CN101704477A - Control system of self-propelled full-swinging floatingcrane crane and control method thereof - Google Patents
Control system of self-propelled full-swinging floatingcrane crane and control method thereof Download PDFInfo
- Publication number
- CN101704477A CN101704477A CN 200810043840 CN200810043840A CN101704477A CN 101704477 A CN101704477 A CN 101704477A CN 200810043840 CN200810043840 CN 200810043840 CN 200810043840 A CN200810043840 A CN 200810043840A CN 101704477 A CN101704477 A CN 101704477A
- Authority
- CN
- China
- Prior art keywords
- control
- group
- crane
- ship
- ballast
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Jib Cranes (AREA)
Abstract
The invention discloses a control system of a self-propelled full-swinging floatingcrane crane. A coordination control subsystem of the system carries out comprehensive coordination control on a crane control subsystem, a ballast control subsystem and an anchoring control subsystem respectively through a field bus. The invention also provides a control method for the system, which comprises that: crane control, ballast control and anchoring control of a self-propelled floatingcrane form three parallel inner closed-loop control loops; and an outer closed-loop control loop carries out overall coordination control on the three parallel inner closed-loop control loops. The control system and the control method thereof can make the self-propelled full-swinging giant floatingcrane carry out safety protection and comprehensive control through the coordination control, can detect and control a hoisting process of a heavy object in real time, and have the practical significance for preventing misoperation of staff.
Description
Technical field:
The present invention relates to a kind of control technology from the full circle swinging crane ship hoisting crane that navigates, particularly a kind of feedback control system and a kind of suitable hoisting crane from the full circle swinging crane ship hoisting crane that navigates stablized the control method of control.
Background technology:
Development along with marine resources development, marine oil and gas and seafari platform, ocean refloating operation, bridge spanning the sea construction constantly increase, marine heavy construction operation rolls up large-scale demand from the full circle swinging crane ship engineering construction of navigating, and the crane ship that construction is used more and more is tending towards maximizing.At sea, the crane ship operation process is a huge and complicated system engineering, the lifting function is finished by hoisting crane large-scale steel structure and electric drive control system on the ship during operation, the state variation of operation process system is big, operating environment is very complicated, cost is high, lift by crane the thousands of tons of weight at short notice, to make vessel displacement sharply increase more than the thousands of tons of at short notice, security implication to crane ship is very big, brings thus that operator's working strength is big in the hoisting operation process, rate of tension is high.The safe operation of hoisting crane is played main effect for completing successfully of marine operation, and the safety guard-safeguard of system faces high request.The various aspects of full circle swinging hoisting crane work process influence boats and ships based on hoisting crane, are carried out the maltilevel security protection in conjunction with lifting process relevant Ship's Ballast System, Ship Anchoring position fixing system and very are necessary.
At present microcontroller has obtained using widely at industrial circle, and the application of automatic control technology is subjected to extensive attention, and automatic control technology becomes and increases productivity and safing effective means.From the huge crane ship physical construction of boat full circle swinging, electrical control complexity, number of devices is big, and the distribution of control system performer has long distance apart, has brought difficulty for the engineer operation safety control.Fieldbus Based distributed control technology becomes the basis of complication system automatic guidance and safety guard-safeguard; The software/hardware technology of applicable industry PC, microcontroller and fieldbus thereof carries out being worth research from the safety guard-safeguard of the huge crane ship hoisting crane of full circle swinging that navigates.
Summary of the invention:
The present invention is directed to above-mentioned existing from navigating full circle swinging crane ship hoisting crane existing problem aspect control; and a kind of system and method that can carry out controlled reset to the marine operation process of the huge crane ship of full circle swinging that navigates certainly is provided, the safety guard-safeguard of crane ship is provided and controls in real time with this.The lifting that system constitutes with self-propelled floating crane is controlled to be the master, in conjunction with ballast for cruising control and anchoring control, produces the security coordination control system; 3 control subsystem of self-propelled floating crane are combined, carry out the Stability of Ship of weight lifting process by tuning controller and monitor in real time, guarantee the safety of crane ship operation process.
In order to achieve the above object, the technical solution used in the present invention:
A kind of control system from the full circle swinging crane ship hoisting crane that navigates, this system comprises co-operative control subsystem, lifting control subsystem, ballast control subsystem, 4 subsystems of anchoring control subsystem, and described co-operative control subsystem is synthesized and coordinated control to lifting control subsystem, ballast control subsystem, anchoring control subsystem respectively by fieldbus.
Described co-operative control subsystem is formed by upper industry control PC with as the real-time microcontroller of core controller; Carry out data information transmission between PC and the microcontroller, and realize externally control by fieldbus by microcontroller.
Described lifting control subsystem comprises controls that master controller group, microcontroller I, Industry Control PC I, state of the system detect display instrument, control and dual frequency converter group, luffing control and dual frequency converter group thereof, revolution control and frequency converter group, detecting sensor group and signal transmitting device, safety guard-safeguard and warning device hoist; connect by fieldbus between the equipment; the bi-directional of realization information makes multi-frequency converter group, many actuating motors carry out synchronous working simultaneously.
