the central control unit monitors a normal working signal, analyzes the normal working signal according to a first safety scheme, and sends a corresponding compensation instruction to the crane hydraulic device 5; when the crane does not act, the central control unit monitors the non-action signal, analyzes the non-action signal according to a second safety scheme, and sends a corresponding compensation command to the crane hydraulic device 5; the central control unit comprises a power supply unit, a main control chip, a wireless receiving unit and an element control unit, wherein the power supply unit is electrically connected with the main control chip, the wireless receiving unit and the element control unit, and the main control chip is wirelessly connected with the line receiving unit and the element control unit.
A crane hydraulic device 5; the crane hydraulic device 5 receives a compensation instruction and controls a first hydraulic cylinder in the wave heave compensation device 2, the main suspension arm 3 and a winch on the main suspension arm 3 to act;
a heave compensation means 2; the wave heave compensation device 2 comprises a movable pulley mechanism, a first hydraulic cylinder and a fixed pulley mechanism, a main sling 4 is repeatedly wound between the fixed pulley mechanism of the movable pulley mechanism, the front end of the main sling 4 is connected with a lifting hook, a cargo is hung on the lifting hook, and the first hydraulic cylinder in the wave heave compensation device 2 acts to drive the movable pulley mechanism to move, so that the length of the main sling 4 between the movable pulley mechanism and the fixed pulley mechanism is changed, and the height of the lifting hook from the receiving platform 1 is changed.
The normal working signals comprise a tension signal of the main sling 4, an angle signal of the main suspension arm 3, a length signal of a rope, a relative movement signal between the lifting ship and a target ship and a distance signal between the lifting hook and the receiving platform 1; the tension signal is measured by a tension sensor arranged at the winch, the angle signal is measured by an angle sensor arranged at the amplitude-variable joint of the main suspension arm 3, the length signal is measured by a coaxial encoder arranged at the winch, and the relative motion signal between the lifting ship and the target ship is measured by motion reference units respectively arranged on the lifting ship and the target receiving ship. And a distance signal between the lifting hook and the receiving platform 1 is measured by a laser ranging device at the lifting hook.
The first security scheme comprises:
setting the maximum safe distance and the minimum safe distance between the lifting hook and the receiving platform 1;
acquiring real-time position data of the lifting hook and the receiving platform 1 through a distance sensor arranged on the lifting hook to obtain a real-time distance between the lifting hook and the receiving platform 1;
when the real-time distance is larger than the maximum safe distance, the central control unit sends a compensation command to enable the first hydraulic cylinder to contract, and the steps are repeated until the real-time distance is smaller than the maximum safe distance;
when the real-time distance is smaller than the minimum safety distance, the central control unit sends a compensation command to enable the first hydraulic cylinder to extend, and the steps are repeated until the real-time distance is larger than the minimum safety distance;
and when the real-time distance is smaller than the maximum safe distance and larger than the minimum safe distance, the control system does not act.
The no-action signal comprises a distance signal between a lifting hook and the receiving platform and a relative motion signal between the lifting ship and the target ship, the distance signal between the lifting hook and the receiving platform is measured through a distance sensor arranged on the lifting hook, and the relative motion signal between the lifting ship and the target ship is measured through motion reference units respectively arranged on the lifting ship and the target ship.
The second security scheme comprises:
setting a fixed safety distance between the lifting hook and the receiving platform 1; when the hoisted object falls on the receiving platform 1, the fixed safe distance is 0;
acquiring real-time position data of the lifting hook and the receiving platform through a distance sensor arranged on the lifting hook to obtain a real-time distance between the lifting hook and the receiving platform 1;
when the real-time distance is larger than the fixed safety distance, the central control unit sends a compensation command to enable the second hydraulic cylinder to contract, and meanwhile, the first hydraulic cylinder is matched with the second hydraulic cylinder to contract until the real-time distance is equal to the fixed safety distance;
when the real-time distance is smaller than the fixed safety distance, the central control unit sends a compensation instruction to enable the second hydraulic cylinder to extend, and meanwhile, the first hydraulic cylinder is matched with the second hydraulic cylinder to extend until the real-time distance is equal to the fixed safety distance;
when the real-time distance is equal to the fixed safe distance, the control system does not act.
