CN105645327A - Oceanographic engineering towing test traction system and method - Google Patents
Oceanographic engineering towing test traction system and method Download PDFInfo
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- CN105645327A CN105645327A CN201610182734.5A CN201610182734A CN105645327A CN 105645327 A CN105645327 A CN 105645327A CN 201610182734 A CN201610182734 A CN 201610182734A CN 105645327 A CN105645327 A CN 105645327A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for
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Abstract
The invention provides an oceanographic engineering towing test traction system and method. The traction system comprises a supporting column and elevated driving pile cap subsystem and a winch type traction subsystem. The winch type traction subsystem comprises a traction winch (5), a tension winch (6), a guide pulley block (7) and an electrical system. The electrical system is used for driving and controlling the traction winch (5) and the tension winch (6) to act, and then carries out towing motion on a towing body. The oceanographic engineering towing test traction system and method have the advantages that tension of multiple mooring ropes is cooperatively controlled in a self-adaptive mode, so that it can be ensured that the posture of the traction system is stable, particularly, it is ensured that the towing body is stable in six degrees of freedom and free of skewing, and then the design requirement of the towing test system is met.
Description
Technical field
The invention belongs to ocean engineering and equipment technology field, be specifically related to a kind of ocean engineering towing trial trailer system and traction method.
Background technology
Marine resources development, marine environmental protection have become global question of common concern. Ocean is explored with exploitation and is existed many limiting factors, marine environment complicated and changeable and current ocean science level are principal elements, in the advanced technology of the ocean of research and development at present, towing system has meaning of crucial importance, and this is very important with use to the design of towing system.
Concrete, towing system has extensive and important application in hydrologic survey, marine salvage salvaging, marine exploration, ship model experiment, is the focus of research about its hydrodynamic theory and control technology. Carry out a lot of research about towing system hydrodynamic force and control aspect both at home and abroad, under the condition of flow field under water of actual sea situation and complexity, the hydrodynamic force problem that the each hydrodynamic force comprehensive function of towed body, control volume and hawser, strong nonlinearity and the factor of intercoupling of irregular contour handled towing system is very complicated. In the scientific investigation of most of oceans and national defence, towing system remains very important technological means, and there are Norway, Denmark, the U.S., Japan etc. in the country of towing system development comparative maturity in the world.
General towed body by streamlined or near streamlined body and Po Chen mechanism or both be combined as a whole form. The sensor carrying in towed body or ship model require the attitude stabilization of towed body work, have attitude and depth adjustment and the control ability of fast and flexible. Different towing systems has different instructions for uses, and the towing system design that meets its instructions for use has very important impact for its duty.
The kinetic factor of towed body, hawser and control system is done the as a whole impact that has each other, towed body track and attitude control are reached to marine practical purpose, and must carry out laboratory model test and marine on-the-spot prototype test is necessary condition and the prerequisite of the successful towing system of research and development.
Hydrodynamic load and himself material behavior that towing hawser is subject to are all nonlinear, be difficult to its hydrodynamic characterisitic of accurate description theoretically, the motion control equation of hawser is all ignored the impact of bending, torsion and the shearing of hawser, only consider the impact of its tension force, Chinese scholars comprises concentrated quality method, Method for Numerical, FInite Element, finite difference method, immediate integration to the kinetic characteristic research of hawser.
What the description of movement of underwater towed system equation was complete and the most conventional is six-freedom motion equation, calculates the motion response of towed body according to this equation, and need to first obtain the hydrodynamic force coefficient of towed body in motion process is most critical. Experimental technique uses Naval Architecture and Ocean Engineering laboratory equipment, as towing basin planar motion mechanism, large-scale turning arm ship's manoeuverability pond, circulating water chennel and wind-tunnel etc. determine with full size or Reduced-scale model test the hydrodynamic force acting on towed body to the towed body of special shape; Generally believe at present experimental method than estimation algorithm more reliably, more accurate, but experimental method expense is high, the test period is long, but unactual with experimental method while not determining towed body resemblance size. Estimation algorithm obtains towed body hydrodynamic force coefficient by numerical simulation or empirical equation, by Fluid Mechanics Computation method or return according to result of the test the empirical equation obtaining and try to achieve hydrodynamic force coefficient, or two kinds of methods is combined to use; The relative experimental method expense of estimation algorithm is low, convenience of calculation, can, according to the variation of the size of towed body, shape, recalculate new hydrodynamic force; But the result that estimation algorithm obtains compared with experimental method poor accuracy some.
In sum, in order to improve the design efficiency of research and development of towing system, can be in the following ways: towing system design initial stage utilizes towing trial system to do experiment, calculate the hydrodynamic force of towing system with estimation algorithm again, the towing trial that carries out model machine in towing system design later-stage utilization towing trial system is determined the numerical value of its hydrodynamic force coefficient.
Visible, the design of towing trial system is very crucial. Traditional following problem of towing trial system ubiquity:
Because towed body is subject to the effect that stormy waves shoves in water, move extremely unstable, traditional towing trial system, be difficult to keep towed body six degree of freedom stablize and be not offset, thereby cannot meet the design requirement of towing trial system.
Summary of the invention
The defect existing for prior art, the invention provides a kind of ocean engineering towing trial trailer system and traction method, can effectively address the above problem.