The described master controller group transmission control command of controlling is to microcontroller I; microcontroller I controls the lifting motor group in the crane steel structure, luffing group of motors, full circle swinging motor group and lifting structure sensor groups by hoist control and dual frequency converter group thereof, luffing control and dual frequency converter group thereof, revolution control and frequency converter group, detecting sensor group and signal transmitting device, safety guard-safeguard and warning device respectively, realizes the coordination close-loop feedback control of lifting process.
Described display instrument is realized sharing of information.
Described lifting structure sensor groups configuration analog quantity, Boolean value output sensor, the signal that analog sensor obtains is used for various quantitative Analysis, the signal that Boolean value output sensor obtains is used for logic determines, calculated signals and the judgement of coordinated control system by gathering confirms whether crane ship is in safe work state; This sensor groups also disposes gravity, tension force, moment of torsion, angle, speed, position-detection sensor simultaneously, plays crane steel structure status detection, the spacing and control action of safety, detects the lifting situation of lifted weight thing.
Described ballast control subsystem comprises ballast pump and hydraulic pressure feed valve master cock group, microcontroller II, Industry Control PC II, detects display instrument, pump motor control and soft starter group, fluid pressure drive device, level detection sensor group and signal transmitting device, protection and warning device; connect by fieldbus between the equipment, can realize the bi-directional of information.
Described master cock group reaches microcontroller II with control command; this controller will be controlled the water pump assembly in ballast chamber and the piping, feed valve and water level detector group respectively by pump motor control and soft starter group, fluid pressure drive device, level detection sensor group and signal transmitting device, protection and warning device according to order, form a close-loop feedback control and supervisory system.
Described detection display instrument is realized sharing of information.
Dispose analog quantity, Boolean value output sensor in the described water level detector group, the signal that analog sensor obtains is used for various quantitative Analysis, the signal that Boolean value output sensor obtains is used for logic determines, calculated signals and the judgement of coordinated control system by gathering confirms whether crane ship is in safe work state; This sensor groups also disposes ballast pump flow, ballast tank level detection sensor, is used for real-time Ship ' ballast and balance.
Described anchoring control subsystem comprises that the given potential device group of anchor signal, microcontroller III, Industry Control PC III, diagram detect read-out, Ship GPS detection and localization and telltale, anchoring control and frequency converter group, detecting sensor group and signal transmitting device, protection and warning device; connect by fieldbus between the equipment, can realize the bi-directional of information.
Described given potential device group reaches microcontroller III with signal; this controller is by the anchoring group of motors on anchoring control and the frequency converter group control hull thereof, and the information of accepting on anchoring sensor groups and the Ship GPS by protection and warning device, detecting sensor group and signal transmitting device realizes close-loop feedback control and supervision.
Described diagram plate read-out carries out information sharing, and Ship GPS detection and localization and telltale are accepted position information and shown simultaneously.
Described anchoring sensor groups configuration analog quantity, Boolean value output sensor, the signal that analog sensor obtains is used for various quantitative Analysis, the signal that Boolean value output sensor obtains is used for logic determines, calculated signals and the judgement of coordinated control system by gathering confirms whether crane ship is in safe work state; This sensor groups also disposes tension force, moment of torsion, speed, drauht detecting sensor, and connects with the Ship GPS signal, can obtain real-time position of ship signal, is used to calculate the accommodation and changes.
Based on the above-mentioned control method of control system from the full circle swinging crane ship hoisting crane that navigates, this method is at self-propelled floating crane single-piece hoist mechanism, ballasting system, dispose all kinds of right sensors groups in the anchoring system respectively, make the lifting control of self-propelled floating crane, ballast control, anchoring control forms 3 parallel interior close loop control circuits, and be controlled at by metancenter in the safety zone scope of Stability of Ship and overall capable co-operative control advanced in 3 parallel interior close loop control circuits, thereby form the feedback of many closed loops for the outer close loop control circuit of target with crane ship.
Described 3 parallel interior close loop control circuits are the close loop control circuit of lifting control subsystem, the close loop control circuit of ballast control subsystem, the close loop control circuit of anchoring control subsystem.
The close loop control circuit of described lifting control subsystem realizes by following steps:
(1A) the master controller group is sent hoisting crane and is controlled instruction, is input to microcontroller;
(2A) microcontroller receives the output command of tuning controller simultaneously, gives the actuating motor group through output execution command after calculating and the logic determines, affacts the controlled object crane steel structure, finishes the lifting function;
(3A) hoist mechanism state sensor group detects the hoisting crane state, and the output command that feeds back to comparator and tuning controller compares, and produces departure, forms closed loop feedback simultaneously.
The close loop control circuit of described ballast control subsystem realizes by following steps:
(1B) tuning controller sends instruction during automatic guidance, and instruction is sent by the master cock group when manually controlling, and is input to microcontroller;
(2B) microcontroller receives the output command of tuning controller simultaneously, and the output execution command is given motor-drive pump and hydraulic valve after calculating and the logic determines, affacts the piping and the water tank of ballast water, finishes ballast water and regulates and control task;
(3B) the ballast pumping system state is detected by the level detection sensor group, and the output command that feeds back to comparator and tuning controller compares, and produces departure, forms closed loop feedback simultaneously.
The close loop control circuit of described anchoring control subsystem realizes by following steps:
(1C) tuning controller sends instruction during automatic guidance, and instruction is sent by signal feeding potential device group when manually controlling, and is input to microcontroller;
(2C) microcontroller receives the output command of tuning controller simultaneously, and the output execution command is given the actuating motor group after calculating and the logic determines, affacts controlled object boats and ships anchor and hull energetically, finishes the anchoring controllable function;
(3C) the anchoring positioning states is detected by the ship's fix detecting device, and the output command that feeds back to comparator and tuning controller compares, and produces departure, forms closed loop feedback simultaneously.
