CN101704477B - 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
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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 crane ship hoisting crane that navigates, particularly a kind of feedback control system and a kind of suitable hoisting crane from the 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 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, hoisting 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 large, operating environment is very complicated, cost is high, lift by crane at short notice the thousands of tons of weight, to make at short notice vessel displacement sharply increase more than the thousands of tons of, security implication to crane ship is very large, brings thus that operator's working strength is large in the hoisting operation process, rate of tension is high.The safe operation of hoisting crane is played Main Function for being successfully completed of marine operation, the Lingao requirement of security of system protective surface.The full-rotary crane working process affects the various aspects of boats and ships, take hoisting crane as main, carries out the maltilevel security protection in conjunction with lifting process relevant Ship's Ballast System, Ship Anchoring position fixing system and extremely is necessary.
Microcontroller has obtained using widely at industrial circle at present, and the application of automatic control technology is in widespread attention, and automatic control technology becomes boosts productivity and safing effective means.From the huge crane ship physical construction of boat full circle swinging, electrical control complexity, number of devices is large, 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 the automatic control of complication system 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 crane ship hoisting crane existing problem aspect control; and a kind of system and method that can carry out to the marine operation process of the huge crane ship of full circle swinging that certainly navigates controlled reset is provided, the safety guard-safeguard of crane ship is provided and controls in real time with this.The lifting that system consists of 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 Real Time Monitoring that weight lifts by crane process by tuning controller, 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 crane ship hoisting crane that navigates, this system comprises coordinates control subsystem, lifting control subsystem, ballast control subsystem, anchoring control subsystem 4 sub-systems, and described coordination control subsystem is synthesized and coordinated control to lifting control subsystem, ballast control subsystem, anchoring control subsystem respectively by fieldbus.
Described coordination control subsystem forms by upper industry control PC with as the real-time microcontroller of core controller; Carry out the transmission of data message between PC and the microcontroller, and realize externally control by microcontroller by fieldbus.
Described lifting control subsystem comprises controls master controller group, microcontroller I, Industry Control PC I, state of the system detection display instrument, lift 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; 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 group by lift 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 respectively, realizes the coordination closed loop feedback control of lifting process.
Described display instrument is realized sharing of information.
Analog quantity, Boolean value output sensor are put in the assembly of described lifting structure sensor, the signal that analog sensor obtains is used for various quantitative calculating, the signal that Boolean value output sensor obtains is used for logic and judges, calculated signals and the judgement of coordinated control system by gathering confirms whether crane ship is in safe work state; This sensor group also disposes gravity, tension force, moment of torsion, angle, speed, position-detection sensor simultaneously, plays detection, safe spacing and control action to the crane steel structure state, 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, detection 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 closed loop feedback control ﹠ monitor system.
Described detection display instrument realizes 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 calculating, the signal that Boolean value output sensor obtains is used for logic and judges, calculated signals and the judgement of coordinated control system by gathering confirms whether crane ship is in safe work state; This sensor group also disposes ballast pump flow, ballast tank level detection sensor, is used for real-time Ship ' ballast and balance.
Described anchoring control subsystem comprises the given potential device group of anchor signal, microcontroller III, Industry Control PC III, diagram detection display screen, 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 by anchor information realization closed loop feedback control ﹠ monitor on sensor group and the Ship GPS of protection and warning device, detecting sensor group and the acceptance of signal transmitting device.
Described diagram plate read-out carries out information sharing, and Ship GPS detection and localization and telltale are accepted position information and shown simultaneously.
Analog quantity, Boolean value output sensor are put in the assembly of described anchoring sensor, the signal that analog sensor obtains is used for various quantitative calculating, the signal that Boolean value output sensor obtains is used for logic and judges, calculated signals and the judgement of coordinated control system by gathering confirms whether crane ship is in safe work state; This sensor group 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 for calculating the accommodation and changes.
Based on the above-mentioned control method of control system from the crane ship hoisting crane that navigates, the method is the hoist mechanism in self-propelled floating crane integral body, ballasting system, dispose respectively all kinds of suitable sensor groups in the anchoring system, 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 the metancenter with crane ship for the outer close loop control circuit of target overall row to be advanced in 3 parallel interior close loop control circuits in the safety zone scope of Stability of Ship and coordinate control, thereby form the feedback of many closed loops.
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, and output is carried out instruction to the actuating motor group after judging through calculating and logic, is applied to the controlled object crane steel structure, finishes hoisting function;
(3A) hoist mechanism state sensor group detects the hoisting crane state, feeds back to the output command of comparator and tuning controller relatively, produces departure, forms simultaneously closed loop feedback.