The technical solution used in the present invention is as follows:
The invention provides a kind of ocean engineering towing trial trailer system, comprise pillar and overhead driving cushion cap subsystem and winch type traction subsystem;
Wherein, described pillar and overhead driving cushion cap subsystem comprise pile foundation (1), and described pile foundation (1) comprises integrally formed flat pile foundation (1-1) and taper pile base (1-2); Described flat pile foundation (1-1) is positioned at below the water surface, and the bottom of described taper pile base (1-2) is connected and is positioned at below the water surface with described flat pile foundation (1-1), more than the top of described taper pile base (1-2) extends to the water surface; Be fixed with overhead driving cushion cap (2) on the top of described taper pile base (1-2); Be fixed with respectively left bank towing pillar (3) and right bank towing pillar (4) at the two ends, left and right of described flat pile foundation (1-1);
Described winch type traction subsystem comprises pulling winch (5), tensioning winch (6), leading block group (7) and electrical system;
Wherein, described leading block group (7) comprises 4 leading blocks, is respectively upper left leading block (7-1), lower-left leading block (7-2), upper right leading block (7-3) and bottom right leading block (7-4); The upper and lower of described left bank towing pillar (3) is fixed in described upper left leading block (7-1) and described lower-left leading block (7-2); The upper and lower of described right bank towing pillar (4) is fixed in described upper right leading block (7-3) and described bottom right leading block (7-4);
Described pulling winch (5) and described tensioning winch (6) are arranged in described overhead driving cushion cap (2), the hawser (9) of described pulling winch (5) is walked around after described upper left leading block (7-1), is fixed to one end of towed body (8); The hawser of described tensioning winch (6) is walked around after described lower-left leading block (7-2), described bottom right leading block (7-4) and described upper right leading block (7-3) successively, is fixed to the other end of described towed body (8);
Described electrical system is used for driving controls described pulling winch (5) and described tensioning winch (6) action, and then described towed body is carried out to drag kick.
Preferably, described pulling winch (5) and described tensioning winch (6) include hoist engine, reductor, motor and winch attachment device; Described motor is by described reductor and the interlock of described hoist engine.
Preferably, described winch attachment device comprises air ratchet ratchet fastening device, high speed level brake, pneumatic water-cooled dynamic brake, clutch and rope processing device.
Preferably, described electrical system comprises control system, drive system, power-supply system and detection system; Described control system is connected with described drive system, described power-supply system and described detection system respectively.
Preferably, described detection system comprises:
Pull-cord tension pick-up, for detection of the tension value of pull-cord;
Tension cables rope tension sensor, for detection of the tension value of tensioning hawser;
Pull-cord encoder, for measuring speed and the length of pull-cord;
Tensioning hawser encoder, for measuring speed and the length of tensioning hawser;
Pulling winch rope outlet direction sensor, for measure pulling winch in level the rope outlet direction with vertical both direction;
Tensioning winch rope outlet direction sensor, for measure tensioning winch in level the rope outlet direction with vertical both direction;
Level brake open/close state checkout equipment, pneumatic water-cooled dynamic brake open/close state checkout equipment, clutch open/close state checkout equipment, click fastening device open/close state checkout equipment, the bleed pressure sensor of pneumatic water-cooled dynamic brake, the cooling water pressure sensor of pneumatic water-cooled dynamic brake and the cooling-water temperature sensor of pneumatic water-cooled dynamic brake at a high speed.
Preferably, described drive system comprises frequency changing driving system and electric pneumatic drive system;
Wherein, described frequency changing driving system comprises two cover variable frequency drive unit, is respectively used to drive pulling winch motor and tensioning winch motor;
Described electric pneumatic drive system comprises three cover air pressure driver elements, is respectively used to drive the cylinder action of pneumatic water-cooled dynamic brake action, driving clutch and the cylinder action of driving pawl ratchet fastening device.
Preferably, described frequency changing driving system comprises 12 arteries and veins rectifier transformers, rectifier, inverter, brake unit, braking resistor and dc bus;
The input of described rectifier is connected to electrical network by described 12 arteries and veins rectifier transformers; The output of described rectifier is parallel to dc bus;
Described dc bus is also parallel-connected to one end of described inverter, and the other end of described inverter is for being connected with frequency converter;
Described dc bus is also parallel-connected to one end of described brake unit, and the other end of described brake unit is connected with described braking resistor.