Described outer close loop control circuit realizes by following steps:
(1) detects hoisting crane state, ballast pumping system level detection sensor group detection ballasted condition, ship's fix condition checkout gear detection position of ship by hoist mechanism state sensor group;
(2) detected information is input to jointly Stability of Ship machine calculation unit and calculates, the output of this unit feeds back to comparing unit, relatively produces deviation with the stability given state, is input to tuning controller;
(3) tuning controller is exported lifting coordination instruction, ballast coordination instruction, anchoring coordination instruction respectively to 3 parallel interior close loop control circuits, finally forms the close loop control circuit of crane ship stability automatically controlled.
The present invention who obtains according to technique scheme can make and carry out safety guard-safeguard and Comprehensive Control from the huge crane ship of full circle swinging that navigates by co-operative control, can carry out real-time Detection ﹠ Controling to the lifting process of weight, being of practical significance for the maloperation that prevents the staff. system is the basis of distributed control with fieldbus, make to have redundancy feature between the controller, valuable for the reliability that improves system; Valuable for the synchronized operation that drives with actuating motor. when the advanced control algorithm of the controller operation of control system, can make the lifting process more steady, all the time in the zone that stability allows, meaningful with the metancenter of guaranteeing boats and ships to the safety of boats and ships; 3 sub-system coordination Comprehensive Control, make crane ship become an organic combination, thereby make hoist mechanism bring into play the hoisting function of weight better, to obtain good effect aspect enhancing productivity and ensuring safety. the mode that microcontroller combines with Industrial PC Computer, help carrying out the calculating of advanced control algorithm, when the control system utilization has the algorithm of forecast function, can change the metancenter of the weight change in location in the lifting process, boats and ships and predict, predict unsafe condition in advance, accomplish to prevent trouble before it happens.
Description of drawings:
Further specify the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is the composition scheme drawing of control system among the present invention.
Fig. 2 is the schematic block diagram of control method among the present invention.
The specific embodiment:
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
The present invention sets up a kind of method that can carry out controlled reset to the marine operation process of the huge crane ship of full circle swinging that navigates certainly, with this provide crane ship safety guard-safeguard and control in real time.The lifting that system constitutes with self-propelled floating crane is controlled to be the master, in conjunction with ballast for cruising control and anchoring control, produces the security coordination control system; 3 control subsystem of self-propelled floating crane are combined, carry out the Stability of Ship of weight lifting process by tuning controller and monitor in real time, guarantee the safety of crane ship operation process.
For achieving the above object, the technical solution used in the present invention is: 3 control system of hoist mechanism, ballasting system, anchoring system of the huge crane ship of full circle swinging that will navigate certainly are integrated in a system, carry out Comprehensive Control and safety guard-safeguard by the co-operative control principle.In self-propelled floating crane single-piece hoist mechanism, ballasting system, anchoring system, dispose all kinds of right sensors groups respectively, make lifting control, ballast control, the anchoring control of self-propelled floating crane form 3 parallel closed loop feedback; Increase tuning controller on this basis; coherent signal to the collection of 3 sub-system sensor groups calculates; being controlled in the safety zone scope of Stability of Ship with the metancenter with crane ship is target; the utilization tuning controller exercises supervision given with setting command to the operation of 3 subsystems, control, finally play the safety protection control effect.
On the basis of technique scheme principle, concrete enforcement of the present invention is divided into two parts: components of system as directed and control method part:
At first components of system as directed as shown in Figure 1,
This system comprises co-operative control subsystem, lifting control subsystem, ballast control subsystem, 4 subsystems of anchoring control subsystem, and described co-operative control subsystem is synthesized and coordinated control to lifting control subsystem, ballast control subsystem, anchoring control subsystem respectively by fieldbus.
The co-operative control subsystem is formed by upper industry control PC 2 with as the real-time microcontroller 1 of core controller; Carry out data information transmission between PC 2 and the microcontroller 1, and realize externally control by fieldbus by microcontroller.
The lifting control subsystem comprises controls master controller group 3; microcontroller I4; Industry Control PC 5; state of the system detects display instrument 6; control and dual frequency converter group 16 thereof hoist; luffing control and dual frequency converter group 17 thereof; revolution control and frequency converter group 18 thereof; protection and warning device 19 detect in mechanism; connect by fieldbus between the equipment; the bi-directional of realization information; make the multi-frequency converter group simultaneously; many actuating motors are carried out synchronous working. control master controller group 3 transmission control commands simultaneously to microcontroller 4; microcontroller 4 is respectively by control and the dual frequency converter group 16 thereof of hoisting; luffing control and dual frequency converter group 17 thereof; revolution control and frequency converter group 18 thereof; the lifting motor group 27 in protection and 19 pairs of crane steel structure of warning device detects in mechanism; luffing group of motors 28; full circle swinging motor group 29 and lifting structure sensor groups 30 are controlled and received signal, realize the coordination close-loop feedback control of lifting process. and described display instrument 6 is realized sharing of information.