The crane hydraulic device 5 comprises a hydraulic station, a lifting loop and a variable amplitude loop, and the central control unit controls the winch to take up and pay off the cable rope through the lifting loop to lift and pay off the hoisted object on the lifting hook; the central control unit controls the second hydraulic cylinder at the main boom 3 to stretch and retract through the amplitude varying loop, so that the main boom 3 can change amplitude.
The heave compensation process of the active heave compensation device 2 based on force and position combined control is shown in figure 4, and a second hydraulic cylinder is connected with a main boom 3 and a tower body and is used for finishing the amplitude variation action of the main boom 3; the winch 4 is positioned on the main suspension arm 3 to realize the lifting action of the suspended object; the length of a main sling 4 between the movable pulley mechanism and the fixed pulley mechanism can be adjusted in real time by the movable pulley mechanism and the fixed pulley mechanism in the active wave heave compensation device 2, deep heave compensation can be carried out on a hoisted object when the crane acts and the hoisted object hovers (or falls on the receiving platform 1), and the safety and the efficiency of hoisting operation of the crane can be effectively improved.
The invention is further illustrated as follows:
an active heave compensation system based on force-position combined control. The invention discloses an active heave compensation system based on force and position combined control, which is shown in the attached figure 1, and a control system is built by taking a main control chip as a central control unit, and specifically comprises the following contents:
the central control unit controls the hydraulic cylinder to act through the amplitude-variable loop, so that the main suspension arm 3 is lifted.
The central control unit controls the winch to receive and release the cable through the lifting loop, so that the object to be lifted is lifted and released.
The central control unit controls the active wave device and changes the length of the main sling 4 in real time so as to realize the heave compensation of the hoisted object.
When the crane works normally, the central control unit calculates the telescopic distance of a hydraulic cylinder in the active wave device through the motion reference unit arranged on the lifting hook and the receiving platform 1 (or a ship) and the amplitude-variable rotation action of the crane, and then compensates the heave motion of the suspended object.
When the crane does not act (the hoisted object is suspended or falls on the receiving platform 1), the measurement and control unit realizes the active wave heave compensation function of the hoisted object according to the wave motion signal of the ship.
And a control logic diagram of the active heave compensation device when the crane acts.
The control logic of the active heave compensation device during the action of the crane is shown in figure 2:
the safe position difference between the lifting hook and the receiving platform 1 (or the ship) is preset, the maximum safe distance difference is preset to be delta X1, and the minimum safe distance difference is preset to be delta X2.
And reading the amplitude variation action of the crane jib 3 and the lifting action of the main sling 4, and reading the real-time position data of the lifting hook and the receiving platform MRU. And obtaining the position difference delta X between the lifting hook and the receiving platform 1 through measurement and calculation.
When the delta X exceeds the delta X1, the central control unit controls the hydraulic cylinder of the active heave compensation device 2 to contract, and then reads the luffing lifting action of the crane again.
And when the delta X is smaller than the delta X2, the central control unit controls the hydraulic cylinder of the active heave compensation device 2 to extend, and then reads the luffing lifting action of the crane again.
When the position difference is between the range of Δ X1 and Δ X2, the entire control system of the active heave compensation device 2 does not operate.
The suspended load hovers (or falls on the receiving platform 1) the active heave compensation device feedback system.
The feedback system of the active wave heave compensation device when the hoisted object hovers (or falls on the receiving platform 1) is shown in fig. 3, the hoisted object hovers (or falls on the receiving platform 1), and the crane does not have the actions of amplitude variation, lifting and the like.
The method comprises the following steps:
the distance value between the lifting hook and the receiving platform 1 is preset in the central control unit, when the hanging object is suspended, a certain safe distance value is preset in the central control unit, and when the hanging object falls on the receiving platform 1, the distance value is preset to be zero in the central control unit.