The close loop control circuit of described ballast control subsystem realizes by following steps:
Tuning controller sends instruction when (1B) automatically controlling, 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, calculates with the rear output of logic judgement and carries out instruction to motor-drive pump and hydraulic valve, is applied to piping and the water tank of ballast water, finishes ballast water regulation and control task;
(3B) the ballast pumping system state is detected by the level detection sensor group, feeds back to the output command of comparator and tuning controller relatively, produces departure, forms simultaneously closed loop feedback.
The close loop control circuit of described anchoring control subsystem realizes by following steps:
Tuning controller sends instruction when (1C) automatically controlling, 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, calculates with the rear output of logic judgement and carries out instruction to the actuating motor group, is applied to controlled object boats and ships energetically anchor and hull, finishes anchoring control function;
(3C) the anchoring positioning states is detected by the ship's fix detecting device, feeds back to the output command of comparator and tuning controller relatively, produces departure, forms simultaneously closed loop feedback.
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) information that detects 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 respectively lifting and is coordinated instruction, ballast coordination instruction, anchoring coordination instruction to 3 parallel interior close loop control circuits, finally forms the close loop control circuit that the crane ship stability is controlled automatically.
The present invention who obtains according to technique scheme can be so that the huge crane ship of full circle swinging that certainly navigates carries out safety guard-safeguard and Comprehensive Control by coordinating control; can carry out real-time Detection ﹠ Controling to the lifting process of weight, be of practical significance for the maloperation that prevents the staff.The basis of system take fieldbus as distributed control makes to have redundancy feature between the controller, and be 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 of control system operation, can make the lifting process more steady, all the time in the zone that stability allows, meaningful to the safety of boats and ships with the metancenter of guaranteeing boats and ships; The coordination Comprehensive Control of 3 sub-systems makes crane ship become an organic combination, thereby makes hoist mechanism bring into play better the hoisting function of weight, will obtain good effect aspect enhancing productivity and ensuring safety.The mode that microcontroller is combined with Industrial PC Computer, be conducive to carry 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 in advance unsafe condition, 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 to the marine operation process of the huge crane ship of full circle swinging that certainly navigates controlled reset, with this provide crane ship safety guard-safeguard and control in real time.The lifting that system consists of 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 Real Time Monitoring that weight lifts by crane process by tuning controller, 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 integrations of hoist mechanism, ballasting system, anchoring system of the huge crane ship of full circle swinging that will certainly navigate carry out Comprehensive Control and safety guard-safeguard in a system by coordinating the control principle.In the hoist mechanism of self-propelled floating crane integral body, ballasting system, anchoring system, dispose respectively all kinds of suitable sensor groups, make lifting control, ballast control, the anchoring control of self-propelled floating crane form 3 parallel closed loop feedback; Increase on this basis tuning controller; coherent signal to 3 sub-systems sensor group collections calculates; be controlled at take the metancenter with crane ship in the safety zone scope of Stability of Ship as target; use tuning controller that operation, the control of 3 sub-systems is exercised supervision with to set instruction given, finally play the safety protection control effect.
On the basis of technique scheme principle, implementation 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 coordinates control subsystem, lifting control subsystem, ballast control subsystem, anchoring control subsystem 4 sub-systems, and described coordination control subsystem is synthesized and coordinated control to lifting control subsystem, ballast control subsystem, anchoring control subsystem respectively by fieldbus.
Coordinating control subsystem forms by upper industry control PC 2 with as the real-time microcontroller 1 of core controller; Carry out the transmission of data message between PC 2 and the microcontroller 1, and realize externally control by microcontroller by fieldbus.
The lifting control subsystem comprises controls master controller group 3, microcontroller I4, Industry Control PC 5, state of the system detection display instrument 6, lift control and dual frequency converter group 16 thereof, luffing control and dual frequency converter group 17 thereof, revolution control and frequency converter group 18 thereof, mechanism's detection protection and warning device 19; 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.Control simultaneously master controller group 3 transmission control commands to microcontroller 4; microcontroller 4 detects protection and controls and received signal with lifting motor group 27, luffing group of motors 28, full circle swinging motor group 29 and lifting structure sensor group 30 in 19 pairs of crane steel structure of warning device by lift control and dual frequency converter group 16 thereof, luffing control and dual frequency converter group 17 thereof, revolution control and frequency converter group 18 thereof, mechanism respectively, realizes the coordination closed loop feedback control of lifting process.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, the liquid location display 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 34 in ballast chamber and the piping, 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 closed loop feedback control ﹠ monitor system.The liquid location display 15 is realized sharing of information simultaneously.