The present invention also provides a kind of ocean engineering towing trial traction method, comprises the following steps:
Step 1, system starts and builds the tension force stage:
Control system starts air compression station and water-cooling system, and pipeline air pressure and cooling water pressure reach after setting value, regulates the proportioning valve on dynamic brake air duct, makes dynamic brake that maximum braking force is provided; Then, the throw-out-of clutch of control system control tensioning winch, tensioning winch click is opened; Control pulling winch clutch closure, control pulling winch click and open, open pulling winch dynamic brake; Control system gather the actual cable tension value of tensioning winch end and pulling winch end actual cable tension value, when the actual cable tension value of tensioning winch end and pulling winch end actual cable tension value when equating and reaching setting value 3T, system is built tension force success;
Step 2, boost phase:
The ramp function generator of control system control pulling winch frequency converter, makes it progressively increase output torque, and in the time that the tension value of pull-cord increases to setting value 3T+P, wherein, P is positive number; Control system is by regulating proportioning valve aperture, reduce gradually the brake force of tensioning winch dynamic brake, the cable tension that tensioning winch end tension pick-up is detected is 3T, the cable tension detecting due to tensioning winch end tension pick-up in this process is less than the cable tension that pulling winch end tension pick-up detects, therefore, towed body is to start the slowly process of acceleration;
Then, control system control pulling winch frequency converter progressively increases output torque by ramp function generator, and increases to the safe threshold values of pulling force that approaching towing physical efficiency is born, and makes towed body accelerate to gradually setting speed in the distance range of setting; In this process, the aperture of resize ratio valve automatically, makes the cable tension value that tensioning winch end tension pick-up detects fluctuate in 3T left and right;
Step 3, constant rate period:
The cable tension value stabilization that maintenance tensioning winch end tension pick-up detects is in 3T left and right, and pulling winch keeps constant speed operation, until towed body arrives decelerate position;
Step 4, the decelerating phase:
Pulling winch frequency converter progressively reduces to export torque by ramp function generator, and this torque is definite according to calculating the accekeration needing, and the cable tension value that pulling winch end tension pick-up is detected is 3T+P; Meanwhile, regulate proportioning valve aperture, increase gradually the brake force of tensioning winch dynamic brake, make tensioning winch end tension pick-up detect that cable tension approaches the safe threshold values that towing physical efficiency is born; In this process, towed body slows down;
Step 5, accurately belt tension is stopped:
Approach zero when control system detects hawser speed, and the tension value that detects of pulling winch end tension pick-up and tensioning winch end tension pick-up is while being 3T+P, controls tensioning winch dynamic brake and closes, ratchet is closed; Control pulling winch dynamic brake and close, ratchet is closed, and high-speed brake cuts out, and frequency converter enables to disconnect, and stops complete.
Preferably, in the process of step 1-step 5, control system realizes pulling winch and the control of tensioning winch tension force self-adapting synergizing by following concrete mode:
At current time, pulling winch PID adaptive controller obtains pulling winch payingoff speed set-point; Also obtain the current rope outlet direction of pulling winch by pulling winch rope outlet direction sensor, also obtain the current actual tension value of pulling winch by pulling winch tension pick-up; Pulling winch PID adaptive controller is stuck with paste mould processing to the parameter of input, obtains initial moment adjustment amount, and on the one hand, initial moment adjustment amount, after torque amplitude limit device, is input to motion controller; On the other hand, initial moment adjustment amount is after coefficient adjustment device is processed, as the tension set-point of tensioner winch, be input to tensioning winch PID adaptive controller, tensioning winch PID adaptive controller also obtains the current rope outlet direction of tensioning winch by tensioning winch rope outlet direction sensor, also obtain the current actual tension value of tensioning winch by tensioning winch tension pick-up, tensioning winch PID adaptive controller is stuck with paste mould processing to the parameter of input, obtain initial velocity adjustment amount, initial velocity adjustment amount, after speed limiting device, is input to motion controller;
Motion controller carries out integrated treatment to the tensioning winch speed adjustment amount receiving and pulling winch torque adjustment amount, generate tensioning winch speed controlled quentity controlled variable and pulling winch torque controlled quentity controlled variable, by the control to tensioning winch servo-driver, realize the function of adjusting tensioning winch speed, and, by the control to pulling winch servo-driver, realize the function of adjusting pulling winch torque.
Ocean engineering towing trial trailer system provided by the invention and traction method have the following advantages:
By many cable tensions are carried out to self-adapting synergizing control, can ensure towing system attitude stabilization, especially ensure that towed body six degree of freedom is stable and be not offset, and then meeting the design requirement of towing trial system.
Brief description of the drawings
Fig. 1 is the side view of ocean engineering towing trial trailer system provided by the invention;
Fig. 2 is the top view of ocean engineering towing trial trailer system provided by the invention;
Fig. 3 is the structural representation of ocean engineering towing trial trailer system provided by the invention under forward towing;
Fig. 4 is the structural representation of ocean engineering towing trial trailer system provided by the invention under oppositely pulling;
Fig. 5 is the functional block diagram of electrical system provided by the invention;
Fig. 6 is the schematic diagram of the function of ocean engineering towing trial trailer system provided by the invention;
Fig. 7 is the structural representation of frequency changing driving system provided by the invention;
Fig. 8 is the schematic flow sheet of automatic forward towing provided by the invention;
Fig. 9 is the control principle drawing of ocean engineering towing trial trailer system provided by the invention.
Detailed description of the invention
In order to make technical problem solved by the invention, technical scheme and beneficial effect clearer, below in conjunction with drawings and Examples, the present invention is further elaborated. Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The kinetic factor of towed body, hawser and control system is done the as a whole impact that has each other, towed body track and attitude control are reached to marine practical purpose, therefore, carrying out laboratory model test and marine on-the-spot prototype test is necessary condition and the prerequisite of the successful towing system of research and development. Ocean engineering towing trial trailer system provided by the invention, for towed body model test and marine on-the-spot prototype test provide integrated tension force adaptive control technology and frequency conversion drive scheme, by the hydrodynamic force Mathematical Modeling to towing hawser and towed body six degree of freedom control formation towing system, for calculating, the design of towing system or ship model are laid a good foundation and place mat, therefore, the present invention to the research and development of towing system or ship model experiment and marine on-the-spot prototype test significant and using value widely.