The ballast control subsystem comprises that ballast pump and hydraulic pressure feed valve master cock group 12, microcontroller 13, Industry Control PC 14, height displaying instrument table 15, pump motor control and soft starter group 23 thereof, fluid pressure drive device 24, liquid level detect and fender guard 25; connect by fieldbus between the equipment, can realize the bi-directional of information.This master cock group 12 reaches microcontroller 13 with control command; this controller will be controlled and received signal the water pump assembly in ballast chamber and the piping 34, feed valve 35 and water level detector group 36 respectively by pump motor control and soft starter group 23, fluid pressure drive device 24, liquid level detection and fender guard 25 according to order, form a close-loop feedback control and supervisory system.Height displaying instrument table 15 is realized sharing of information simultaneously.
Described anchoring control subsystem comprises that the given potential device group 7 of anchor signal, microcontroller 8, Industry Control PC 9, diagram detect read-out 11, accommodation display instrument 10, anchoring control and frequency converter group 20 thereof, anchoring detects and transmitter 22 is detected at warning device 21, accommodation, connect by fieldbus between the equipment, can realize the bi-directional of information.This given potential device group 7 reaches microcontroller 8 with signal, the anchoring group of motors 31 that this controller is controlled on the hulls by anchoring control and frequency converter group 20 thereof, and detect the information of accepting on anchoring sensor groups 32 and the Ship GPS 33 with warning device 21, accommodation detection transmitter 22 by anchoring and realize close-loop feedback control and supervision.The plate of diagram simultaneously read-out 11 carries out information sharing, and accommodation display instrument 10 is accepted position information and shown simultaneously.
Dispose analog quantity, Boolean value output sensor as required from the huge crane ship sensor of full circle swinging that navigates simultaneously, the signal that analog sensor obtains is used for various quantitative Analysis, the signal that Boolean value output sensor obtains is used for logic determines, calculated signals and the judgement of coordinated control system by gathering confirms whether crane ship is in safe work state.
Hoist mechanism configuration gravity, tension force, moment of torsion, angle, speed, position-detection sensor play crane steel structure status detection, the spacing and control action of safety, detect the lifting situation of lifted weight thing.Ballasting system configuration ballast pump flow, ballast tank level detection sensor are used for real-time Ship ' ballast and balance.Anchoring system disposes tension force, moment of torsion, speed, drauht detecting sensor, and connects with the Ship GPS signal, can obtain real-time position of ship signal, is used to calculate the accommodation and changes; Whole detected parameters can calculate the metacentric position of crane ship.
As follows according to the system work process that technique scheme obtains:
The stability of boats and ships is subjected to the effect maximum of hoist mechanism, anchoring mechanism and ballast pumping system in the lifting process of the huge crane ship 26 of boat full circle swinging.Hoisting crane is controlled personnel and is sent the instruction of controlling to hoisting crane by master controller group 3, this instruction is input to microcontroller 4 through the analog quantity or the digital quantity input port of microcontroller 4, microcontroller 4 calculates and judges, output category is carried out signal, be transferred to hoist control and dual frequency converter group 16 thereof respectively by fieldbus, luffing control and dual frequency converter group 17 thereof, revolution control and frequency converter group 18 thereof, control the lifting motor group 27 of huge crane ship 26, luffing group of motors 28,29 work of full circle swinging motor group, change crane job state, finish the lifting task; Executed in parallel motor in the full circle swinging motor group 29 is wherein implemented synchronized operation by synchronizing signal; The state of hoist mechanism is detected by sensor groups 30, passes the signal to fieldbus by testing agency 19, offers microcontroller 1 and 4, display instrument 6 carries out information sharing, finally forms the coordination close-loop feedback control of lifting process.
Depend on the setting of industry control PC 2, anchoring control can be operated in automatically with ballast control and manual working dress attitude.When being operated in auto state, the positioning requirements of boats and ships can be set by industry control PC 2 or industry control PC 9, and ballast requires and can set by industry control PC 2 or industry control PC 14.The signal demand of setting by industry control PC 2 will instruct by microcontroller 1 and pass to microcontroller 8 and microcontroller 13 is controlled by fieldbus.The automatically controlled implementation is with manually control is similar.
When system is in manual state; The anchoring positioning signal is sent by given potential device group 7, this signal is input to microcontroller 8 by the analog quantity or the digital quantity input port of microcontroller 8, microcontroller 8 is by calculating and judging, signal is carried out in output, be transferred to anchoring control and frequency converter group 20 thereof by fieldbus, 31 operations of control anchoring group of motors, the anchored condition of change boats and ships; The anchored condition of boats and ships detects by anchoring sensor groups 32, being input to anchoring and detecting with warning device 21,21 and pass the signal to fieldbus, offers microcontroller 1 and 8, diagram plate read-out 11 carries out information sharing, forms the close-loop feedback control that anchors.The accommodation signal is subjected to the supervision of Ship GPS position fixing system, and the accommodation signal is detected by Ship GPS unit 33, is sent to fieldbus, offers microcontroller 1 and 8, accommodation display instrument 10 and shares, and forms closed loop feedback, plays the effect of supervision simultaneously.When system is in manual state, the ballast control signal is sent by master cock group 12, this signal is input to microcontroller 13 through the digital quantity input port of microcontroller 13, microcontroller 13 is through calculating and judging, signal is carried out in output, be transferred to pump motor control and soft starter group 23 thereof by fieldbus, 34 operations of control pump motor group; By Fieldbus Control fluid pressure drive device 24, control the Push And Release of feed valve 35 simultaneously, change the water level of each ballast tank, change the ballasted condition of boats and ships; The ballasted condition of boats and ships is detected by water level detector group 36, sends liquid level to and detects and fender guard 25, is sent to fieldbus, offers microcontroller 1 and 13, height displaying instrument table 15 carries out information sharing, and the formation closed loop feedback also plays the supervision effect.
