CN105607488B - Identical tension highline sea self adaptive control make-up system and replenishing method - Google Patents
Identical tension highline sea self adaptive control make-up system and replenishing method Download PDFInfo
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- CN105607488B CN105607488B CN201610183512.5A CN201610183512A CN105607488B CN 105607488 B CN105607488 B CN 105607488B CN 201610183512 A CN201610183512 A CN 201610183512A CN 105607488 B CN105607488 B CN 105607488B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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Abstract
The present invention provides a kind of identical tension highline sea self adaptive control make-up system and replenishing method, and system includes identical tension highline seaborne supply subsystem and identical tension highline sea self adaptive control subsystem；Identical tension highline sea self adaptive control subsystem realizes hoisting device (7) in tender and receives to move between ship for indexing winch (3), interior index winch (4), highline winch (5) and wave compensating device (6) action outside drive control.Advantage is：(1) highline uses identical tension self adaptive control, and supply process is not required to manually participate in, and reduces cargo and is vibrated on cableway, improves supply efficiency.(2) compensation of undulation, the double-closed-loop control for keeping highline constant tension are carried out to highline using compensation of undulation technology, compensates the relative motion of two ships；Ensure that cargo is safely and smoothly lifted by crane and landed under the conditions of Ship Swaying, prevent cargo from mutually being collided with operation ship between decks.
Description
Technical field
The invention belongs to seaborne supply technical fields, and in particular to a kind of identical tension highline sea self adaptive control supply
System and replenishing method.
Background technology
With progressively going deep into for ocean development strategy, since many factors such as harbour, navigation channel, sea situation limit, ship is past
It pulls in shore to feed toward that cannot approach, therefore, it is necessary to carry out seaborne supply to naval vessel, ocean platform, so as to extend naval vessel endurance.
Seaborne supply refers to：Marine material supply is carried out to receiving ship using the device for supplying on tender, is replenished in time
It is standby to receive the material storages such as food, fuel oil, fresh water, spare part, the material needed for ship, extension receives ship afloat residence time and work
Dynamic scope meets large-scale offshore activities for a long time.
China's seaborne supply originates in the research starting evening in the 1980s, seaborne supply technology, but foreign
Supply technology, quickly grows.Initial supply scope is only limitted to liquid goods, such as fuel oil and fresh water liquid.By nearly 10 years
Continuous exploration and practice, on the basis of foreign advanced technology, the seaborne supply technology of the nineties obtained it is considerable into
Step, realizes horizontal, longitudinal and vertical comprehensive three-dimensional supply pattern, and supply scope expands to food, ammunition, goods and materials etc.
Dried food and nuts is fed, and feeding distance is also to long-range development.
However, in the implementation of the present invention, inventor has found, the prior art has at least the following problems：
, it is necessary to make tender and receive the feeding distance that ship keeps safety in seaborne supply operation process is carried out, however,
It is influenced be subject to factors such as marine environment and device for supplying, can cause two ships that relative motion occurs, lost so as to cause replenishment operation
It loses.In addition, the automatization level of existing seaborne supply technology is not high, supply process needs manually to participate in complete, supply effect
Rate is low.
The content of the invention
In view of the defects existing in the prior art, the present invention provides a kind of identical tension highline sea self adaptive control supply system
System and replenishing method, can effectively solve the above problems.
The technical solution adopted by the present invention is as follows：
The present invention provides a kind of identical tension highline sea self adaptive control make-up system, including：Identical tension highline sea
Upper supply subsystem and identical tension highline sea self adaptive control subsystem；
The identical tension highline seaborne supply subsystem includes the 1st support column (1), the 2nd support column (2), outer index and twists
Vehicle (3), interior index winch (4), highline winch (5), wave compensating device (6), leading block group and hoisting device (7)；
Wherein, the outer index winch (3), the interior index winch (4), the highline winch (5), the wave are mended
It repays device (6) and the 1st support column (1) is arranged in tender, the 2nd support column (2), which is arranged in, receives ship；It is described to hang
Vehicle device (7) is arranged between the 1st support column (1) and the 2nd support column (2)；
The leading block group includes the 1st leading block (8-1), the 2nd leading block (8-2), the 3rd leading block (8-3)
With the 4th leading block (8-4)；1st leading block (8-1), the 2nd leading block (8-2) and the 3rd leading block
(8-3) presses from top to bottom direction, is in turn secured to the top of the 1st support column (1)；4th leading block (8-4) is fixed
In the 2nd support column (2)；
The outboard guy (9) of the outer index winch (3) is oriented to successively around the 1st leading block (8-1) and the described 4th
After pulley (8-4), the 1st fixing end (7-1) fixed to the hoisting device (7)；The inhaul line of the interior index winch (4)
(10) after bypassing the 3rd leading block (8-3), the 2nd fixing end (7-2) fixed to the hoisting device (7)；It is described overhead
The highline (11) of rope winch (5) successively around the wave compensating device (6), the 2nd leading block (8-2), described hang
After 3rd fixing end (7-3) of vehicle device (7), on the supporting rack fixed to the 4th leading block (8-4)；
The identical tension highline sea self adaptive control subsystem is for outer index winch (3), institute described in drive control
Interior index winch (4), the highline winch (5) and the wave compensating device (6) action are stated, and then realizes hoisting device
(7) in tender and receive to move between ship.
Preferably, the outer index winch (3), the interior index winch (4) and the highline winch (5) include volume
Raise machine, servo-driver, servomotor and winch attachment device；The servomotor by the servo-driver with it is described
Hoist engine links；
Wherein, the winch attachment device includes click fastening device, brake, clutch and rope processing device.
Preferably, the wave compensating device (6) is hydraulic servo oil cylinder, and the hydraulic servo oil cylinder includes telescopic rod,
The highline drawn from the highline winch (5) passes through the top of the telescopic rod, then further around excessively described 2nd leading block
After 3rd fixing end (7-3) of (8-2), the hoisting device (7), on the supporting rack fixed to the 4th leading block (8-4)；
When the telescopic rod of the hydraulic servo oil cylinder carries out stretching motion, the highline can be driven to synchronize movement, and then adjusted
The tension value of the whole highline.
Preferably, the identical tension highline sea self adaptive control subsystem includes kinetic control system, power-supply system
And detecting system；The kinetic control system is connected respectively with the power-supply system and the detecting system.
Preferably, the detecting system includes：
Highline tension sensor, for detecting the tension value of highline；
Highline reel shaft encoder, for detecting the length of highline and velocity amplitude；
Outboard guy reel shaft encoder, for detecting the length of outboard guy and velocity amplitude；
Inhaul line reel shaft encoder, for detecting the length of inhaul line and velocity amplitude；
Servo-cylinder stroke detector, for detecting the actual flexible stroke value of servo-cylinder；
Ship lifts acceleration transducer, for detecting the elevating movement state of hull；
Brake open/close state detection device, clutch open/close state detection device, click fastening device ON/OFF
Condition detecting device.
Preferably, the kinetic control system uses the common DC bus driver of multijoint control, including：Arteries and veins rectifier transformer
Device, rectifier, inverter, brake unit, braking resistor and dc bus；
The input terminal of the rectifier is connected to power grid by the arteries and veins rectifier transformer；The output terminal of the rectifier is simultaneously
It is linked to dc bus；
The dc bus is also parallel-connected to one end of the inverter, and the other end of the inverter is used for and motor
Frequency converter connects；
The dc bus is also parallel-connected to one end of the brake unit, the other end of the brake unit with it is described
Braking resistor connects.