In the advanced technology of research and development ocean, towing system has meaning of crucial importance, and this is very important with use to the design of towing system. The object of the invention, for towing system design provides verification technique, meets towing system test instructions for use, improves the design efficiency of research and development of towing system, fills up the blank in China's towing system tension force adaptive technique, has economical and practical market value.
The present invention solves towing system design initial stage and utilizes towing trial system to do experiment, and the towing trial that carries out model machine in towing system design later-stage utilization towing trial system is determined the problem of its hydrodynamic force coefficient numerical value; Solve towed body six degree of freedom stable, the problem of many cable tensions self-adapting synergizing control; Track under solution towing system attitude stabilization prerequisite and the manipulation problem of attitude fast and flexible; Solve the rapidity problem of towing system main winch and secondary winch Collaborative Control.
The invention provides a kind of ocean engineering towing trial trailer system, comprise pillar and overhead driving cushion cap subsystem and winch type traction subsystem. Below these two parts are introduced respectively in detail:
(1) pillar and overhead driving cushion cap subsystem
Pillar and overhead driving cushion cap subsystem comprise pile foundation 1, and pile foundation 1 comprises integrally formed flat pile foundation 1-1 and taper pile base 1-2; Flat pile foundation 1-1 is positioned at below the water surface, and the bottom of taper pile base 1-2 is connected with flat pile foundation 1-1 and is positioned at below the water surface, more than the top of taper pile base 1-2 extends to the water surface; Be fixed with overhead driving cushion cap 2 on the top of taper pile base 1-2; Be fixed with respectively left bank towing pillar 3 and right bank towing pillar 4 at the two ends, left and right of flat pile foundation 1-1.
(2) winch type traction subsystem
Winch type traction subsystem comprises pulling winch 5, tensioning winch 6, leading block group 7 and electrical system.
(1) leading block group
Leading block group 7 comprises 4 leading blocks, is respectively upper left leading block 7-1, lower-left leading block 7-2, upper right leading block 7-3 and bottom right leading block 7-4; Upper left leading block 7-1 and lower-left leading block 7-2 are fixed on the upper and lower of left bank towing pillar 3; Upper right leading block 7-3 and bottom right leading block 7-4 are fixed on the upper and lower of right bank towing pillar 4.
(2) pulling winch and tensioning winch
Pulling winch 5 and tensioning winch 6 are arranged in overhead driving cushion cap 2, and the hawser 9 of pulling winch 5 is walked around after the leading block 7-1 of upper left, are fixed to one end of towed body 8; The hawser of tensioning winch 6 is walked around after lower-left leading block 7-2, bottom right leading block 7-4 and upper right leading block 7-3 successively, is fixed to the other end of towed body 8;
Pulling winch 5 and tensioning winch 6 include hoist engine, reductor, motor and winch attachment device; Motor is by reductor and hoist engine interlock.
Wherein, winch attachment device comprises air ratchet ratchet fastening device, high speed level brake, pneumatic water-cooled dynamic brake, clutch and rope processing device.
(3) electrical system
Electrical system is used for driving control pulling winch 5 and tensioning winch 6 to move, and then towed body is carried out to drag kick.
Electrical system comprises control system, drive system, power-supply system and detection system; Control system is connected with drive system, power-supply system and detection system respectively.
(3.1) detection system
Detection system comprises:
Pull-cord tension pick-up, for detection of the tension value of pull-cord;
Tension cables rope tension sensor, for detection of the tension value of tensioning hawser;
Pull-cord encoder, for measuring speed and the length of pull-cord;
Tensioning hawser encoder, for measuring speed and the length of tensioning hawser;
Pulling winch rope outlet direction sensor, for measure pulling winch in level the rope outlet direction with vertical both direction;
Tensioning winch rope outlet direction sensor, for measure tensioning winch in level the rope outlet direction with vertical both direction;
Level brake open/close state checkout equipment, pneumatic water-cooled dynamic brake open/close state checkout equipment, clutch open/close state checkout equipment, click fastening device open/close state checkout equipment, the bleed pressure sensor of pneumatic water-cooled dynamic brake, the cooling water pressure sensor of pneumatic water-cooled dynamic brake and the cooling-water temperature sensor of pneumatic water-cooled dynamic brake at a high speed.
(3.2) drive system
Drive system comprises frequency changing driving system and electric pneumatic drive system;
Wherein, frequency changing driving system comprises two cover variable frequency drive unit, is respectively used to drive pulling winch motor and tensioning winch motor;
Electric pneumatic drive system comprises three cover air pressure driver elements, is respectively used to drive the cylinder action of pneumatic water-cooled dynamic brake action, driving clutch and the cylinder action of driving pawl ratchet fastening device.
Frequency changing driving system comprises 12 arteries and veins rectifier transformers, rectifier, inverter, brake unit, braking resistor and dc bus;
The input of rectifier is connected to electrical network by 12 arteries and veins rectifier transformers; The output of rectifier is parallel to dc bus;
Dc bus is also parallel-connected to one end of inverter, and the other end of inverter is for being connected with frequency converter;
Dc bus is also parallel-connected to one end of brake unit, and the other end of brake unit is connected with braking resistor.