Described anchoring control subsystem comprises the given potential device group 7 of anchor signal, microcontroller 8, Industry Control PC 9, diagram detection display screen 11, accommodation display instrument 10, anchoring control and frequency converter group 20 thereof, anchoring detects detects transmitter 22 with 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, this controller is by the anchoring group of motors 31 on anchoring control and the frequency converter group 20 control hulls thereof, and detects with warning device 21, accommodation by anchoring and to detect the information realization closed loop feedback control ﹠ monitor that transmitter 22 is accepted on anchoring sensor groups 32 and the Ship GPS 33.Simultaneously diagram plate read-out 11 carries out information sharing, and accommodation display instrument 10 is accepted position information and shown simultaneously.
Dispose as required analog quantity, Boolean value output sensor from the huge crane ship sensor of full circle swinging that navigates simultaneously, the signal that analog sensor obtains is used for various quantitative calculating, the signal that Boolean value output sensor obtains is used for logic and judges, 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 detection, safe spacing and control action to the crane steel structure state, 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 for calculating 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:
It is maximum that the stability of boats and ships is subjected to the effect 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 analog quantity or the digital quantity input port of microcontroller 4, microcontroller 4 calculates and judges, the output category executive signal, be transferred to respectively lift control and dual frequency converter group 16 thereof 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 group 30, passes the signal to fieldbus by testing agency 19, offers microcontroller 1 and 4, display instrument 6 carries out information sharing, and the coordination closed loop feedback that finally forms the lifting process is controlled.
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 by microcontroller 1 instruction is passed to microcontroller 8 by fieldbus and microcontroller 13 is controlled.Automatically the implementation of control 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 analog quantity or the digital quantity input port of microcontroller 8, microcontroller 8 is by calculating and judging, the output executive signal, 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 group 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 anchoring closed loop feedback and controls.The accommodation signal is subject 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 simultaneously the effect of supervision.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, the output executive signal, 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, the liquid location display 15 carries out information sharing, and the formation closed loop feedback also plays the supervision effect.
The matching used closed loop control of a kind of and said system is controlled working process 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 Partial controll; 3 interior closed loops are respectively lifting control subsystem closed loop, ballast control subsystem closed loop, anchoring control subsystem closed loop; 1 outer closed loop is the coordinated control system closed loop; 3 interior closed loops form parallel control structure in the closed loop outside.
The hoisting crane of lifting Control 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 judge with logic after output carry out instruction to actuating motor group 204 (contain hoist, luffing and revolution drive the actuating motor group), be applied to controlled object crane steel structure 205, finish hoisting 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 simultaneously closed loop feedback.
For ballast Control loop subsystem, instruction is sent by comprehensive coordination controller 209 when automatically controlling, 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, calculate with the rear output of logic judgement and carry out instruction to motor-drive pump and hydraulic valve 213, be applied to piping and the water tank of ballast water, finish ballast water regulation 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 simultaneously closed loop feedback.
For anchoring Control loop subsystem, instruction is sent by comprehensive coordination controller 209 when automatically controlling, 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, calculate with the rear output of logic judgement and carry out instruction to actuating motor group 219, be applied to controlled object boats and ships energetically anchor and hull, finish anchoring control 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 simultaneously closed loop feedback.
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 jointly be input to the Stability of Ship machine 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 respectively lifting and is coordinated instruction, ballast is coordinated instruction, anchoring is coordinated instruction to 3 interior control loops, finally forms the crane ship stability and automatically controls (outward) closed loop.The control algorithm of controller 209,203,212 and 218 computing optimizations will play for the stability control of crane ship system very important effect.