Preferably, the setting quantity of the inverter is 4, is respectively the 1st inverter, the 2nd inverter, the 3rd inverter
With the 4th inverter；One end of 1st inverter is connected with the dc bus, the other end of the 1st inverter with it is overhead
Rope winch frequency converter connects；One end of 2nd inverter is connected with the dc bus, the other end of the 2nd inverter
It is connected with outer index winch frequency converter；One end of 3rd inverter is connected with the dc bus, the 2nd inverter
The other end is connected with interior index winch frequency converter；One end of 4th inverter is connected with the dc bus, and the described 4th is inverse
The other end for becoming device is connected with hauling winch frequency converter.
Preferably, further include：Cargo automatic feeding system；The cargo automatic feeding system include automated storage and retrieval system,
Elevator (13) and delivery vehicle (14)；
Wherein, the automated storage and retrieval system includes：Storied 3-D shelf, cargo access arrangement, go out to be put in storage conveying equipment with
And warehouse control system；
The storied 3-D shelf are for storing the shelf of cargo, including unit shelf, movable goods shelf and selection formula storehouse
Storehouse；
The cargo access arrangement is for shuttling between shelf into the equipment of line access cargo；
It is described to go out to be put in storage conveying equipment as cooperation shipment, the setting of transmitting-receiving operation, for placing goods onto cargo access
Equipment, alternatively, taking out cargo from cargo access arrangement and being transferred to the storied 3-D shelf.
The present invention also provides a kind of identical tension highline sea self adaptive control replenishing methods, comprise the following steps：
Step 1, system electrification initializes and carries out System self-test automatically；
Step 2, the action of tender automated storage and retrieval system is controlled, makes supply ship cargo access arrangement automatically from storied 3-D goods
The supply cargo that the correspondence position taking-up of frame need to be fed, and cargo transport will be fed to positioned at tender elevator (13) inside
On delivery vehicle (14)；
Step 3, tender elevator (13) is controlled to carry out ascending motion, makes tender elevator (13) by delivery vehicle (14)
Promote the position pre-established；Meanwhile control receives the reception cargo location that ship elevator (13) arrival pre-establishes；
Step 4, after the delivery vehicle (14) on tender elevator is fixed to hoisting device (7), indexed outside automatic start
Winch (3), interior index winch (4), highline winch (5) and wave compensating device (6)；Wherein, number is preset according to system
Winch (3) is indexed outside model cootrol to be operated under traction mode, and interior index winch (4) is controlled to be operated under identical tension pattern,
Control highline winch (5) coordinates wave compensating device (6) to be operated under identical tension pattern, finally realizes that delivery vehicle (14) is fast
Speed, steady, safety slave tender are transmitted to ship is received；
Step 5, delivery vehicle (14) from tender in receiving ship transmission process, by outboard guy (9) and inhaul line
(10) detection of length judges whether delivery vehicle (14) is sent to and receives ship, if cargo arrival receives the pre-establishing at position of ship,
Cargo in delivery vehicle (14) is then unloaded to the inside for receiving ship elevator automatically, then, control receives the progress of ship elevator
Descending motion makes to receive ship elevator and cargo decline is transported to the position pre-established；
Control receives the action of ship automated storage and retrieval system, and reception ship cargo access arrangement is made to remove cargo from elevator automatically,
And it is transported to the correspondence position for receiving height layer stereo storage rack.
Preferably, in step 4, control highline winch (5) coordinates wave compensating device (6) to be operated in identical tension pattern
Under, it is specially：
Step 4.1, highline length set-point is set, highline length set-point is constant；Set overhead rope tensility to
Definite value, highline given tension value are constant；
Step 4.2, highline actual (tube) length angle value is detected in real time；Acceleration transducer is lifted by ship in real time and obtains ship
Real time position deviation；
Forward direction input of the highline length set-point as the 1st comparator, highline actual (tube) length angle value is as the 1st comparator
Negative sense input, ship real time position deviation as the 1st comparator forward direction input, the 1st comparator to it is each input transport
After calculation, the output valve of the 1st comparator is input to the 1st highline PID, after computing, is input to the positive input of the 2nd comparator,
Meanwhile the highline actual tension value that highline tension sensor detects is inputted as the negative sense of the 2nd comparator, highline
Forward direction input of the power set-point as the 2nd comparator；The 2nd highline PID is input to after the 2nd comparator computing；
Forward direction input of the output of 2nd highline PID as the 3rd comparator, ship lifting acceleration transducer are obtained
Forward direction input of the ship real time position deviation as the 3rd comparator, the output action of the 3rd comparator drives in highline servo
Dynamic device, and then highline winch velocity of rotation and rotation direction are adjusted, realize highline identical tension；
Or：
Control highline winch (5) coordinates wave compensating device (6) to be operated under identical tension pattern, is specially：
Step 4.a, control system obtain highline actual tension value in real time, and judge whether highline actual tension value surpasses
Go out to set tension range, if it is, performing step 4.b；
Step 4.b, according to the flexible stroke of preset mathematical model control servo-cylinder, servo-cylinder is adjusted to one
Grade compensation, and during control servo-cylinder stretches stroke, whether the following two conditions of real-time judge occur, when generation item
During part 1, step 4.c is performed；When occurrence condition 2, terminate this flow；
Condition 1：Servo-cylinder stroke is beyond setting stroke range；
Condition 2, highline actual tension value are located within setting tension range；
Step 4.c stops servo-cylinder Traffic control system, highline winch is controlled, highline winch is adjusted to two
Grade compensation, specific control method are：
System controls the direction of highline winch, speed, acceleration and pulling force according to mathematical model is preset,
Whether the following two conditions of real-time judge occur, and when occurrence condition 3, perform step 4.d；When occurrence condition 4, terminate this stream
Journey；
Condition 3, highline length is beyond allowed band；
Condition 4, overhead rope tensility recover adjustment in setting tension range；
Step 4.d at this point, system adjust automatically could not reach requirement and beyond adjust automatically scope, is then switched to manually
Adjustment modes are adjusted by operator by fine motion method, until overhead rope tensility is made to recover adjustment in setting tension range.
Self adaptive control make-up system in identical tension highline sea provided by the invention and replenishing method have following excellent
Point：
(1) highline uses identical tension self adaptive control, and supply process is not required to manually participate in, and reduces cargo on cableway
Vibration improves supply efficiency.
(2) tender and receive between ship to improve the ability for adapting to severe sea condition using Collaborative Control during supply.
(3) compensation of undulation carried out to highline using compensation of undulation technology and tonometry feedback control technology, keep high
The constant double-closed-loop control of frame rope tensility compensates the relative motion of two ships；Ensure that cargo is safe under the conditions of Ship Swaying, steady
Ground lifts by crane and lands, and prevents cargo from mutually being collided with operation ship between decks.
