CN115594098B - Active wave heave compensation device control system based on force and position combined control - Google Patents
Active wave heave compensation device control system based on force and position combined control Download PDFInfo
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- CN115594098B CN115594098B CN202211408291.9A CN202211408291A CN115594098B CN 115594098 B CN115594098 B CN 115594098B CN 202211408291 A CN202211408291 A CN 202211408291A CN 115594098 B CN115594098 B CN 115594098B
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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 wave heave compensation device control system based on force-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 and 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, a corresponding compensation instruction is sent to the crane hydraulic device; a crane hydraulic device; the crane hydraulic device receives the compensation instruction and controls a first hydraulic cylinder, the main boom and a winch on the main boom in the wave heave compensation device to act; a heave compensation device; the wave heave compensation device indirectly changes the height of the lifting hook from the receiving platform. According to the invention, 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 further the heave compensation of cargoes is realized.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to a control system of an active wave heave compensation device based on force-position combined control.
Background
In the process of shipping cargoes, when two ships are used for parallel supply, the two ships which are in parallel connection can generate six degrees of freedom motions such as heave and the like under the action of waves, the hoisted supply materials are also stimulated by the motions of the ships to generate shaking, the relatively large relative movement between the sling and receiving vessel may cause danger to the supplied supplies, the hull and deck operators, with very serious consequences, and the same problems with the supply of the same shore to the vessel. Therefore, the cargo needs to be subjected to wave heave compensation, so that the hidden danger of cargo shaking is eliminated.
The existing mature wave 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 ship deck, a crane responsible for connection is arranged on the motion compensation platform, the motion compensation platform compensates the crane and the goods hoisted and transported at the same time, the compensation mode is high in precision, but the motion compensation platform needs to compensate the crane and the goods at the same time, and accordingly power consumption is high. The passive compensation system usually adopts a mechanical mode to compensate the energy of cargo heave through a steel spring or a cylinder to absorb, store and release, and the compensation accuracy of the compensation mode is lower.
Disclosure of Invention
According to the technical problems of low compensation precision or overlarge power consumption of the two compensation modes, the control system of the active wave heave compensation device based on force-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 carrying out heave compensation on goods.
The invention adopts the following technical means:
an active heave compensation device control system based on force-position combined control, comprising: a central control unit; when the crane works normally, the central control unit monitors a normal working signal and 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-acting signal and analyzes the non-acting signal according to a second safety scheme, and sends a corresponding compensation instruction to the crane hydraulic device;
a crane hydraulic device; the crane hydraulic device receives the compensation instruction and controls a first hydraulic cylinder, the main boom and a winch on the main boom in the wave heave compensation device to act;
a heave compensation device; the wave heave compensation device comprises a movable pulley mechanism, a first hydraulic cylinder and a fixed pulley mechanism, wherein a main sling is repeatedly wound between the fixed pulley mechanisms of the movable pulley mechanism, the front end of the main sling is connected with a lifting hook, a cargo is lifted on the lifting hook, 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 a main sling, an angle signal of a main suspension arm, a length signal of a rope, a relative motion 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 the winch, the angle signal is measured by an angle sensor arranged at the amplitude joint of the main boom, 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 a motion reference unit 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 ranging device at the lifting hook.
Further, the no-action signal comprises a distance signal between the 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 a motion reference unit respectively arranged on the lifting ship and the target ship.
Further, the first security scheme includes:
setting the maximum safety distance and the minimum safety 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, and obtaining the real-time distance between the lifting hook and the receiving platform;
when the real-time distance is greater than the maximum safe distance, the central control unit sends a compensation instruction to enable the first hydraulic cylinder to shrink, 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 instruction 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;
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 suspended 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, and obtaining the real-time distance between the lifting hook and the receiving platform;
when the real-time distance is greater than the fixed safety distance, the central control unit sends a compensation instruction to enable the second hydraulic cylinder to shrink, and meanwhile the first hydraulic cylinder is matched with the second hydraulic cylinder to shrink 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 safety distance, the control system does not act.