As shown in Figure 5: T1 is 12 arteries and veins rectifier transformers, REC1, REC2 is rectifier, INV1, INV2 is inverter, and BK is brake unit, and BR is braking resistor, QF1, QF2 air switch, QF3-QF6 is dc circuit breaker.
This system comprises frequency conversion drive and electric pneumatic drives. The motor of pulling winch and tensioning winch adopts frequency conversion drive; Dynamic brake, clutch and click apparatus adopt electric pneumatic to drive. The core of frequency conversion drive is rectification unit and inversion unit, adopt Siemens S120 high-performance gear unit, comprise 2 rectification units, 2 inversion units and 1 brake unit, two rectification units are connected to electrical network by rectifier transformer, form 12 arteries and veins, reduce system harmonics. Inverter inside has current feedback link; so starting performance is good; be quick on the draw; can export fast corresponding starting current according to load; so can not exceed rated current to electrical network without impact, frequency converter has and is adapted to the defencive functions such as the short-time overload function of motor ability and power phase shortage, output phase shortage, power supply overvoltage, overcurrent, under-voltage, ground connection, frequency converter be overheated. Between gear unit and PLC, adopt the communication of Profibus-DP agreement, the voltage signal of the potentiometer on PLC acquisition operations deck plate, be converted to corresponding frequency converter frequency setting value through calculation process, write in frequency converter by Profibus bus, read operational factor and the fault message of frequency converter simultaneously.
Brake unit, in the time that decelerating through motor braking enters regenerative power generation state, electric energy feedback is arrived inverter by it, thereby cause the rising of DC bus-bar voltage. Brake unit is parallel-connected on dc bus and by DC bus-bar voltage and is restricted to acceptable level. Brake unit is delivered in outside braking resistor and energy transform into heat energy by braking energy.
One air compression station is set source of the gas is provided, air compression station power supply is three-phase AC380V/50Hz. Source of the gas drives dynamic brake to provide frictional resistance to tensioning winch, and by regulating proportioning valve to regulate the size of dynamic brake frictional resistance, dynamic brake adopts the mode of water-cooled. The cylinder of source of the gas driving clutch and click apparatus, realizes deciliter action.
Towing trial drive system operation principle
As shown in Figure 5: rectifier transformer T1 coordinates 2 cover rectifier REC1, REC2, adopts 2 group of 6 pulse 3 phase bridge rectifiers input, and 30 ° of phase shifts between two groups of windings of Δ/Y, exports thereby obtain 12 arteries and veins rectifications.
In the time using 6 impulse commutation, have 5 subharmonic, 7 subharmonic, 11 subharmonic, 13 subharmonic etc., 5 subharmonic currents can reach 35%～40% of fundamental current peak value, and its impact is huge, when frequency conversion system adopts Y/ Δ+Y three-winding transformer, that is: when 12 arteries and veins rectifier transformer, 5 subharmonic and 7 subharmonic have been eliminated substantially, and so, harmonic wave has been suppressed effectively, meanwhile, grid disturbance effect obviously reduces.
Rectifier REC1, between REC2, pass through master-slave communication mode, rectification direct current out, by switch QF3, QF4 delivers to dc bus DCBUS, passes through QF5, QF6 is to inverter power supply, drive motors, DC bus system can be carried out energy exchange timely, exchanges remaining energy and consumes on braking resistor BR by brake unit BK.
(3.3) control system
Control system arrives executing agency, shows and stores system parameters and failure logging etc. for collection site sensor signal, the input of operating desk control instruction, output control instruction. Drive system is used for driving the mechanisms such as traction electric machine, tensioning motor and each brake. When being used for electric network fault, backup power system for system provides uninterrupted power source, guarantees that whole system is according to the programmed halt of setting. Detection system is for detection of pressure and temperature of cable tension, cable length, hawser speed, hawser rope outlet direction, open/state of brake, clutch open/close state, click apparatus open/close state, water-cooled dynamic brake etc.
As shown in Figure 4: this system is by centralized operation panel, Programmable Logic Controller (PLC), man-machine interface (HMI) and low voltage control element; The a set of complete winch electric-control system of the composition such as SIEMENS frequency converter, low-voltage electrical apparatus system, SIEMENS Programmable Logic Controller, touch-screen, approach switch, encoder. Have winch single action, interlock, automatically, manually control function, pair twist vehicle speed, pulling force, current of electric, rope length etc. show, and winch are carried out to overload protection. System acquisition spot sensor signal, the input of operating desk control instruction, output control instruction are to executing agency, demonstration stores system parameters and failure logging etc.
The elements such as various buttons, indicator lamp, selector switch are set on guidance panel. Frequency converter is used for driving traction electric machine, tensioning motor. Air compression station is for providing the air pressure needing to dynamic brake. Water-cooling system is for circulating cooling dynamic brake. Blower fan of cooling tower is for cooling circulating water.