Description of the drawings
Fig. 1 is the overall structure diagram of self adaptive control make-up system in identical tension highline sea provided by the invention；
Fig. 2 is the structure diagram of self adaptive control subsystem in identical tension highline sea provided by the invention；
Fig. 3 is outer pulling winch constant tensile control mathematical modeling principles block diagram provided by the invention；
Fig. 4 is interior pulling winch constant tensile control mathematical modeling principles block diagram provided by the invention；
Fig. 5 is highline winch constant tensile control mathematical modeling principles block diagram provided by the invention；
Fig. 6 is active wave compensation system functional block diagram provided by the invention；
Fig. 7 is kinetic control system Common DC Profibus Control System line chart provided by the invention；
Fig. 8 is the structure diagram of automated storage and retrieval system provided by the invention；
Fig. 9 is the flow diagram of self adaptive control replenishing method in identical tension highline sea provided by the invention.
Specific embodiment
In order to which technical problem solved by the invention, technical solution and advantageous effect is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
Seaborne supply is the important logistics support of ocean naval vessel, ocean platform, and world Navy all pays much attention to sea
Supply technology becomes and determines it is ocean platform work and the key factor of naval vessel endurance.The object of the present invention is to provide one kind
Identical tension highline sea self adaptive control make-up system, automatization level, the supply efficiency of ship-lifting seaborne supply equipment
And work capacity of the highline supply equipment under severe sea condition, so as to improve China's seaborne resupply capability and technology water comprehensively
It is flat, fill up the blank in China seaborne supply adaptive control technology field.
Specifically, existing seaborne supply system there are the problem of include：
(1) automatization level of seaborne supply technology is not high, and supply process needs manually to participate in complete, and feeds efficiency
It is low.
(2) the winch quantity needed for seaborne supply system is more, and the ship for receiving supply is in passive state, and tender is with receiving
There is no Collaborative Control between ship during supply, adapt to the energy force difference of severe sea condition.
(3) compensation of undulation application technology is lacked, pulling winch cannot compensate the relative motion of two ships.
(4) without using identical tension highline adaptive control technology, not possessing and sending and receiving end cargo automatic loading and unloading
Ability.
With reference to Fig. 1, show for the overall structure of self adaptive control make-up system in identical tension highline sea provided by the invention
It is intended to, including：Identical tension highline seaborne supply subsystem and identical tension highline sea self adaptive control subsystem.
(1) identical tension highline seaborne supply subsystem
Identical tension highline seaborne supply subsystem includes the 1st support column 1, the 2nd support column 2, outer index winch 3, interior rope
Draw winch 4, highline winch 5, wave compensating device 6, leading block group and hoisting device 7；
Wherein, outer index winch 3, interior index winch 4, highline winch 5,6 and the 1st support column 1 of wave compensating device are equal
Tender is arranged in, the 2nd support column 2, which is arranged in, receives ship；Hoisting device 7 be arranged in the 1st support column 1 and the 2nd support column 2 it
Between；
Leading block group includes the 1st leading block 8-1, the 2nd leading block 8-2, the 3rd leading block 8-3 and the 4th and is oriented to cunning
Take turns 8-4；1st leading block 8-1, the 2nd leading block 8-2 and the 3rd leading block 8-3 are in turn secured to by from top to bottom direction
The top of 1st support column 1；4th leading block 8-4 is fixed on the 2nd support column 2；
The outboard guy 9 of outer index winch 3 is successively around after the 1st leading block 8-1 and the 4th leading block 8-4, fixed to hanging
1st fixing end 7-1 of vehicle device 7；The inhaul line 10 of interior index winch 4 fills around after the 3rd leading block 8-3 fixed to crane
Put 7 the 2nd fixing end 7-2；The highline 11 of highline winch 5 successively around wave compensating device 6, the 2nd leading block 8-2,
After 3rd fixing end 7-3 of hoisting device 7, on the supporting rack fixed to the 4th leading block 8-4.
(2) identical tension highline sea self adaptive control subsystem
Identical tension highline sea self adaptive control subsystem for index outside drive control winch 3, interior index winch 4,
Highline winch 5 and wave compensating device 6 act, and then realize that hoisting device 7 in tender and receives to move between ship.Perseverance
Power highline sea self adaptive control subsystem includes kinetic control system, power-supply system and detecting system；Kinetic control system
It is connected respectively with power-supply system and detecting system.Identical tension highline sea self adaptive control subsystem block diagram as shown in Fig. 2,
Cores of the CPU as control system controls outer index winch, interior pulling winch, highline winch, servo-cylinder, automatic stored
Other auxiliary systems such as system, hydraulic pressure and gas pressure station system, elevator；Simultaneously CPU acquisition process servo-cylinders stroke, tension,
The signal of other auxiliary systems of length and system.
(1) winch 3, interior index winch 4 and highline winch 5 and servo-driver are indexed outside
Outer index winch 3, interior index winch 4 and highline winch 5 include hoist engine, servo-driver, servomotor
And winch attachment device；Servomotor is linked by servo-driver and hoist engine；Winch attachment device includes click
Fastening device, brake, clutch and rope processing device.
(1.1) servo-driver
Servo-driver, dynamic characteristic are high, and the balance of driving force and dynamic characteristic reaches optimum state, volume compact,
With it is high-grade protect, the structure of durable design bearing and anti-vibration.Servomotor had both made to be still in the presence of a harsh environment
Preferable solution.The KTY84 temperature sensors being internally integrated can Additional Protection servomotor insulation winding.Permanent magnetic servo electricity
Machine utilizes newest magnet technology, has higher efficiency than traditional three phase electric machine, when servomotor speed governing does not have excitation damage
Consumption.
Servo drive system torque control performance parameter：Controller cycle period be 125 μ s, total acceleration time 0.5ms,
Frequency range is 650Hz, torque ripple 0.6%, torque precision ± 1.5%.
Servo drive system speed control performance parameter：Controller cycle period be 125 μ s, total acceleration time 2.3ms,
Frequency range is 250Hz, velocity perturbation 0.5%, velocity accuracy≤0.001%.
Servo drive system harmonic wave：THD (I) ＜ 2.6%, THD (V) ＜ 2.3%, THD (Total) ＜ 5%.
(1.2) outer pulling winch
Outer pulling winch is the constant tensile control winch of servo-drive, possesses constant tensile control function, by servo-driver
It is driven with servomotor.When transmitting cargo, outer pulling winch is actively drawn, and transfer bogie is pulled to be moved from tender to ship is received
It is dynamic；During backhaul, outer pulling winch is operated in constant tensile control pattern, keeps outer hauling rope constant tension.
Outer pulling winch constant tensile control mathematical modeling principles block diagram is as shown in 3 figures：CPU presets mathematics according to system
The outer pulling winch of model cootrol, makes it be operated under traction mode or identical tension pattern, CPU passes through control according to different operating modes
Direction, speed and the acceleration of the outer pulling winch of Serve Motor Control ensure quick, steady, safety the transmission of cargo.
(1.3) interior pulling winch
Interior pulling winch is the constant tensile control winch of servo-drive, possesses constant tensile control function, by servo-driver
It is driven with servomotor.When transmitting cargo, interior pulling winch is operated in constant tensile control pattern, it is ensured that interior traction rope tensility is permanent
It is fixed；During backhaul, interior pulling winch is actively drawn, and trolley is pulled to be drawn to from ship is received on tender.
Interior pulling winch constant tensile control mathematical modeling principles block diagram is as shown in 4 figures：CPU presets mathematics according to system
Pulling winch in model cootrol makes it be operated under traction mode or identical tension pattern, and CPU passes through control according to different operating modes
Servomotor controls the direction of winch, speed, acceleration and pulling force, ensures quick, steady, safety the transmission of cargo.