Further, 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 in wireless connection with the wire receiving unit and the element control unit.
Further, the crane hydraulic device comprises a hydraulic station, a lifting loop and a luffing loop, and the central control unit controls the winch to retract and release a cable through the lifting loop to hoist and release a hoisted object on the lifting hook; the central control unit controls the second hydraulic cylinder at the main boom to stretch and retract through the amplitude changing loop so as to enable the main boom to change amplitude.
Compared with the prior art, the invention has the following advantages:
according to the invention, 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 further the heave compensation of cargoes is realized;
according to the invention, the first safety scheme and the second safety scheme are arranged, so that specific heave compensation conditions are provided, and the heave compensation process is more accurate and safer;
according to the invention, by setting two conditions of normal operation and no action of the crane, different heave compensation control modes are respectively set for the crane, and the cargo is heave compensated under multiple conditions;
according to the invention, by arranging various sensors, measuring devices and MRU, accurate measurement of various data of the ship is realized, so that 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 that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
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 according to the present invention.
Fig. 3 is a logic diagram of a second security scheme according to the present invention.
Fig. 4 is a control system layout of the present invention.
In the figure: 1. a receiving platform; 2. a heave compensation device; 3. a main boom; 4. a main sling; 5. and a crane hydraulic device.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the 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 present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for 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. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
As shown in fig. 1-4, the present invention provides an active heave compensation apparatus control system based on force-position combined control, which is characterized by comprising:
a central control unit; when the crane works normally, the central control unit monitors a normal working signal and 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 no-act signal and analyzes the no-act signal according to a second safety scheme and sends a corresponding compensation instruction 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 in wireless connection with the line receiving unit and the element control unit.
A crane hydraulic device 5; the crane hydraulic device 5 receives the compensation command and controls the first hydraulic cylinder in the wave heave compensation device 2, the main boom 3 and winch movements on the main boom 3;
a heave compensation device 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 mechanisms of the movable pulley mechanism, the front end of the main sling 4 is connected with a lifting hook, goods are hung on the lifting hook, the movable pulley mechanism is driven to move by the action of the first hydraulic cylinder in the wave heave compensation device 2, 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 further 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 motion signal between the lifting ship and the 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-changing joint of the main boom 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 a motion reference unit respectively arranged on the lifting ship and the target receiving ship. The 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 includes:
setting a maximum safety distance and a minimum safety 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, and obtaining the real-time distance between the lifting hook and the receiving platform 1;
when the real-time distance is greater than the maximum safe distance, the central control unit sends a compensation instruction to enable the first hydraulic cylinder to shrink, 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 instruction 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;
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 non-action signals comprise distance signals of the lifting hook and the receiving platform and relative motion signals between the lifting ship and the target ship, the distance signals of the lifting hook and the receiving platform are measured through a distance sensor arranged on the lifting hook, and the relative motion signals between the lifting ship and the target ship are measured through motion reference units respectively arranged on the lifting ship and the target ship.
The second security scheme includes:
setting a fixed safety distance between the lifting hook and the receiving platform 1; when the suspended object falls on the receiving platform 1, 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 the real-time distance between the lifting hook and the receiving platform 1;
when the real-time distance is greater than the fixed safety distance, the central control unit sends a compensation instruction to enable the second hydraulic cylinder to shrink, and meanwhile the first hydraulic cylinder is matched with the second hydraulic cylinder to shrink 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 safety distance, the control system does not act.
The crane hydraulic device 5 comprises a hydraulic station, a lifting loop and a luffing loop, and the central control unit controls the winch to retract and release a cable through the lifting loop so as to hoist and release a suspended object on a lifting hook; the central control unit controls the second hydraulic cylinder at the position of the main boom 3 to stretch and retract through the amplitude changing loop, so that the main boom 3 is subjected to amplitude changing.