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 above-described embodiment 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 (1)
1. one kind from navigating the control system of crane ship hoisting crane, it is characterized in that, be certainly to navigate 3 control system integrations of hoist mechanism, ballasting system, anchoring system of the huge crane ship of full circle swinging in a system, carry out Comprehensive Control and safety guard-safeguard by coordinating the control principle; In the hoist mechanism of self-propelled floating crane integral body, ballasting system, anchoring system, dispose respectively all kinds of suitable sensor groups, make lifting control, ballast control, the anchoring control of self-propelled floating crane form 3 parallel closed loop feedback; Increase on this basis tuning controller, coherent signal to 3 sub-systems sensor group collections calculates, be controlled at take the metancenter with crane ship in the safety zone scope of Stability of Ship as target, use tuning controller that operation, the control of 3 sub-systems is exercised supervision and to set instruction given, finally play the safety protection control effect;
Described control system comprises coordinates control subsystem, lifting control subsystem, ballast control subsystem, anchoring control subsystem 4 sub-systems, and described coordination control subsystem is synthesized and coordinated control to lifting control subsystem, ballast control subsystem, anchoring control subsystem respectively by fieldbus;
Coordinating control subsystem forms by the industry control PC with as the real-time microcontroller of core controller; Carry out the transmission of data message between industry control PC and the microcontroller, and realize externally control by microcontroller by fieldbus;
The lifting control subsystem comprises controls master controller group, microcontroller I, industry control PC, state of the system detection display instrument, lift control and dual frequency converter group thereof, luffing control and dual frequency converter group thereof, revolution control and frequency converter group thereof, mechanism's detection protection and warning device, 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; Control simultaneously master controller group transmission control command to microcontroller, microcontroller detects protection and with warning device the lifting motor group in the crane steel structure, luffing group of motors, full circle swinging motor group and hoist mechanism state sensor group is controlled and received signal by lift control and dual frequency converter group thereof, luffing control and dual frequency converter group thereof, revolution control and frequency converter group thereof, mechanism respectively, realizes the coordination closed loop feedback control of lifting process; Described state of the system detection display instrument realizes sharing of information;
The ballast control subsystem comprises that ballast pump and hydraulic pressure feed valve master cock group, microcontroller, industry control PC, the liquid location display, pump motor control and soft starter group thereof, fluid pressure drive device, liquid level detect and fender guard, connect by fieldbus between the equipment, can realize the bi-directional of information; This master cock group reaches microcontroller with control command, this controller will be controlled and received signal 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, liquid level detection and fender guard according to order, form a closed loop feedback control ﹠ monitor system; The liquid location display is realized sharing of information simultaneously;
Described anchoring control subsystem comprises the given potential device group of anchor signal, microcontroller, industry control PC, diagram detection display screen, accommodation display instrument, anchoring control and frequency converter group, anchoring detection and warning device, accommodation detection transmitter, connect by fieldbus between the equipment, can realize the bi-directional of information; This given potential device group reaches microcontroller with anchor signal, this controller is by the anchoring group of motors on anchoring control and the frequency converter group control hull thereof, and detects transmitter accept to anchor information realization closed loop feedback control ﹠ monitor on sensor group and the Ship GPS by anchoring detection and warning device, accommodation; Simultaneously diagram plate read-out carries out information sharing, and the accommodation display instrument is accepted position information and shown simultaneously;
Dispose as required analog quantity, Boolean value output sensor from the huge crane ship sensor of full circle swinging that navigates simultaneously, the signal that analog sensor obtains is used for various quantitative calculating, the signal that Boolean value output sensor obtains is used for logic and judges, 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 detection, safe spacing and control action to the crane steel structure state, 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 for calculating the accommodation and changes; Whole detected parameters can calculate the metacentric position of crane ship;
It is maximum that the stability of boats and ships is subjected to the effect of hoist mechanism, anchoring mechanism and ballast pumping system in the lifting process of the huge crane ship of boat full circle swinging; Hoisting crane is controlled personnel and is sent the instruction of controlling to hoisting crane by the master controller group, this instruction is input to microcontroller through analog quantity or the digital quantity input port of microcontroller, microcontroller calculates and judges, the output category executive signal, be transferred to respectively lift control and dual frequency converter group, luffing control and dual frequency converter group thereof, revolution control and frequency converter group thereof by fieldbus, control lifting motor group, luffing group of motors, the work of full circle swinging motor group of huge crane ship, change crane job state, finish the lifting task; Executed in parallel motor in the full circle swinging motor group is wherein implemented synchronized operation by synchronizing signal; The state of hoist mechanism is detected by hoist mechanism state sensor group, be sent to fieldbus by testing agency's executive signal of will classifying, offer microcontroller, state of the system detection display instrument is carried out information sharing, finally forms the coordination closed loop feedback control of lifting process;