As it can be seen that inside and outside pulling winch is provided with identical tension function：When transmitting cargo, interior pulling winch implements identical tension control
System, the adjustment amount that the CPU based on motion control is calculated output a control signal to servo-driver, to adjust interior pulling winch electricity
Machine torque limit input value.After outer pulling winch starts, pulling winch brake in interlocking release, interior pulling winch is i.e. at this
It is run in torque limit pattern, when external force is less than torque limit value, interior pulling winch rotates forward electronic take-up, and cable tension, which reaches, to be turned
Motor carries out position servo state when square adjusts valley；When external force is more than torque limit value, interior winch inverts automatic cable laying, steel
Rope tensility reaches motor when peak value is adjusted in torque and carries out position servo state, realizes constant tensile control.
During backhaul, outer pulling winch implements constant tensile control, the adjustment amount output control that the CPU based on motion control is calculated
Signal processed is to servo-driver, to adjust outer pulling winch motor torque limitation input value.After interior pulling winch starts, interlocking
Outer pulling winch brake is unclamped, outer pulling winch is run in the torque limit pattern, when external force is less than torque limit value,
Outer pulling winch rotates forward electronic take-up, and cable tension reaches motor in-position servo condition when valley is adjusted in torque；When outer
Power is more than torque limit value, and outer winch inverts automatic cable laying, and cable tension reaches motor in-position when peak value is adjusted in torque
Servo condition realizes constant tensile control.
(1.4) highline winch
Highline winch constant tensile control mathematical modeling principles block diagram is as shown in 5 figures：CPU presets mathematics according to system
Model coordinates servo-cylinder, it is made to be operated under identical tension pattern, specifically：CPU is to detecting length, the highline of highline
Speed, the elevating movement state of hull, highline tension value calculated, according to different operating modes by controlling servomotor control
Direction, speed, acceleration and the pulling force of winch processed ensure that overhead rope tensility is maintained in setting range.
(2) wave compensating device
Highline compensation of undulation uses double-closed-loop control, possesses constant tensile control function, is watched by highline winch with hydraulic pressure
It takes oil cylinder collaborative work and compensates action, two compensation mechanisms are uniformly controlled by driving and control system, ensure that highline begins
Constant-tension state is in eventually.
Wave compensating device includes passive compensation of undulation and active compensation of undulation two parts.Wherein, hydraulic servo oil cylinder is
Inner ring controls, its main feature is that being swift in response, compensation magnitude is small；Highline winch controls for outer shroud, its main feature is that reaction lags, but
Compensation magnitude is big, is mainly used for increasing compensation magnitude, ensures job safety.
(2.1) passive compensation of undulation
Passive compensation of undulation is included telescopic rod, is drawn from highline winch 5 using hydraulic servo oil cylinder, hydraulic servo oil cylinder
Highline pass through telescopic rod top, then further around cross the 2nd leading block 8-2, hoisting device 7 the 3rd fixing end 7-3 after,
On supporting rack fixed to the 4th leading block 8-4；When the telescopic rod of hydraulic servo oil cylinder carries out stretching motion, height can be driven
Frame rope synchronizes movement, and then adjusts the tension value of highline.
Its operation principle is：Hydraulic servo oil cylinder is passive compensation of undulation, when tension value is more than setting range on hawser,
Hydraulic servo oil cylinder carries out flexible stroke adjustment according to setting program, and which system response ratio is very fast but compensation range is limited,
So the compensation of undulation mode can both ensure normal safety for the situation that sea situation is relatively good and highline tension variation is little
Replenishment operation, and energy conservation and environmental protection.
(2.2) active compensation of undulation
Active wave compensation system based on fully integrated motion control is for sea situation to be poor or highline tension variation ratio
In the case of larger.Its system principle diagram is as shown in Figure 6
In active wave compensation system based on fully integrated motion control, niggerhead shaft encoder, ship lifting accelerate
Sensor, tension sensor are spent respectively by the length of highline, the speed of highline, the elevating movement state of hull, highline
The data such as tension value are sent in the CPU of motion controller in real time, and highline actual tension value and setting is obtained by calculation in CPU
Since wave causes hull to lift the deviation to be formed, above-mentioned data after CPU calculation process export control signal control and twist value
Rotating speed, direction and the torque value of vehicle motor, it is final to control winch take-up and cable laying, realize active compensation of undulation.System uses PID
Feedforward control, the response speed of routing motion control system CPU Microsecond grades quickly accurately output signals to servo-driver, control
Winch take-up processed and payout operation.
(3) detecting system
Detecting system includes：
Highline tension sensor, for detecting the tension value of highline；
Highline reel shaft encoder, for detecting the length of highline and velocity amplitude；
Outboard guy reel shaft encoder, for detecting the length of outboard guy and velocity amplitude；
Inhaul line reel shaft encoder, for detecting the length of inhaul line and velocity amplitude；
Servo-cylinder stroke detector, for detecting the actual flexible stroke value of servo-cylinder；
Ship lifts acceleration transducer, for detecting the elevating movement state of hull；
Brake open/close state detection device, clutch open/close state detection device, click fastening device ON/OFF
Condition detecting device.
Wherein, for brake, high speed grade brake, pneumatic water-cooled dynamic brake can be used, therefore, can match somebody with somebody simultaneously
Put bleed pressure sensor, the cooling water pressure force snesor of pneumatic water-cooled dynamic brake of pneumatic water-cooled dynamic brake
With the cooling-water temperature sensor of pneumatic water-cooled dynamic brake.
Pull-cord is detected by tension sensor and is tensioned the tension value of hawser；Encoder measures the speed and length of hawser
Degree；Close to switch detection brake, click open/close position；The sensor signal of reserved hydraulic station and pneumatic system
Interface, the information such as acquisition pressure, temperature, liquid level, flow, by the information collected by handling, is shown and is recorded, be more than
Setting value alert is simultaneously protected.
(4) kinetic control system
The present invention devises kinetic control system for multi-shaft interlocked, by motion control, logic control and technology controlling and process work(
Can be integrated, provide total solution for multiaxis compound movement.The motion control of highline device for supplying is complicated, to speed
The requirement of degree and precision is very high, and kinetic control system of the invention solves the compound movement of highline device for supplying, by a fortune
Autocontrol system completes all motion control tasks, suitable for having the equipment of many moving components.
There are three components for kinetic control system of the present invention：
1. Engineering Develop System for MSC
It realizes and all motion controls, logic and technology controlling and process is solved the problems, such as by a system, and institute can also be provided
It is necessary to instrument, from being programmed into parameter setting, from test and debugging to fault diagnosis.
2. real-time software module
Real-time software module provides numerous motion controls and technology controlling and process function, for needed for a certain specific equipment
Function, neatly select relevant module.
3. hardware platform
It as the basis of kinetic control system, is developed by Engineering Develop System for MSC and has used real-time software, module is answered
It may operate in program on different hardware platforms, can be selected to be most suitable for according to the characteristics of highline device for supplying control system
Hardware platform.