The wave heave compensation process of the active wave heave compensation device 2 based on force-position combined control is shown in figure 4, and the second hydraulic cylinder is connected with the main boom 3 and the tower body and is used for completing the amplitude variation action of the main boom 3; the winch is positioned on the main boom 3 to realize lifting action of the suspended objects; the movable pulley mechanism and the fixed pulley mechanism in the active wave heave compensation device 2 can adjust the length of the main sling 4 between the movable pulley mechanism and the fixed pulley mechanism in real time, can carry out deep compensation on suspended objects when the crane acts and suspended objects hover (or fall on the receiving platform 1), and can effectively improve the safety and efficiency of the crane hoisting operation.
The invention is further described as follows:
an active wave heave compensation system based on force-position combined control. The invention discloses an active wave heave compensation system based on force-position combined control, which is shown in figure 1, wherein 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 loop, so that the lifting of the main boom 3 is realized.
The central control unit controls the winch to retract and release the cable through the lifting loop, so that the suspended object is suspended.
The central control unit realizes the control of the active wave device, and further realizes the heave compensation of the suspended object by changing the length of the main sling 4 in real time.
When the crane works normally, the central control unit calculates the telescopic distance of the hydraulic cylinder in the active wave device through the motion reference unit arranged on the lifting hook and the receiving platform 1 (or the ship) and the amplitude-variable rotation action of the crane, and further compensates the heave motion of the suspended object.
The crane does not act (when the suspended object hovers or falls on the receiving platform 1), and the measurement and control unit realizes the active wave heave compensation function of the suspended object according to the wave motion signal of the ship.
And the control logic diagram of the active wave heave compensation device is shown when the crane acts.
The control logic of the active wave heave compensation device during crane operation is shown in fig. 2:
the safe position difference between the preset lifting hook and the receiving platform 1 (or the ship) is preset, the maximum safe distance difference is delta X1, and the minimum An Quanju deviation is delta X2.
The luffing motion of the crane boom 3 and the lifting motion of the main sling 4 are read, and the real-time position data of the lifting hook and the receiving platform MRU are read. The position difference deltax between the lifting hook and the receiving platform 1 is obtained through calculation.
When the delta X exceeds the delta X1, the central control unit controls the hydraulic cylinder of the active wave heave compensation device 2 to shrink, and then the luffing lifting action of the crane is read again.
When the delta X is smaller than delta X2, the central control unit controls the hydraulic cylinder of the active wave heave compensation device 2 to extend, and then the luffing lifting action of the crane is read again.
When the position difference is between the range of delta X1 and delta X2, the whole control system of the active heave compensation device 2 does not act.
The suspended object hovers (or falls on the receiving platform 1) and the active wave heave compensation device feedback system.
The feedback system of the active wave heave compensation device for suspending objects hovering (or falling on the receiving platform 1) is shown in fig. 3, the suspending objects hovering (or falling on the receiving platform 1) and the crane does not have actions such as amplitude change, lifting and the like.
The steps can be divided into the following steps:
the distance value between the lifting hook and the receiving platform 1 is preset in the central control unit, when the suspended object hovers, a certain safe distance value is preset in the central control unit, and when the suspended object falls on the receiving platform 1, the preset distance value is zero in the central control unit.
The central control unit is used for controlling the expansion and contraction of the hydraulic cylinder in the active wave heave compensation device 2, changing the relative position between the movable pulley mechanism and the fixed pulley mechanism, further adjusting the length of the main sling 4 between the movable pulley mechanism and the fixed pulley mechanism, and completing the real-time adjustment of the length of the main sling 4.
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 wave 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 changing angle and the speed of the crane and the length change of the steel wire rope, and simultaneously realize the expansion and contraction of the hydraulic cylinder by controlling the action of the hydraulic station according to the lifting hook and the MRU real-time position signal at the receiving platform 1, so as to change the relative position between the movable pulley mechanism and the fixed pulley mechanism, further adjust the length of the main sling 4 between the movable pulley mechanism and the movable pulley mechanism, and complete the real-time adjustment of the length of the main sling 4.