A kind of and the matching used closed loop control Control work of said system process be as shown in Figure 2:
The control of system forms 1 outer closed loop of 3 walk abreast interior closed loop and overall coordination controls of local control; 3 interior closed loops are respectively that lifting control subsystem closed loop, ballast control subsystem closed loop, 1 outer closed loop of anchoring control subsystem closed loop are the coordinated control system closed loops; 3 interior closed loops form parallel control structure in the closed loop outside.
The hoisting crane of lifting control closed loop subsystem is controlled instruction and is sent by master controller group 202, be input to microcontroller 203, microcontroller 203 receives the output command of comprehensive coordination controller 209 simultaneously, through calculating with logic determines after the output execution command give actuating motor group 204 (contain hoist, luffing and revolution drive the actuating motor group), affact controlled object crane steel structure 205, finish the lifting function; Hoist mechanism state sensor group 206 detects the hoisting crane state, feeds back to comparator 201 and compares with the output command of synthesizing and coordinating controller 209, produces departure, forms closed loop feedback simultaneously.
For ballast control closed loop subsystem, instruction is sent by comprehensive coordination controller 209 during automatic guidance, instruction is sent by master cock group 211 when manually controlling, be input to microcontroller 212, microcontroller 212 receives the output command of comprehensive coordination controller 209 simultaneously, the output execution command is given motor-drive pump and hydraulic valve 213 after calculating and the logic determines, affacts the piping and the water tank of ballast water, finishes ballast water and regulates and control task; The ballast pumping system state is detected by level detection sensor group 215, feeds back to comparator 210 and compares with the output command of synthesizing and coordinating controller 209, produces departure, forms closed loop feedback simultaneously.
For anchoring control closed loop subsystem, instruction is sent by comprehensive coordination controller 209 during automatic guidance, instruction is sent by signal feeding potential device group 217 when manually controlling, be input to microcontroller 218, microcontroller 218 receives the output command of comprehensive coordination controller 209 simultaneously, the output execution command is given actuating motor group 219 after calculating and the logic determines, affacts controlled object boats and ships anchor and hull energetically, finishes the anchoring controllable function; The anchoring positioning states is detected by ship's fix detecting device 221, feeds back to comparator 216 and compares with the output command of synthesizing and coordinating controller 209, produces departure, forms closed loop feedback simultaneously.
For outer closed loop, detect the hoisting crane state by hoist mechanism state sensor group 206, ballast pumping system level detection sensor group 215 detects ballasted condition, anchoring positioning states detecting device 221 detects position of ship, and be input to the Stability of Ship machine jointly and calculate unit 222 and calculate, 222 output feeds back to comparing unit 208, relatively produce deviation with the stability given state, be input to comprehensive coordination controller 209, comprehensive coordination controller 209 is exported lifting respectively and is coordinated instruction, ballast is coordinated instruction, anchoring is coordinated instruction and is given 3 inner control rings, finally forms crane ship stability automatic guidance (outward) closed loop. controller 209,203, the control algorithm of 212 and 218 computing optimizations will play important effect for the stability control of crane ship system.
More than show and described groundwork of the present invention and principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification sheets just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (20)
1. one kind from navigating the control system of full circle swinging crane ship hoisting crane, this system comprises co-operative control subsystem, lifting control subsystem, ballast control subsystem, 4 subsystems of anchoring control subsystem, it is characterized in that described co-operative control subsystem is synthesized and coordinated control to lifting control subsystem, ballast control subsystem, anchoring control subsystem respectively by fieldbus.
2. a kind of control system from the full circle swinging crane ship hoisting crane that navigates according to claim 1 is characterized in that described co-operative control subsystem is formed by upper industry control PC with as the real-time microcontroller of core controller; Carry out data information transmission between PC and the microcontroller, and realize control by fieldbus equipment by microcontroller.
3. a kind of control system according to claim 1 from the full circle swinging crane ship hoisting crane that navigates; it is characterized in that; described lifting control subsystem comprises controls the master controller group; microcontroller I; Industry Control PC I; state of the system detects display instrument; control and dual frequency converter group thereof hoist; luffing control and dual frequency converter group thereof; revolution control and frequency converter group thereof; detecting sensor group and signal transmitting device; safety guard-safeguard and warning device; connect by fieldbus between the equipment; the bi-directional of realization information makes the multi-frequency converter group simultaneously; many actuating motors are carried out synchronous working.
4. a kind of control system according to claim 3 from the full circle swinging crane ship hoisting crane that navigates; it is characterized in that; the described master controller group transmission control command of controlling is to microcontroller I; microcontroller I is respectively by control and the dual frequency converter group thereof of hoisting; luffing control and dual frequency converter group thereof; revolution control and frequency converter group thereof; detecting sensor group and signal transmitting device; safety guard-safeguard and warning device are to the lifting motor group in the crane steel structure; the luffing group of motors; full circle swinging motor group and lifting structure sensor groups are controlled, and realize the coordination close-loop feedback control of lifting process.