The kinetic control system of the present invention integrates V/F, vector sum SERVO CONTROL, multiaxis resource-sharing, modularization are set
Meter, can realize efficient and complicated motion control.There is current feedback link inside the kinetic control system, starting performance is good
It is good, be quick on the draw, according to load can quick the output phase answer starting current, without departing from rated current, to power grid without impact,
Have the function of the short-time overload for being adapted to motor ability and power phase shortage, output phase shortage, power supply overvoltage, overcurrent, it is under-voltage, connect
The defencive functions such as ground, frequency converter overheat.
The kinetic control system is using the common DC bus DC/AC drivers of multijoint control for highline device for supplying
Drive control, during the work time, some mechanisms are operated in motoring condition to highline device for supplying, some mechanisms are operated in power generation
State；The mechanism for being operated in generating state feeds back to electric energy on dc bus, is disappeared by the mechanism for being operated in motoring condition
It consumes, is fallen the power consumption of feedback by external braking resistor different from traditional driver, so not only energy conservation and environmental protection but also carried
The high utilization rate of system power, while the problem of reduce the investment of braking resistor, avoid braking resistor heat dissipation；Work as work
It can select to consume by braking resistor as the case may be when the mechanism of motoring condition can not fall the power consumption of feedback
Or directly feed back to power grid.
Kinetic control system performance parameter：The IPO clock cycle is 0.25-0.5ms, and the servo clock cycle is 0.25ms, is inserted
The complement clock cycle is 0.25ms, and the Profibus clock cycle is 1ms, and the Profinet clock cycle is 0.25ms, and running memory is
128MB。
Common DC bus system also has the advantage that：Power factor is high, up to more than 95%；Pass through 12 arteries and veins rectifier transformers
Mains by harmonics is substantially reduced with rectification unit；System dynamic response is high, allows highline device for supplying frequent movement.Motion control
System Common DC Profibus Control System line chart is as shown in Figure 7：Including：12 arteries and veins rectifier transformers, rectifier, inverter, braking are single
Member, braking resistor and dc bus；The input terminal of rectifier is connected to power grid by 12 arteries and veins rectifier transformers；Rectifier it is defeated
Outlet is parallel to dc bus；Dc bus is also parallel-connected to one end of inverter, and the other end of inverter is used for and motor
Frequency converter connects；Dc bus is also parallel-connected to one end of brake unit, and the other end of brake unit is connected with braking resistor.
The setting quantity of inverter is 4, is respectively the 1st inverter, the 2nd inverter, the 3rd inverter and the 4th inverter；1st inversion
One end of device is connected with dc bus, and the other end of the 1st inverter is connected with highline winch frequency converter；The one of 2nd inverter
End is connected with dc bus, and the other end of the 2nd inverter is connected with outer index winch frequency converter；One end of 3rd inverter with it is straight
Busbar connection is flowed, the other end of the 2nd inverter is connected with interior index winch frequency converter；One end of 4th inverter and dc bus
Connection, the other end of the 4th inverter are connected with hauling winch frequency converter.
(5) cargo automatic feeding system
Cargo automatic feeding system includes automated storage and retrieval system, elevator 13 and delivery vehicle 14；
For automated storage and retrieval system, major design principle with reference to figure 8,：In inside arrangement and cargo hold design, make as far as possible
Supplies in board can be extracted and moved rapidly, and use automated warehouse technology, controlled by system CPU and transmitted with managing
Device and supply goods and materials.Automated storage and retrieval system automatic Memory cargo storage position is pitched using unmanned truck system, automatic access
Vehicle and bar code scanning device, can be with automatic access cargo.
Automated storage and retrieval system is by storied 3-D shelf, cargo access arrangement, goes out to be put in storage conveying equipment, control system and week
The automated system of edge equipment composition.Automated storage and retrieval system can make full use of memory space, and equipment can be realized by computer
Online control with the principle of first in, first out, quickly and accurately deposits, withdraws article.
Specifically, including：Storied 3-D shelf, cargo access arrangement go out to be put in storage conveying equipment and warehouse control system；
Storied 3-D shelf are the foundations of automated storage and retrieval system, mainly the shelf composition mechanism of storage cargo, one
As for, shelf are all higher, can sufficiently utilize warehouse space., it is necessary to consider arrival when memory structure is designed
The Discussing Convenience of object access, it is contemplated that fire prevention, moisture-proof, Anti-inclining requirement.Mainly by unit shelf, movable goods shelf, selection
Formula warehouse forms, and unit shelf are used to store cargo, the shelf that movable goods shelf mainly can be merged and split, Neng Goujie
Substantial amounts of space is saved, selection formula shelf are mainly that personnel is facilitated to choose and design.
Cargo access arrangement is mainly the equipment for shuttling and being used for accessing cargo between shelf, is also piler, has standard
Really, the advantages of safe efficient, can shuttle between various tunnels, can adapt to useful load and the operation of various cargos
Amount can be designed to different sizes to adapt to access requirement according to specific requirement.
It is mainly the equipment that cargo is conveyed to disengaging warehouse to go out to be put in storage conveying equipment, with cargo access arrangement, storage device
Connect into a system entirety, according to the size of conveying capacity, select the equipment such as appropriate size belt conveyor or elevator with
A series of work flows such as cooperation shipment, transmitting-receiving.
Warehouse control system is mainly used for controlling all devices, is shown using computer control mode, can improve equipment
The precision of control can help to realize the Effec-tive Function of entire control system.
The mechanizations such as the forklift walked in orbit, belt conveyor, elevator are equipped in the present invention, on tender to remove
Transport equipment, in inside arrangement and cargo hold design, using automated warehouse technology, enable supply article in board extract rapidly and
Mobile, system makes to computerized control and management transmission device and supply goods and materials, can be straight by the holding bay of cargo from tender
Connect the reception cabin for being fed to receiving ship.Therefore, the present invention improves oneself of the quick efficiency of transmission of goods and materials and supply process in cabin
Dynamicization degree improves recharge rate, shortens pipeline time, the sealift safety and reliability of enhancing.
(6) multiple network mechanics of communication
In order to ensure system safety, system failure rate is reduced, present invention employs three kinds of network communications technologys, i.e. scene is total
Line, Ethernet and Drive-CLiQ mechanicss of communication, realize the interconnection of automated system.Drive-CLiQ interfaces are using dedicated
Drive-CLiQ cable connections, PROFIBUS DP communications and ethernet communication medium are optical cable.It is used between controller and driving
Dedicated Drive-CLiQ interfaces is driven to be communicated, are used between master controller and each substation and subsystem controller
PROFIBUS DP network communications；It is communicated between Human machine interface system and controller by Ethernet.By each subsystem
System is connected in same control system, and replenishment device under various sea situations is enable to realize automatic butt by high line cable, is saved
A large amount of manpowers.
During in order to avoid using single network communication, the network paralysis problem of system is caused due to a station communication failure,
The present invention forms the mechanics of communication of redundant looped network using three kinds of networks, prevents from influencing system other parts during communication local fault
Communication so improves communication reliability, safeguards simply；
The present invention makes control system more reliable and more stable, the redundancy of three kinds of network compositions using the technical grade network switch
Looped network realization is managed and controls to each equipment in whole system.It is real present invention also adds wireless communication networks
Existing tender and the data exchange being recharged between ship realize double ship cooperating highline supply equipments, reach make-up system
Double ship redundancies, the entire process that feeds can operate completion by a ship.