Depend on the setting of industry control PC, 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 the industry control PC, and ballast requires and can set by the industry control PC; By microcontroller instruction being passed to microcontroller by fieldbus by the signal demand of industry control PC setting controls; Automatically the implementation of control is with manually control is similar;
When control system is in manual state; The anchoring positioning signal is sent by given potential device group, this anchoring positioning signal is input to microcontroller by analog quantity or the digital quantity input port of microcontroller, microcontroller is by calculating and judging, the output executive signal, be transferred to anchoring control and frequency converter group thereof by fieldbus, the operation 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 group, being input to anchoring detects and warning device, anchoring detects with warning device executive signal is sent to fieldbus, offers microcontroller, diagram plate read-out carries out information sharing, forms the control of anchoring closed loop feedback; The accommodation signal is subject to the supervision of Ship GPS position fixing system, the accommodation signal by the Ship GPS unit inspection to, be sent to fieldbus, offer microcontroller, accommodation display instrument and share, form closed loop feedback, play simultaneously the effect of supervision; When control system is in manual state, the ballast control signal is sent by the master cock group, this ballast control signal is input to microcontroller through the digital quantity input port of microcontroller, microcontroller is through calculating and judging, the output executive signal, be transferred to pump motor control and soft starter group thereof by fieldbus, the operation of control pump motor group; By the Fieldbus Control fluid pressure drive device, control the Push And Release of feed valve 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 the water level detector group, sends liquid level to and detects and fender guard, is sent to fieldbus, offers microcontroller, the liquid location display carries out information sharing, forms closed loop feedback and also plays the supervision effect;
The control of control system forms 1 outer closed loop of 3 walk abreast interior closed loop and overall coordination controls of Partial controll; 3 interior closed loops are respectively lifting control subsystem closed loop, ballast control subsystem closed loop, anchoring control subsystem closed loop; 1 outer closed loop is the coordinated control system closed loop; 3 interior closed loops form parallel control structure in the closed loop outside;
The hoisting crane of lifting Control loop subsystem is controlled instruction and is sent by the master controller group, be input to microcontroller, microcontroller receives the output command of comprehensive coordination controller simultaneously, carry out instruction to the actuating motor group through output after calculating and the logic judgement, be applied to the controlled object crane steel structure, finish hoisting function; Hoist mechanism state sensor group detects the hoisting crane state, feeds back to comparator and compares with the output command of synthesizing and coordinating controller, produces departure, forms simultaneously closed loop feedback;
For ballast Control loop subsystem, instruction is sent by the comprehensive coordination controller when automatically controlling, instruction is sent by the master cock group when manually controlling, be input to microcontroller, microcontroller receives the output command of comprehensive coordination controller simultaneously, calculate with the rear output of logic judgement and carry out instruction to motor-drive pump and hydraulic valve, be applied to piping and the water tank of ballast water, finish ballast water regulation and control task; The ballast pumping system state is detected by the level detection sensor group, feeds back to comparator and compares with the output command of synthesizing and coordinating controller, produces departure, forms simultaneously closed loop feedback;
For anchoring Control loop subsystem, instruction is sent by the comprehensive coordination controller when automatically controlling, instruction is sent by the given potential device group of anchor signal when manually controlling, be input to microcontroller, microcontroller receives the output command of comprehensive coordination controller simultaneously, calculate with the rear output of logic judgement and carry out instruction to the actuating motor group, be applied to controlled object boats and ships energetically anchor and hull, finish anchoring control function; The anchoring positioning states is detected by the ship's fix detecting device, feeds back to comparator and compares with the output command of synthesizing and coordinating controller, produces departure, forms simultaneously closed loop feedback;
For outer closed loop, detect the hoisting crane state by hoist mechanism state sensor group, ballast pumping system level detection sensor group detects ballasted condition, anchoring positioning states detecting device detects position of ship, and jointly be input to the Stability of Ship calculating unit and calculate, the output of Stability of Ship calculating unit feeds back to comparing unit, relatively produce deviation with the stability given state, be input to the comprehensive coordination controller, the comprehensive coordination controller is exported respectively lifting and is coordinated instruction, ballast is coordinated instruction, anchoring is coordinated instruction to 3 interior control loops, finally forms the automatically outer closed loop of control of crane ship stability.
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| CN 200810043840 CN101704477B (en) | 2008-10-14 | 2008-10-14 | Control system of self-propelled full-swinging floatingcrane crane and control method thereof |
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| CN 200810043840 CN101704477B (en) | 2008-10-14 | 2008-10-14 | Control system of self-propelled full-swinging floatingcrane crane and control method thereof |
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| CN102241371B (en) * | 2011-03-31 | 2013-07-17 | 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 |
| CN104885024B (en) * | 2012-12-12 | 2017-10-13 | 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 |
| CN104528529B (en) * | 2014-12-22 | 2017-05-17 | 武汉船用机械有限责任公司 | Control system for automatic operation of marine crane |
| CN104930000B (en) * | 2015-05-22 | 2017-09-19 | 南通中远船务工程有限公司 | A kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system |
| 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 |
| 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 |
| 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 |
| 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 |
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