The crane does not act (the suspended object hovers or falls on the receiving platform 1), and the active wave heave compensation function of the suspended object is realized according to the wave motion signal of the ship.
The active wave heave compensation device based on force and position combined control can keep a safe distance between a suspended object and the receiving platform 1 (or a ship) and prevent the suspended object from colliding with the receiving platform 1 (or the ship).
The motion reference unit is a complex sensor, integrates a plurality of functions, can output three-dimensional attitude data of the ship in real time, and can monitor complex motion attitudes (six-degree-of-freedom motions) of the ship in the sea.
If the ship is docked, the MRU is located on both ships.
And when the shore is connected with the ship, the MRU is arranged on the ship.
The MRU monitors six-degree-of-freedom motion of the ship in the sea, and transmits the transmitted six-degree-of-freedom motion signals to the central control unit in a wireless mode, when the ship is connected with the ship, the MRU signals of the two ships are required to be analyzed and calculated, and when the shore is connected with the ship, the central control unit only needs to analyze and calculate according to the MRU signals of the ship, and then heave compensation is carried out.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (3)
1. An active wave heave compensation device control system based on force-position combined control, which is characterized by comprising:
a central control unit; when the crane works normally, the central control unit monitors a normal working signal and 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-acting signal and analyzes the non-acting signal according to a second safety scheme, and sends a corresponding compensation instruction to the crane hydraulic device;
the normal working signals comprise a tension signal of a main sling, an angle signal of a main suspension arm, a length signal of a rope, a relative motion 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 the winch, the angle signal is measured by an angle sensor arranged at the amplitude joint of the main boom, 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 a motion reference unit 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 ranging device at the lifting hook;
the first security scheme includes:
setting the maximum safety distance and the minimum safety 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, and obtaining the real-time distance between the lifting hook and the receiving platform;
when the real-time distance is greater than the maximum safe distance, the central control unit sends a compensation instruction to enable the first hydraulic cylinder to shrink, 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 instruction 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;
when the real-time distance is smaller than the maximum safety distance and larger than the minimum safety distance, the control system does not act;
the non-action signals comprise distance signals of the lifting hook and the receiving platform and relative motion signals between the lifting ship and the target ship, the distance signals of the lifting hook and the receiving platform are measured through a distance sensor arranged on the lifting hook, and the relative motion signals between the lifting ship and the target ship are measured through a motion reference unit respectively arranged on the lifting ship and the target ship;
the second security scheme includes:
setting a fixed safety distance between the lifting hook and the receiving platform; when the suspended 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, and obtaining the real-time distance between the lifting hook and the receiving platform;
when the real-time distance is greater than the fixed safety distance, the central control unit sends a compensation instruction to enable the second hydraulic cylinder to shrink, and meanwhile the first hydraulic cylinder is matched with the second hydraulic cylinder to shrink 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 safety distance, the control system does not act;
a crane hydraulic device; the crane hydraulic device receives the compensation instruction and controls a first hydraulic cylinder, the main boom and a winch on the main boom in the wave heave compensation device to act;
a heave compensation device; the wave heave compensation device comprises a movable pulley mechanism, a first hydraulic cylinder and a fixed pulley mechanism, wherein a main sling is repeatedly wound between the fixed pulley mechanisms of the movable pulley mechanism, the front end of the main sling is connected with a lifting hook, a cargo is lifted on the lifting hook, 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 combined control 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 in wireless connection with the line receiving unit and the element control unit.
3. The control system of the active wave heave compensation device based on the force-position combined control according to claim 1, wherein the crane hydraulic device comprises a hydraulic station, a lifting loop and a luffing loop, and the central control unit controls the winch to retract and release a cable through the lifting loop to hoist and release a suspended object on a lifting hook; the central control unit controls the second hydraulic cylinder at the main boom to stretch and retract through the amplitude changing loop so as to enable the main boom to change amplitude.
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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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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 |