Programmable Logic Controller (PLC) adopts Siemens S7-400 H redundant PLC, the module of various performances is supported hot plug, simple and practical distributed frame and many interfaces network capabilities, make application very flexible, facilitate user and the design of easy fan-free, in the time that control task increases, can spread, adopt modularization and fan-free design, sturdy and durable. It is mainly made up of central processing unit (CPU), micro-storage card (MMC), PS power supply, digital quantity input/output module, analog input/output module.
Man-machine interface (HMI) adopts 12 cun of touch-screens of Siemens and industrial computer, shows and records following content: hawser is exported the duty of length, cable tension value, hawser speed, dynamic brake water-cooling system pressure and temperature, dynamic brake air pressure, power converter output, electric current, voltage, frequency, system alarm and fault message, each mechanism. Above content can be shown and be stored by the form of tendency chart or list, convenient inquiry, and can export in excel table for analysis of experiments and processing, the engineer who has operating right can arrange by HMI the parameter of system, such as stop position, warning upper lower limit value etc. HMI selects touch-screen, industrial computer, meets the requirement of performance application. There is the function such as logout, programming in logic.
Low voltage control element selects Schneider IC65 and NS row breaker to have the functions such as short-circuit protection, overload protection, control and isolation. Schneider LC1 series contactor, Schneider RXM series relay, Schneider XB2B series button indicating lamp, maximum working voltage is 440VAC, and be 20000 mechanical life, and environment for use temperature is-15 DEG C to+45 DEG C, and relative humidity is 95%.
(3.4) power-supply system
Back-up source (UPS) provides stand-by power supply for system control power supply and sensor, in the time that electric network source is normal by electrical network to system power supply, the charge in batteries that electric network source is back-up source simultaneously; When electric network source fault, backup power system drops into automatically as system power supply. While guaranteeing electric network source fault, towing system can safety stop.
The course of work of towing trial trailer system provided by the invention and being described as follows:
(1), condition of work
Environment temperature: the highest 45 DEG C, minimum-15 DEG C; Relative humidity: 46%～95%; Without gas or the steam of electro-conductive dust and destruction dielectric; Without high vibration and impact; Good ventilation condition.
(2), on-the-spot installation
1., accomplish fluently according to appearance and size and fot screw hole and can carry out that equipment is in place after ground, levelling, bury appropriate fot screw. After cement solidification, can tighten fot screw with permanent plant.
2., by the figure line of connecting with the mains, output line. After checking that line is correct, should check insulation, with 500V megger can power transmission more than 2M Ω, otherwise after will checking reason and eliminating, can power transmission. Check electrical machine insulation and electric wire connectivity, rotor rotates flexibility, and whether mechanical transmission mechanism is normal.
3., all normal above after, switch on power, and notice that scene can not be because of electric machine rotation harm people and equipment. Whether normally observe motor rotation, comprise size of current, rotating speed height, and whether direction of rotation is correct.
(3), electric sequence
Frequency conversion tank: first check that the voltmeter on cabinet door shows that whether voltage is normal, all breakers successively close after voltage is normal.
(4), automatic forward drag operation
Automatically forward towing flow process is as shown in block diagram 6:
1., towed body is ready
Towed body arrives pre-determined bit; Towed body and hawser fixedly complete; Testing relevant preparation to towed body all completes; Input the ready instruction of towed body by operating desk, this instruction single test complete or process of the test in the ready instruction of towed body that automatically resets while breaking down, then must again input this instruction when moving.
2., mechanical electric system is ready
Check that whether mechanical various parts is normal, comprise winch and pulley each several part bearing lubrication situation etc.; Check that whether electrical system each several part is normal, manual operation clutch, high-speed brake, click, air compression station and water-cooling system, confirm that each several part action is correct; After checking that each several part is normal, input machinery and the ready instruction of electrical system, this instruction single test complete or process of the test in automatically reset while breaking down, then must again input this instruction while moving.
System power-on self-test
Control system self-inspection, after powering on, control system is carried out self-inspection to CPU, input/output module, and self-inspection is by rear CPU run indicator Chang Liang; Whether normal network system self-inspection, detect CPU and frequency converter, encoder and upper machine communication network automatically after powering on; Whether normal transmission system self-inspection, detect frequency converter automatically after powering on; Whether normal detection system self-inspection, detect encoder, pressure sensor, temperature sensor etc. automatically after powering on; Whether normally after system powers on, automatically detect electric power system, whether each button and change-over switch input be normal; After above self-inspection is passed through, indicator lamp lights.
4., select automatic mode
Select automatic operational mode by the selector switch on centralized operation platform, select must guarantee that all buttons and change-over switch are in zero-bit before automatic mode, otherwise cannot select automatic mode, this pattern single test complete or process of the test in automatically exit while breaking down, while again test, must reselect.
5., select test parameters
As shown in Figure 7, parameter designing interface as shown in Figure 8 at towing trial pull-in control system main interface. According to different towed bodys and test requirements document validation test parameter group, select test subprogram and the test parameters group of answering in contrast, the testing crew that has operating right can be modified to corresponding test subprogram and test parameters group after the input of HMI interface is authorized, and can report to the police if revise unreasonable system; The testing crew that has operating right is selected test subprogram and the test parameters corresponding with testing towed body on HMI interface; Accurate for guaranteeing test parameters, this parameter need to can come into force after at least two people confirm, system is numerical value before and after record modification personnel, modification time, amendment, and query modification record is provided; Single test complete or process of the test in while breaking down this selection automatically cancel, also can artificially cancel at HMI interface.