(7) HMI human-computer interface systems
Feed hawser output length, cable tension value, hawser speed, driver output power, driver output current, drive
Dynamic device output frequency, system alarm and fault message, the contents such as working condition of each mechanism pass through tendency chart or the shape of list
Formula shows and stores, and facilitates inquiry, and can export to and analysis of experiments and processing are used in excel forms.Possess operating right
Engineer can set systematic parameter by HMI.
HMI selects Siemens's touch-screen, industrial personal computer, meets the requirement of performance application.With logout, programming in logic
Etc. functions.It supports USB, Ethernet, serial communication, can be inserted into Compact Flash.
Industrial personal computer has Web issuing functions, can Long-Range Surveillance System operating status, reading system by internet
Each operating parameter.
Fault alarm module mainly completes display and the record of fault alarm information, fault inquiry, statistics and analysis, failure
The functions such as event triggering playback, greatly shorten troubleshooting time, and provide reference information for plant maintenance.
Fault alarm information is stored in the real time fail database and historical failure data storehouse of system, every fault message
Show herein below：Failure code, device code, Institution Code, failure rank, fault message, time of origin, at the end of
Between, help explain.The form that all historical failure records are convertible into EXCEL carries out archiving files, and prompts to store
Path.Facilitate fault inquiry, statistics and analytic function, convenient for analyzing failure Producing reason, reduce maintenance time.
The present invention for electric equipments (such as motor, driver, breaker, contactor, PLC, button, selecting switch,
Indicator light etc.) establish facility information storehouse.It stores the device numberings of these electrical equipments, model, producer, nameplate parameter, allow to transport
The row time allows action frequency, accumulated running time, accumulative action frequency etc..Automatically essential electrical is recorded during system operation
The operating status of equipment (such as motor, driver, breaker, contactor, PLC) adds up its run time, action time automatically
Number, and real-time storage enters facility information storehouse., system compare automatically electric equipments add up usage time and allow usage time
Comparison prompts to carry out care and maintenance.
Self adaptive control make-up system in identical tension highline sea provided by the invention has safe efficient, wind and wave resistance energy
The advantages that power is strong, specific advantage are as follows：
(1) highline uses identical tension self adaptive control, and supply process is not required to manually participate in, and reduces cargo on cableway
Vibration improves supply efficiency.
(2) tender and receive between ship to improve the ability for adapting to severe sea condition using Collaborative Control during supply.
(3) compensation of undulation carried out to highline using compensation of undulation technology and tonometry feedback control technology, keep high
The constant double-closed-loop control of frame rope tensility compensates the relative motion of two ships；Ensure that cargo is safe under the conditions of Ship Swaying, steady
Ground lifts by crane and lands, and prevents cargo from mutually being collided with operation ship between decks.
(4) using fieldbus, Ethernet and Drive-CLiQ communications and wireless control technology, process visualization is fed.
(5) automatic stored control system sends and receives end cargo and possesses automatic loading and unloading ability.
(6) seaborne supply systematic self organization realizes that goods and materials quickly transmit in cabin.
(7) multi-shaft interlocked control system, motion control, logic control and technology controlling and process function is integrated, improve supply
Speed and precision avoid cargo that accident collision is occurring with operation ship close to storeship and taken-over vessel.
(8) kinetic control system integrates V/F, vector sum SERVO CONTROL, multiaxis resource-sharing, modularized design, real
The motion control of existing seaborne supply system high efficiency and complexity.
(9) with shared, steel wire rope constant tensile control and the detection of replenishing-at-sea gear, winch move the detection of ship movable information
State balancing information transmits and feedback control, the control of clutch precise motion and Servo Drive Technology's.
The present invention also provides a kind of identical tension highline sea self adaptive control replenishing method, as shown in figure 9, including following
Step：
Step 1, system electrification initializes and carries out System self-test automatically, and self-test information is shown automatically on HMI interfaces；
When needing supply, tender needs advanced row information to dock with receiving ship, the detection of ship movable information and shared, sea
The steel wire rope constant tensile control of upper device for supplying and detection, the transmission of winch dynamic equilibrium information and feedback, clutch precise motion
And servo-drive information, carry out the Collaborative Control between two ships.Then by outer hauling rope, the interior hauling rope and overhead on tender
Rope, which is connected to, to be received on ship, and two ships enter supply starting state.
Step 2, the automated storage and retrieval system work of tender, prepares supply cargo；Receive the automated storage and retrieval system work on ship
Make, prepare to receive cargo；
I.e.：The action of tender automated storage and retrieval system is controlled, makes supply ship cargo access arrangement automatically from storied 3-D shelf
The supply cargo that need to feed of correspondence position taking-up, and cargo transport will be fed to the transmission being located inside tender elevator 13
On vehicle 14；
Step 3, tender elevator 13 is controlled to carry out ascending motion, tender elevator 13 is made to promote delivery vehicle 14
The position pre-established；Meanwhile control receives ship elevator 13 and reaches the reception cargo location pre-established；
Step 4, after the delivery vehicle 14 on tender elevator is fixed to hoisting device 7, winch is indexed outside automatic start
3rd, interior index winch 4, highline winch 5 and wave compensating device 6；Wherein, preset according to system outside mathematical model control
Index winch 3 is operated under traction mode, interior index winch 4 is controlled to be operated under identical tension pattern, control highline winch 5 is matched somebody with somebody
Wave compensating device 6 is closed to be operated under identical tension pattern, it is final realize quick, steady, safety the slave tender of delivery vehicle 14 to
Receive ship transmission；
Specifically, delivery vehicle and hoisting device are located on highline, moved reciprocatingly by the traction of inside and outside guy rope, two are led
Draw winch synchronously to operate, keep guy rope tension and speed in setting range, traction hoisting device is from tender to receiving shipping
It is dynamic；Compensation of undulation is carried out to highline for wave compensating device and tension measuring device and highline constant tension controls, and adapts to ship
Oceangoing ship waves and yaws the influence to transmitting operation.