5. a kind of control system from the full circle swinging crane ship hoisting crane that navigates according to claim 3 is characterized in that described display instrument is realized sharing of information.
6. a kind of control system according to claim 4 from the full circle swinging crane ship hoisting crane that navigates, it is characterized in that, described lifting structure sensor groups configuration analog quantity, Boolean value output sensor, the signal that analog sensor obtains is used for various quantitative Analysis, the signal that Boolean value output sensor obtains is used for logic determines, calculated signals and the judgement of coordinated control system by gathering confirms whether crane ship is in safe work state; This sensor groups also disposes gravity, tension force, moment of torsion, angle, speed, position-detection sensor simultaneously, plays crane steel structure status detection, the spacing and control action of safety, detects the lifting situation of lifted weight thing.
7. a kind of control system according to claim 1 from the full circle swinging crane ship hoisting crane that navigates; it is characterized in that; described ballast control subsystem comprises ballast pump and hydraulic pressure feed valve master cock group, microcontroller II, Industry Control PC II, detects display instrument, pump motor control and soft starter group, fluid pressure drive device, level detection sensor group and signal transmitting device, protection and warning device; connect by fieldbus between the equipment, can realize the bi-directional of information.
8. a kind of control system according to claim 7 from the full circle swinging crane ship hoisting crane that navigates; it is characterized in that; described master cock group reaches microcontroller II with control command; this controller will be controlled the water pump assembly in ballast chamber and the piping, feed valve and water level detector group respectively by pump motor control and soft starter group, fluid pressure drive device, level detection sensor group and signal transmitting device, protection and warning device according to order, form a close-loop feedback control and supervisory system.
9. a kind of control system from the full circle swinging crane ship hoisting crane that navigates according to claim 7 is characterized in that described detection display instrument is realized sharing of information.
10. a kind of control system according to claim 8 from the full circle swinging crane ship hoisting crane that navigates, it is characterized in that, dispose analog quantity, Boolean value output sensor in the described water level detector group, the signal that analog sensor obtains is used for various quantitative Analysis, the signal that Boolean value output sensor obtains is used for logic determines, calculated signals and the judgement of coordinated control system by gathering confirms whether crane ship is in safe work state; This sensor groups also disposes ballast pump flow, ballast tank level detection sensor, is used for real-time Ship ' ballast and balance.
11. a kind of control system according to claim 1 from the full circle swinging crane ship hoisting crane that navigates; it is characterized in that; described anchoring control subsystem comprises that the given potential device group of anchor signal, microcontroller III, Industry Control PC III, diagram detect read-out, Ship GPS detection and localization and telltale, anchoring control and frequency converter group, detecting sensor group and signal transmitting device, protection and warning device; connect by fieldbus between the equipment, can realize the bi-directional of information.
12. a kind of control system according to claim 11 from the full circle swinging crane ship hoisting crane that navigates; it is characterized in that; described given potential device group reaches microcontroller III with signal; this controller is by the anchoring group of motors on anchoring control and the frequency converter group control hull thereof, and the information of accepting on anchoring sensor groups and the Ship GPS by protection and warning device, detecting sensor group and signal transmitting device realizes close-loop feedback control and supervision.
13. a kind of control system from the full circle swinging crane ship hoisting crane that navigates according to claim 11 is characterized in that described diagram plate read-out carries out information sharing, Ship GPS detection and localization and telltale are accepted position information and are shown simultaneously.
14. a kind of control system according to claim 12 from the full circle swinging crane ship hoisting crane that navigates, it is characterized in that, described anchoring sensor groups configuration analog quantity, Boolean value output sensor, the signal that analog sensor obtains is used for various quantitative Analysis, the signal that Boolean value output sensor obtains is used for logic determines, calculated signals and the judgement of coordinated control system by gathering confirms whether crane ship is in safe work state; This sensor groups also disposes tension force, moment of torsion, speed, drauht detecting sensor, and connects with the Ship GPS signal, can obtain real-time position of ship signal, is used to calculate the accommodation and changes.
15. based on the above-mentioned control method of control system from the full circle swinging crane ship hoisting crane that navigates, it is characterized in that, this method is at self-propelled floating crane single-piece hoist mechanism, ballasting system, dispose all kinds of right sensors groups in the anchoring system respectively, make the lifting control of self-propelled floating crane, ballast control, anchoring control forms 3 parallel interior close loop control circuits, and be controlled in the safety zone scope of Stability of Ship outer close loop control circuit by metancenter Total tune control is carried out in 3 parallel interior close loop control circuits, thereby form the feedback of many closed loops for target with crane ship.
16. a kind of control method according to claim 15 from the full circle swinging crane ship hoisting crane that navigates, it is characterized in that described 3 parallel interior close loop control circuits are the close loop control circuit of lifting control subsystem, the close loop control circuit of ballast control subsystem, the close loop control circuit of anchoring control subsystem.
17. a kind of control method from the full circle swinging crane ship hoisting crane that navigates according to claim 16 is characterized in that the close loop control circuit of described lifting control subsystem realizes by following steps:
(1A) the master controller group is sent hoisting crane and is controlled instruction, is input to microcontroller;
(2A) microcontroller receives the output command of tuning controller simultaneously, gives the actuating motor group through output execution command after calculating and the logic determines, affacts the controlled object crane steel structure, finishes the lifting function;
(3A) hoist mechanism state sensor group detects the hoisting crane state, and the output command that feeds back to comparator and tuning controller compares, and produces departure, forms closed loop feedback simultaneously.