System starts and " building tension force "
After above preparation, press start button, system brings into operation according to the program of setting. Towing trial pull-in control system traction current trend curve interface is as shown in Figure 9:
Air compression station and water-cooling system start, and pipeline air pressure and cooling water pressure reach after setting value, regulate the proportioning valve on dynamic brake air duct, make dynamic brake that maximum braking force is provided; Tensioning winch throw-out-of clutch, tensioning winch click is opened; Pulling winch clutch closes, and pulling winch click is opened, and frequency converter enables, and opens pulling winch high-speed brake, opens pulling winch dynamic brake; When the tension value of the hawser that relatively tension pick-up of tensioning winch end and pulling winch end detects is 3T, success that system " is built tension force ", carries out next step action.
Boost phase
Pulling winch frequency converter progressively increases output torque by ramp function generator, and this torque is determined according to calculating the acceleration needing, and makes the tension value on hawser become greater to 3.1T (the concrete numerical value of this tension value need to be determined according to test); By regulating proportioning valve aperture, reduce gradually the brake force of tensioning winch dynamic brake, make tensioning winch end tension pick-up detect that cable tension is that 3T is (in this process, when the cable tension detecting when tensioning winch end tension pick-up is less than 3.1T, towed body starts slow acceleration); Pulling winch frequency converter progressively increases output torque by ramp function generator, increase to and approach the safe threshold values of pulling force that towing physical efficiency is born, towed body accelerates to gradually setting speed (in this process in the distance range of setting, automatically the aperture of resize ratio valve, the cable tension value that tensioning winch end tension pick-up detects is fluctuateed in 3T left and right, and this fluctuation range need draw by concrete test); After towed body moves, system is calculated the current location of sail body automatically by encoder.
8., constant rate period
The cable tension value stabilization that maintenance tensioning winch end tension pick-up detects is in 3T left and right, and pulling winch keeps constant speed operation, until towed body arrives decelerate position.
9., the decelerating phase
Pulling winch frequency converter progressively reduces to export torque by ramp function generator, this torque is definite according to calculating the accekeration needing, and the cable tension value that pulling winch end tension pick-up is detected is 3.1T left and right (concrete numerical value is determined by test); Regulate proportioning valve aperture, increase gradually the brake force of tensioning winch dynamic brake, make tensioning winch end tension pick-up detect that cable tension approaches the safe threshold values that towing physical efficiency is born; In this process, towed body slows down.
10., accurately belt tension is stopped
Approach zero when system detects hawser speed, and the tension value that pulling winch end tension pick-up and tensioning winch end tension pick-up detect is 3.1T left and right (concrete numerical value is determined by test); Tensioning winch dynamic brake is closed, and ratchet is closed; Pulling winch dynamic brake is closed, and ratchet is closed, and high-speed brake cuts out, and frequency converter enables to disconnect, and stops complete.
In said process, in specific implementation, with reference to figure 9, control system realizes pulling winch and the control of tensioning winch tension force self-adapting synergizing by following concrete mode:
At current time, pulling winch PID adaptive controller obtains pulling winch payingoff speed set-point; Also obtain the current rope outlet direction of pulling winch by pulling winch rope outlet direction sensor, also obtain the current actual tension value of pulling winch by pulling winch tension pick-up; Pulling winch PID adaptive controller is stuck with paste mould processing to the parameter of input, obtains initial moment adjustment amount, and on the one hand, initial moment adjustment amount, after torque amplitude limit device, is input to motion controller; On the other hand, initial moment adjustment amount is after coefficient adjustment device is processed, as the tension set-point of tensioner winch, be input to tensioning winch PID adaptive controller, tensioning winch PID adaptive controller also obtains the current rope outlet direction of tensioning winch by tensioning winch rope outlet direction sensor, also obtain the current actual tension value of tensioning winch by tensioning winch tension pick-up, tensioning winch PID adaptive controller is stuck with paste mould processing to the parameter of input, obtain initial velocity adjustment amount, initial velocity adjustment amount, after speed limiting device, is input to motion controller;
Motion controller carries out integrated treatment to the tensioning winch speed adjustment amount receiving and pulling winch torque adjustment amount, generate tensioning winch speed controlled quentity controlled variable and pulling winch torque controlled quentity controlled variable, by the control to tensioning winch servo-driver, realize the function of adjusting tensioning winch speed, and, by the control to pulling winch servo-driver, realize the function of adjusting pulling winch torque.
Wherein, the Main Function that torque amplitude limit device is set is: torque amplitude limit is carried out in PID output, can prevent the overtension of pulling winch hawser, occurs dangerous.
In the present invention, the PID output of pulling winch and tensioning winch all, as the input of motion controller, after motion controller is processed, forms Dual-spindle linked by servo-driver and servomotor, thereby forms self-adapting synergizing control.