In this step, control highline winch 5 coordinates wave compensating device 6 to be operated under identical tension pattern, is specially：
Step 4.1, highline length set-point is set, highline length set-point is constant；Set overhead rope tensility to
Definite value, highline given tension value are constant；
Step 4.2, highline actual (tube) length angle value is detected in real time；Acceleration transducer is lifted by ship in real time and obtains ship
Real time position deviation；
Forward direction input of the highline length set-point as the 1st comparator, highline actual (tube) length angle value is as the 1st comparator
Negative sense input, ship real time position deviation as the 1st comparator forward direction input, the 1st comparator to it is each input transport
After calculation, the output valve of the 1st comparator is input to the 1st highline PID, after computing, is input to the positive input of the 2nd comparator,
Meanwhile the highline actual tension value that highline tension sensor detects is inputted as the negative sense of the 2nd comparator, highline
Forward direction input of the power set-point as the 2nd comparator；The 2nd highline PID is input to after the 2nd comparator computing；
Forward direction input of the output of 2nd highline PID as the 3rd comparator, ship lifting acceleration transducer are obtained
Forward direction input of the ship real time position deviation as the 3rd comparator, the output action of the 3rd comparator drives in highline servo
Dynamic device, and then highline winch velocity of rotation and rotation direction are adjusted, realize highline identical tension；
Or：
Control highline winch 5 coordinates wave compensating device 6 to be operated under identical tension pattern, is specially：
Step 4.a, control system obtain highline actual tension value in real time, and judge whether highline actual tension value surpasses
Go out to set tension range, if it is, performing step 4.b；
Step 4.b, according to the flexible stroke of preset mathematical model control servo-cylinder, servo-cylinder is adjusted to one
Grade compensation, the compensation magnitude that is swift in response is small, and during control servo-cylinder stretches stroke, following two of real-time judge
Whether part occurs, and when occurrence condition 1, performs step 4.c；When occurrence condition 2, terminate this flow；
Condition 1：Servo-cylinder stroke is beyond setting stroke range；
Condition 2, highline actual tension value are located within setting tension range；
Step 4.c stops servo-cylinder Traffic control system, highline winch is controlled, highline winch is adjusted to two
Grade compensation, response lag, but compensation magnitude is big, and specific control method is：
System controls the direction of highline winch, speed, acceleration and pulling force according to mathematical model is preset,
Whether the following two conditions of real-time judge occur, and when occurrence condition 3, perform step 4.d；When occurrence condition 4, terminate this stream
Journey；
Condition 3, highline length is beyond allowed band；
Condition 4, overhead rope tensility recover adjustment in setting tension range；
Step 4.d at this point, system adjust automatically could not reach requirement and beyond adjust automatically scope, is then switched to manually
Adjustment modes are adjusted by operator by fine motion method, until overhead rope tensility is made to recover adjustment in setting tension range.Its
In, manual mode is also emergency mode of operation, and manual mode must be retained in any automatic system.
Step 5, delivery vehicle 14 from tender in receiving ship transmission process, by being grown to outboard guy 9 and inhaul line 10
The detection of degree judges whether delivery vehicle 14 is sent to and receives ship, will transmission if cargo arrival receives the pre-establishing at position of ship
Cargo in vehicle 14 is unloaded to the inside for receiving ship elevator automatically, and then, control receives ship elevator and carries out descending motion, makes
Receive ship elevator and cargo decline is transported to the position pre-established；
Control receives the action of ship automated storage and retrieval system, and reception ship cargo access arrangement is made to remove cargo from elevator automatically,
And it is transported to the correspondence position for receiving height layer stereo storage rack.
Delivery vehicle backhaul controls the process to be：
The winch reversion of tender, transmission crane returns to the position that tender pre-establishes, automatic on tender at this time
Warehousing system and elevator have prepared cargo to load cargo in the crane to be transmitted such as the position pre-established.Receive the lifting of ship
Cargo is transferred to automated storage and retrieval system and carries out cargo transfer and stacking by machine.
The technical indicator of the present invention and the benefit of generation：
In the present invention, delivery vehicle and hoisting device are located on highline, are moved reciprocatingly by the traction of inside and outside guy rope, two
Pulling winch synchronously operates, and keeps guy rope tension and speed in setting range, and traction hoisting trolley travels to and fro between tender with connecing
Between by ship；To adapt to the influence of Ship Swaying and yaw to transmission operation, wave compensating device and tension measuring device are set
Compensation of undulation is carried out to highline, keeps highline constant tension.
For tender away from for 40m, recharge altitude difference is 4m, and overhead rope tensility is 80KN, supply operating mode for 4 grades of sea situations and with
Under.
The identical tension highline sea self adaptive control make-up system of the present invention, the degree of automation and information technology are high；This
It can be increased newly after invention industrialization more than 10 people of job, opportunity is brought for related industry development, it is directly mechanical, electrical to electronics, electricity
The industries such as cable, drive system drive demand；Seaborne supply technical bottleneck is broken through, breaks external monopolization, takes part in international competition, is promoted
The technological innovation of China's marine engineering equipment is the higher economic benefit of China's marine engineering equipment localization process generation and good
Good social benefit.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (6)
1. a kind of identical tension highline sea self adaptive control make-up system, which is characterized in that including：Identical tension highline is marine
Feed subsystem and identical tension highline sea self adaptive control subsystem；
The identical tension highline seaborne supply subsystem includes the 1st support column (1), the 2nd support column (2), outer index winch
(3), interior index winch (4), highline winch (5), wave compensating device (6), leading block group and hoisting device (7)；
Wherein, the outer index winch (3), the interior index winch (4), the highline winch (5), compensation of undulation dress
It puts (6) and the 1st support column (1) is arranged in tender, the 2nd support column (2), which is arranged in, receives ship；The crane dress
(7) are put to be arranged between the 1st support column (1) and the 2nd support column (2)；
The leading block group includes the 1st leading block (8-1), the 2nd leading block (8-2), the 3rd leading block (8-3) and the 4th
Leading block (8-4)；1st leading block (8-1), the 2nd leading block (8-2) and the 3rd leading block (8-3)
By from top to bottom direction, the top of the 1st support column (1) is in turn secured to；4th leading block (8-4) is fixed on institute
State the 2nd support column (2)；
The outboard guy (9) of the outer index winch (3) bypasses the 1st leading block (8-1) and the 4th leading block successively
After (8-4), the 1st fixing end (7-1) fixed to the hoisting device (7)；It is described it is interior index winch (4) inhaul line (10) around
After crossing the 3rd leading block (8-3), the 2nd fixing end (7-2) fixed to the hoisting device (7)；The highline winch
(5) highline (11) is successively around the wave compensating device (6), the 2nd leading block (8-2), the hoisting device
(7) after the 3rd fixing end (7-3), on the supporting rack fixed to the 4th leading block (8-4)；
The identical tension highline sea self adaptive control subsystem for outer index winch (3) described in drive control, it is described in
Winch (4), the highline winch (5) and the wave compensating device (6) action are indexed, and then realizes that hoisting device (7) exists
Tender and receive to move between ship；
Wherein, it is described it is outer index winch (3), it is described it is interior index winch (4) and the highline winch (5) including hoist engine,
Servo-driver, servomotor and winch attachment device；The servomotor passes through the servo-driver and the elevator
Machine links；
Wherein, the winch attachment device includes click fastening device, brake, clutch and rope processing device；
Wherein, the wave compensating device (6) is hydraulic servo oil cylinder, and the hydraulic servo oil cylinder includes telescopic rod, from described
Highline winch (5) draw highline pass through the telescopic rod top, then further around excessively described 2nd leading block (8-2),
After 3rd fixing end (7-3) of the hoisting device (7), on the supporting rack fixed to the 4th leading block (8-4)；When described
When the telescopic rod of hydraulic servo oil cylinder carries out stretching motion, the highline can be driven to synchronize movement, and then described in adjustment
The tension value of highline；
Wherein, the identical tension highline sea self adaptive control subsystem includes kinetic control system, power-supply system and detection
System；The kinetic control system is connected respectively with the power-supply system and the detecting system；
Wherein, the kinetic control system uses the common DC bus driver of multijoint control, including：12 arteries and veins rectifier transformers,
Rectifier, inverter, brake unit, braking resistor and dc bus；
The input terminal of the rectifier is connected to power grid by the 12 arteries and veins rectifier transformer；The output terminal of the rectifier is in parallel
To dc bus；
The dc bus is also parallel-connected to one end of the inverter, and the other end of the inverter is used for and motor frequency conversion
Device connects；
The dc bus is also parallel-connected to one end of the brake unit, the other end of the brake unit and the braking
Resistance connects.