18. a kind of control method from the full circle swinging crane ship hoisting crane that navigates according to claim 16 is characterized in that the close loop control circuit of described ballast control subsystem realizes by following steps:
(1B) tuning controller sends instruction during automatic guidance, and instruction is sent by the master cock group when manually controlling, and is input to microcontroller;
(2B) microcontroller receives the output command of tuning controller simultaneously, and the output execution command is given motor-drive pump and hydraulic valve after calculating and the logic determines, affacts the piping and the water tank of ballast water, finishes ballast water and regulates and control task;
(3B) the ballast pumping system state is detected by the level detection sensor group, and the output command that feeds back to comparator and tuning controller compares, and produces departure, forms closed loop feedback simultaneously.
19. a kind of control method from the full circle swinging crane ship hoisting crane that navigates according to claim 16 is characterized in that the close loop control circuit of described anchoring control subsystem realizes by following steps:
(1C) tuning controller sends instruction during automatic guidance, and instruction is sent by signal feeding potential device group when manually controlling, and is input to microcontroller;
(2C) microcontroller receives the output command of tuning controller simultaneously, and the output execution command is given the actuating motor group after calculating and the logic determines, affacts controlled object boats and ships anchor and hull energetically, finishes the anchoring controllable function;
(3C) the anchoring positioning states is detected by the ship's fix detecting device, and the output command that feeds back to comparator and tuning controller compares, and produces departure, forms closed loop feedback simultaneously.
20. a kind of control method from the full circle swinging crane ship hoisting crane that navigates according to claim 15 is characterized in that described outer close loop control circuit realizes by following steps:
(1) detects hoisting crane state, ballast pumping system level detection sensor group detection ballasted condition, ship's fix condition checkout gear detection position of ship by hoist mechanism state sensor group;
(2) detected information is input to jointly Stability of Ship machine calculation unit and calculates, the output of this unit feeds back to comparing unit, relatively produces deviation with the stability given state, is input to tuning controller;
(3) tuning controller is exported lifting coordination instruction, ballast coordination instruction, anchoring coordination instruction respectively to 3 parallel interior close loop control circuits, finally forms the close loop control circuit of crane ship stability automatically controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810043840 CN101704477B (en) | 2008-10-14 | 2008-10-14 | Control system of self-propelled full-swinging floatingcrane crane and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810043840 CN101704477B (en) | 2008-10-14 | 2008-10-14 | Control system of self-propelled full-swinging floatingcrane crane and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101704477A true CN101704477A (en) | 2010-05-12 |
| CN101704477B CN101704477B (en) | 2013-04-10 |
Family
ID=42374748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200810043840 Expired - Fee Related CN101704477B (en) | 2008-10-14 | 2008-10-14 | Control system of self-propelled full-swinging floatingcrane crane and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101704477B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102241371A (en) * | 2011-03-31 | 2011-11-16 | 武汉理工大学 | Hydraulic system applied to multi-spud leg lifting mechanism |
| CN102351039A (en) * | 2011-07-20 | 2012-02-15 | 大连金迈海洋工程技术有限公司 | Ship load adjustment control system |
| CN103235765A (en) * | 2013-05-06 | 2013-08-07 | 杭州和利时自动化有限公司 | Intelligent instrument device management method, system and device |
| CN104528529A (en) * | 2014-12-22 | 2015-04-22 | 武汉船用机械有限责任公司 | Control system for automatic operation of marine crane |
| CN104881056A (en) * | 2015-05-29 | 2015-09-02 | 中国海洋石油总公司 | Semisubmersible platform anchoring automatic control system |
| CN104930000A (en) * | 2015-05-22 | 2015-09-23 | 南通中远船务工程有限公司 | High-accuracy hydraulic synchronous lifting control system of wind installation vessel |
| CN105217454A (en) * | 2015-10-19 | 2016-01-06 | 江苏大学 | The anti-sway crashproof control system of a kind of revolving crane lift heavy and control method |
| CN107329500A (en) * | 2012-12-12 | 2017-11-07 | 塞阿姆斯特朗有限公司 | Coordinated sensorless control system |
| CN107585263A (en) * | 2017-07-21 | 2018-01-16 | 青岛航讯科技有限公司 | A kind of orientable deep-sea of sink-float certainly is tethered at test platform |
| CN112340623A (en) * | 2020-12-04 | 2021-02-09 | 招商局重工（江苏）有限公司 | Double-crane combined hoisting monitoring system and control method for semi-submersible crane ship |
| CN113221247A (en) * | 2021-05-19 | 2021-08-06 | 大连海事大学 | Optimized calculation method for allocating and allocating ballast water of full-circle-slewing crane ship |
| CN115361254A (en) * | 2022-08-03 | 2022-11-18 | 杭州大杰智能传动科技有限公司 | Intelligent master station communication method and control system for three large mechanisms of tower crane |