The central control unit controls the expansion of the hydraulic cylinder in the active heave compensation device 2 to change the relative position between the movable pulley mechanism and the fixed pulley mechanism, so as to adjust the length of the main sling 4 between the movable pulley mechanism and the fixed pulley mechanism and complete the real-time adjustment of the length of the main sling 4.
And the central control unit reads the MRU of the lifting hook and the receiving platform 1 again, and controls the hydraulic cylinder of the active heave compensation device 2 to act according to the real-time position data of the MRU, so that the distance value between the lifting hook and the receiving platform 1 is unchanged.
The heave compensation process of the active heave compensation device based on force-position combined control is shown in fig. 4:
when the crane works normally, the central control unit can monitor the lifting speed, the amplitude angle and the speed of the crane and the length change of a steel wire rope, and simultaneously, the hydraulic cylinder can stretch and retract by controlling the action of the hydraulic station according to the MRU real-time position signals of the lifting hook and the receiving platform 1, so that the relative position between the movable pulley mechanism and the fixed pulley mechanism is changed, the length of the main sling 4 between the movable pulley mechanism and the movable pulley mechanism is adjusted, and the real-time adjustment of the length of the main sling 4 is completed.
The crane does not have action (the suspended object is suspended or falls on the receiving platform 1), and the central control unit realizes the active wave heave compensation function of the suspended object according to the wave motion signal of the ship.
The active heave compensation device based on force position combined control can keep a safe distance between a hanging object and the receiving platform 1 (or a ship) and prevent the hanging object from colliding with the receiving platform 1 (or the ship).
The motion reference unit is a relatively complex sensor, integrates a plurality of functions inside, can output three-dimensional attitude data of the ship in real time, and can monitor the complex motion attitude (six-degree-of-freedom motion) of the ship in the sea.
In the case of ship-to-ship docking, the MRUs are located on two ships.
And when the bank is in connection with the ship, the MRU is arranged on the ship.
The MRU monitors six-degree-of-freedom motion of a ship in the sea, and transmits the propagated six-degree-of-freedom motion signals to the central control unit in a wireless mode.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. An active heave compensation device control system based on force-level joint control, comprising:
a central control unit; when the crane works normally, the central control unit monitors a normal working signal, analyzes the normal working signal according to a first safety scheme, and sends a corresponding compensation instruction to the crane hydraulic device; when the crane does not act, the central control unit monitors the non-action signal, analyzes the non-action signal according to a second safety scheme, and sends a corresponding compensation command to the crane hydraulic device;
a crane hydraulic device; the crane hydraulic device receives the compensation instruction and controls a first hydraulic cylinder, a main suspension arm and a winch on the main suspension arm in the wave heave compensation device to act;
a heave compensation means; the wave heave compensation device comprises a movable pulley mechanism, a first hydraulic cylinder and a fixed pulley mechanism, a main sling is repeatedly wound between the movable pulley mechanism and the fixed pulley mechanism, the front end of the main sling is connected with a lifting hook, a cargo is hung on the lifting hook, and the first hydraulic cylinder in the wave heave compensation device acts to drive the movable pulley mechanism to move, so that the length of the main sling between the movable pulley mechanism and the fixed pulley mechanism is changed, and the height of the lifting hook from a receiving platform is further changed.
2. The active heave compensation device control system based on force-position joint control according to claim 1, wherein the normal working signals comprise a tension signal of a main sling, an angle signal of a main boom, a length signal of a rope, a relative movement signal between a lifting ship and a target ship, and a distance signal between a lifting hook and a receiving platform; the tension signal is measured by a tension sensor arranged at a winch, the angle signal is measured by an angle sensor arranged at an amplitude-variable joint of a main suspension arm, the length signal is measured by a coaxial encoder arranged at the winch, the relative motion signal between the lifting ship and the target ship is measured by motion reference units respectively arranged on the lifting ship and the target receiving ship, and the distance signal between the lifting hook and the receiving platform is measured by a laser distance measuring device arranged at the lifting hook.