2. self adaptive control make-up system in identical tension highline sea according to claim 1, which is characterized in that the inspection
Examining system includes：
Highline tension sensor, for detecting the tension value of highline；
Highline reel shaft encoder, for detecting the length of highline and velocity amplitude；
Outboard guy reel shaft encoder, for detecting the length of outboard guy and velocity amplitude；
Inhaul line reel shaft encoder, for detecting the length of inhaul line and velocity amplitude；
Servo-cylinder stroke detector, for detecting the actual flexible stroke value of servo-cylinder；
Ship lifts acceleration transducer, for detecting the elevating movement state of hull；
Brake open/close state detection device, clutch open/close state detection device, click fastening device open/close state
Detection device.
3. self adaptive control make-up system in identical tension highline sea according to claim 1, which is characterized in that described inverse
Become the setting quantity of device as 4, be respectively the 1st inverter, the 2nd inverter, the 3rd inverter and the 4th inverter；Described 1st is inverse
The one end for becoming device is connected with the dc bus, and the other end of the 1st inverter is connected with highline winch frequency converter；It is described
One end of 2nd inverter is connected with the dc bus, and the other end of the 2nd inverter connects with outer index winch frequency converter
It connects；One end of 3rd inverter is connected with the dc bus, and the other end of the 2nd inverter becomes with interior index winch
Frequency device connects；One end of 4th inverter is connected with the dc bus, and the other end and the lifting of the 4th inverter twist
Vehicle frequency converter connects.
4. self adaptive control make-up system in identical tension highline sea according to claim 1, which is characterized in that also wrap
It includes：Cargo automatic feeding system；The cargo automatic feeding system includes automated storage and retrieval system, elevator (13) and delivery vehicle
(14)；
Wherein, the automated storage and retrieval system includes：Storied 3-D shelf, cargo access arrangement go out to be put in storage conveying equipment and storehouse
Store up control system；
The storied 3-D shelf are for storing the shelf of cargo, including unit shelf, movable goods shelf and selection formula warehouse；
The cargo access arrangement is for shuttling between shelf into the equipment of line access cargo；
It is described to go out to be put in storage conveying equipment as cooperation shipment, the setting of transmitting-receiving operation, for placing goods onto cargo access arrangement,
Alternatively, it takes out cargo from cargo access arrangement and is transferred to the storied 3-D shelf.
5. a kind of identical tension highline sea self adaptive control replenishing method, which is characterized in that comprise the following steps：
Step 1, system electrification initializes and carries out System self-test automatically；
Step 2, the action of tender automated storage and retrieval system is controlled, makes supply ship cargo access arrangement automatically from storied 3-D shelf
The supply cargo that correspondence position taking-up need to be fed, and cargo transport will be fed to positioned at the internal transmission of tender elevator (13)
On vehicle (14)；
Step 3, tender elevator (13) is controlled to carry out ascending motion, tender elevator (13) is made to promote delivery vehicle (14)
To the position pre-established；Meanwhile control receives the reception cargo location that ship elevator (13) arrival pre-establishes；
Step 4, after the delivery vehicle (14) on tender elevator is fixed to hoisting device (7), winch is indexed outside automatic start
(3), interior index winch (4), highline winch (5) and wave compensating device (6)；Wherein, mathematical modulo is preset according to system
The outer index winch (3) of type control is operated under traction mode, and interior index winch (4) is controlled to be operated under identical tension pattern, is controlled
Highline winch (5) cooperation wave compensating device (6) is operated under identical tension pattern, finally realizes that delivery vehicle (14) is quick, flat
Surely, safe slave tender is transmitted to ship is received；
Step 5, delivery vehicle (14) from tender in receiving ship transmission process, by outboard guy (9) and inhaul line (10)
The detection of length judges whether delivery vehicle (14) is sent to and receives ship, will if cargo arrival receives the pre-establishing at position of ship
Cargo in delivery vehicle (14) is unloaded to the inside for receiving ship elevator automatically, and then, control receives ship elevator and declined
Movement makes to receive ship elevator and cargo decline is transported to the position pre-established；
Control receives the action of ship automated storage and retrieval system, and reception ship cargo access arrangement is made to remove cargo from elevator automatically, and defeated
It is sent to the correspondence position for receiving height layer stereo storage rack.
6. self adaptive control replenishing method in identical tension highline sea according to claim 5, which is characterized in that step 4
In, control highline winch (5) coordinates wave compensating device (6) to be operated under identical tension pattern, is specially：
Step 4.1, highline length set-point is set, highline length set-point is constant；Highline given tension value is set,
Highline given tension value is constant；
Step 4.2, highline actual (tube) length angle value is detected in real time；It is real-time that acceleration transducer acquisition ship is lifted by ship in real time
Position deviation value；
Forward direction input of the highline length set-point as the 1st comparator, highline actual (tube) length angle value is as the negative of the 1st comparator
To input, ship real time position deviation is inputted as the forward direction of the 1st comparator, after the 1st comparator carries out computing to each input,
The output valve of 1st comparator is input to the 1st highline PID, after computing, is input to the positive input of the 2nd comparator, meanwhile,
The highline actual tension value that highline tension sensor detects is inputted as the negative sense of the 2nd comparator, and overhead rope tensility is given
Forward direction input of the definite value as the 2nd comparator；The 2nd highline PID is input to after the 2nd comparator computing；
Forward direction input of the output of 2nd highline PID as the 3rd comparator, the ship that ship lifting acceleration transducer is obtained
Forward direction input of the oceangoing ship real time position deviation as the 3rd comparator, the output action of the 3rd comparator is in highline servo-drive
Device, and then highline winch velocity of rotation and rotation direction are adjusted, realize highline identical tension；
Or：
Control highline winch (5) coordinates wave compensating device (6) to be operated under identical tension pattern, is specially：
Step 4.a, control system obtain highline actual tension value in real time, and judge whether highline actual tension value exceeds and set
Tension range is determined, if it is, performing step 4.b；
Step 4.b, according to the flexible stroke of preset mathematical model control servo-cylinder, servo-cylinder is adjusted to level-one benefit
It repays, and during control servo-cylinder stretches stroke, whether the following two conditions of real-time judge occur, when occurrence condition 1
When, perform step 4.c；When occurrence condition 2, terminate this flow；
Condition 1：Servo-cylinder stroke is beyond setting stroke range；
Condition 2, highline actual tension value are located within setting tension range；
Step 4.c stops servo-cylinder Traffic control system, highline winch is controlled, and highline winch is adjusted to two level benefit
It repays, specific control method is：
System controls the direction of highline winch, speed, acceleration and pulling force according to mathematical model is preset, in real time
Judge whether following two conditions occur, when occurrence condition 3, perform step 4.d；When occurrence condition 4, terminate this flow；
Condition 3, highline length is beyond allowed band；
Condition 4, overhead rope tensility recover adjustment in setting tension range；
Step 4.d at this point, system adjust automatically could not reach requirement and beyond adjust automatically scope, is then switched to and manually adjusts
Pattern is adjusted by operator by fine motion method, until overhead rope tensility is made to recover adjustment in setting tension range.
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| EP4112528A1 (en) * | 2021-07-02 | 2023-01-04 | Gilbert & Schmalriede GmbH & Co. KG | Method for regulating a cable traction of a cable winch of a watercraft and a corresponding compensator |
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