-
2008
- 2008-10-14 CN CN 200810043840 patent/CN101704477B/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102241371B (en) * | 2011-03-31 | 2013-07-17 | 武汉理工大学 | Hydraulic system applied to multi-spud leg lifting mechanism |
| CN102241371A (en) * | 2011-03-31 | 2011-11-16 | 武汉理工大学 | Hydraulic system applied to multi-spud leg lifting mechanism |
| CN102351039A (en) * | 2011-07-20 | 2012-02-15 | 大连金迈海洋工程技术有限公司 | Ship load adjustment control system |
| CN107329500B (en) * | 2012-12-12 | 2020-11-03 | 塞阿姆斯特朗有限公司 | Coordinated sensorless control system |
| CN107329500A (en) * | 2012-12-12 | 2017-11-07 | 塞阿姆斯特朗有限公司 | Coordinated sensorless control system |
| CN103235765B (en) * | 2013-05-06 | 2015-11-25 | 杭州和利时自动化有限公司 | A kind of intelligent instrument device management method, system and device |
| CN103235765A (en) * | 2013-05-06 | 2013-08-07 | 杭州和利时自动化有限公司 | Intelligent instrument device management method, system and device |
| CN104528529A (en) * | 2014-12-22 | 2015-04-22 | 武汉船用机械有限责任公司 | Control system for automatic operation of marine crane |
| CN104930000A (en) * | 2015-05-22 | 2015-09-23 | 南通中远船务工程有限公司 | High-accuracy hydraulic synchronous lifting control system of wind installation vessel |
| CN104881056A (en) * | 2015-05-29 | 2015-09-02 | 中国海洋石油总公司 | Semisubmersible platform anchoring automatic control system |
| CN105217454A (en) * | 2015-10-19 | 2016-01-06 | 江苏大学 | The anti-sway crashproof control system of a kind of revolving crane lift heavy and control method |
| CN107585263A (en) * | 2017-07-21 | 2018-01-16 | 青岛航讯科技有限公司 | A kind of orientable deep-sea of sink-float certainly is tethered at test platform |
| CN107585263B (en) * | 2017-07-21 | 2019-04-02 | 青岛航讯科技有限公司 | One kind is orientable to be tethered at test platform from sink-float deep-sea |
| CN112340623A (en) * | 2020-12-04 | 2021-02-09 | 招商局重工（江苏）有限公司 | Double-crane combined hoisting monitoring system and control method for semi-submersible crane ship |
| CN113221247A (en) * | 2021-05-19 | 2021-08-06 | 大连海事大学 | Optimized calculation method for allocating and allocating ballast water of full-circle-slewing crane ship |
| CN113221247B (en) * | 2021-05-19 | 2023-09-22 | 大连海事大学 | Optimization calculation method for ballast water allocation of full-rotation crane ship |
| CN115361254A (en) * | 2022-08-03 | 2022-11-18 | 杭州大杰智能传动科技有限公司 | Intelligent master station communication method and control system for three large mechanisms of tower crane |
| CN115361254B (en) * | 2022-08-03 | 2024-01-19 | 杭州大杰智能传动科技有限公司 | Intelligent master station communication method and control system for three major mechanisms of tower crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101704477B (en) | 2013-04-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101704477B (en) | Control system of self-propelled full-swinging floatingcrane crane and control method thereof | |
| US10843904B2 (en) | Offshore crane heave compensation control system and method using visual ranging | |
| CN107215437B (en) | A kind of crane ship ballast water mixing system and its working method | |
| KR0150448B1 (en) | Control and hydraulic system for a liftcrane | |
| KR101246059B1 (en) | Derrick load test method | |
| JP2003528004A (en) | Apparatus for improving accuracy and deploying a load at an underwater target location and method for controlling such an apparatus | |
| CN103057661A (en) | Whole hoisting craft of ship superstructure | |
| US20120296519A1 (en) | Crane Control | |
| CN204257002U (en) | A kind of boats and ships are by the safety navigation backup system of ship lock | |
| CN101475046A (en) | Large-sized thruster underwater installing process based on L type floating platform | |
| CN109080795A (en) | A kind of gliding shear profiler deployment device and its operating method | |
| CN102288420A (en) | Test device for deep water vertical pipe lifting system | |
| CN104123855A (en) | Safe navigation auxiliary system and method for ship passing ship lock | |
| CN108411766A (en) | A kind of position compensation extension type is gone on board trestle control system and control method | |
| CN108358081A (en) | The working method of the intelligent tower crane system of automation lifting can be achieved | |
| US10280579B2 (en) | Automatic gate operation and system status indication for marine barriers and gate systems | |
| JP6526395B2 (en) | Underwater working apparatus and underwater working method | |
| CN108138668A (en) | Working truck | |
| CN115640708A (en) | Design method of hydraulic electric control system for ultra-large piling ship | |
| CN105735963A (en) | Method and system for monitoring hanging ring state of top drive drilling device | |
| CN106672823B (en) | The anti-heel method of compensated in advance peculiar to vessel | |
| CN117416877B (en) | Wind power installation ship, intelligent safe operation control system and method | |
| JP2009047699A (en) | Navigation processor, processing configuration having the navigation processor, measuring system having the navigation processor, and method for measuring position and attitude of underwater system | |
| JPH08319090A (en) | Cable crane | |
| CA2490839C (en) | Apparatus for deploying a load to an underwater target position with enhanced accuracy and a method to control such apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130410 Termination date: 20151014 |
|
| EXPY | Termination of patent right or utility model |