3. The active heave compensation system according to claim 1, wherein the no-motion signal comprises a distance signal between the hook and the receiving platform, and a relative motion signal between the handling vessel and the target vessel, the distance signal between the hook and the receiving platform is measured by a distance sensor arranged on the hook, and the relative motion signal between the handling vessel and the target vessel is measured by a motion reference unit respectively arranged on the handling vessel and the target vessel.
4. The active heave compensation apparatus control system according to claim 2, wherein the first safety scheme comprises:
setting the maximum safe distance and the minimum safe distance between the lifting hook and the receiving platform;
acquiring real-time position data of the lifting hook and the receiving platform through a distance sensor arranged on the lifting hook to obtain a real-time distance between the lifting hook and the receiving platform;
when the real-time distance is larger than the maximum safe distance, the central control unit sends a compensation command to enable the first hydraulic cylinder to contract, and the steps are repeated until the real-time distance is smaller than the maximum safe distance;
when the real-time distance is smaller than the minimum safety distance, the central control unit sends a compensation command to enable the first hydraulic cylinder to extend, and the steps are repeated until the real-time distance is larger than the minimum safety distance;
and when the real-time distance is smaller than the maximum safe distance and larger than the minimum safe distance, the control system does not act.
5. The active heave compensator control system according to claim 3, wherein the second safety scheme comprises:
setting a fixed safety distance between the lifting hook and the receiving platform; when the hoisted object falls on the receiving platform, the fixed safety distance is 0;
acquiring real-time position data of the lifting hook and the receiving platform through a distance sensor arranged on the lifting hook to obtain a real-time distance between the lifting hook and the receiving platform;
when the real-time distance is larger than the fixed safety distance, the central control unit sends a compensation instruction to enable the second hydraulic cylinder to contract, and meanwhile, the first hydraulic cylinder is matched with the second hydraulic cylinder to contract until the real-time distance is equal to the fixed safety distance;
when the real-time distance is smaller than the fixed safety distance, the central control unit sends a compensation instruction to enable the second hydraulic cylinder to extend, and meanwhile, the first hydraulic cylinder is matched with the second hydraulic cylinder to extend until the real-time distance is equal to the fixed safety distance;
when the real-time distance is equal to the fixed safe distance, the control system does not act.
6. The active heave compensation device control system according to claim 1, wherein the central control unit comprises a power supply unit, a main control chip, a wireless receiving unit and an element control unit, the power supply unit is electrically connected with the main control chip, the wireless receiving unit and the element control unit, and the main control chip is wirelessly connected with the line receiving unit and the element control unit.
7. The active heave compensation device control system based on force and position combined control of claim 1, wherein the crane hydraulic device comprises a hydraulic station, a lifting loop and a luffing loop, and the central control unit controls a winch to take up and pay off a cable through the lifting loop to hoist a suspended object on a hook; and the central control unit controls the second hydraulic cylinder at the main suspension arm to stretch and retract through the amplitude-variable loop so as to enable the main suspension arm to carry out amplitude variation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211408291.9A CN115594098B (en) | 2022-11-10 | 2022-11-10 | Active wave heave compensation device control system based on force and position combined control |
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| CN202211408291.9A CN115594098B (en) | 2022-11-10 | 2022-11-10 | Active wave heave compensation device control system based on force and position combined control |
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| CN115594098A true CN115594098A (en) | 2023-01-13 |
| CN115594098B CN115594098B (en) | 2023-06-02 |
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Application publication date: 20230113 Assignee: DALIAN SHIDAO INDUSTRY CO.,LTD. Assignor: Dalian Maritime University Contract record no.: X2023210000121 Denomination of invention: Active Wave Heave Compensation Device Control System Based on Force Position Joint Control Granted publication date: 20230602 License type: Common License Record date: 20230921 |