In addition, the speed preset value of pulling winch is not constant, a but variable quantity, in the time that the speed preset value of pulling winch becomes large, after pulling winch PID processes, pulling winch promotes hauling speed by strengthening torque value, the increment of speed is given to the tension force input of tensioner winch simultaneously, make the tension force of tensioner winch become large simultaneously, make whole system smooth transition to next static, namely speed constant, in the time that pulling winch speed preset value diminishes, tensioner winch given tension value also diminishes, the tractive force of pulling winch diminishes simultaneously, make whole system be transitioned into rapidly given speed stable state.
(5), automatic reverse towing flow process
Automatic reverse towing flow process and forward towing flow process are similar, the just exchange function of pulling winch and tensioning winch, and sequence of movement is the same.
(6), the anxious operating process of stopping
System arranges two scram buttons, and in the time pressing first scram button, system is carried out the parking of deceleration strip tension force according to " 11 " and " 12 " in automatic forward towing flow process; In the time pressing second button, cut off power supply, reach essential safety.
(7), towing cable rope tension abnormal operation flow process
In running, system detects that cable tension has while sharply becoming main trend, sends early warning information; System detects that cable tension approaches after setting value, and pulling winch reduces tractive force gradually, and simultaneously tensioning winch reduces tensile force gradually, and towed body stops by self resistance.
(8), manual operation flow process
On centralized operation platform, select manual operation, by the knob manual operation system kind each several part single movement on panel, and can adjust the speed of winch and the size of brake force by knob. Manual operation is mainly used in debugging, maintenance, and test front position is adjusted.
(9), points for attention
1., carry out before " interlock " operation, must guarantee that steel wire rope links together and solid and reliable, forbidding that steel wire rope does not link together carries out combined operation.
2., carry out, before " interlock " operation, must guarantee that steel wire rope is in tensioning state, otherwise subsidiary engine steel wire rope there will be suddenly and tightens up and shake.
3., starting before winch, must guarantee that the steel wire rope on reel does not have disorder cable phenomenon.
4., in operating process, need a people, monitor winch running status, in the time there is situation, press " emergent stopping " button.
5., in the time of cable laying, need to someone monitor the length of emitting steel wire rope, cannot emit too much, otherwise easily occur the phenomenon of disorder cable, occur that disorder cable must stop at once, again that cable arranging is neat.
6., before each tractive, necessary confirmation tractive stop position switch is normal, the long detection of rope encoder is normal.
7., ensure that switch board surrounding air is dry, system exceedes first quarter moon does not work, and after this work need power on one hour, operates again.
(10), operation and maintenance
1., ensure not want overload operation while use, be in strict accordance with operating procedure and points for attention operation.
2., regularly carry out maintaining, running check wiring nose has or not loosening, when dust is too thick, should clear up in time, otherwise, may make insulation reduce and cause short circuit or " blowing out ".
3., change when element, should check and approve component parameters, as withstand voltage, electric current, size etc., when wiring, note polarity.
Whether 4., make regular check on sensor connects solid and reliable.
5. whether reliably, make regular check on system earth.
6., make regular check on band-type brake open instruction approach switch whether normal.
7., to ensure that the each safety guard of system is working properly, must not arbitrarily remove.
8., regular purging system switch board, the screen pack of frequency conversion tank is monthly once cleared up, and ensures system stable operation.
Pulling winch (main winch) provides the towed body required drag of advancing. At accelerating sections, main winch can steadily accelerate to towed body the required speed of a ship or plane of experimental measurement (2kn, 6kn and 10kn). At measuring section at the uniform velocity, ensure that towed body velocity-stabilization is in normal speed, velocity perturbation is no more than ± and 2%. In safe buffering section, towed body is decelerated to berthing space by towing system. Before testing next time, towing system inverted running, pulling winch reversion, as tensioning apparatus, returns to standby navigating area by towed body with the speed of 2kn.
Tensile force when tensioning winch (secondary winch) provides towed body to advance, the steady steaming of maintenance towed body. In process of the test, keeping the permanent tension force of towed body afterbody hawser is 3T. In safety buffer zone, towed body low speed is towed to berthing space by secondary winch. Before testing, need tensioning winch reversion next time, tractive force is provided, make sail body return to area in preparation with the speed of 2kn, now needing pulling force is 0.107T, adds tensile force 3T, adds up to 3.107T.
Towing trial system can be done forward towing navigation with 2 joints to 10 joint speed to towed body in the water of 400t level by 6t, and traffic direction is (the each component names to towing trial system in figure has carried out specification) as shown in Figure 3. Towed body also can 2 joint speed be done oppositely towing navigation, and traffic direction as shown in Figure 4. When forward towing navigation, the screw on towed body can rotate, and also can not rotate. Oppositely towing navigation is mainly used in towed body playback, and screw does not rotate.
Towing system traction towed body, the interval at the 1km of left and right bank pillar interlude to 2.0km, realizes the stable towing navigation of towed body constant speed. In acceleration, deceleration section and the at the uniform velocity navigation section of towing navigation, towing system all can stable operation. In towing trial system, key component is winch pull-in control system, and control system determines the success or failure of towing trial system.
(11) towing trial trailer system performance indications
Possess the ability of 400t level towed body being implemented to towing line navigation, maximum towed speed is 10kn (308m/min), and towed body speed of a ship or plane stability requirement is as the criterion with motor speed control index;
(1), when forward pulls, towed body rear portion minimum tension is not less than 3t;
(2), while oppositely towing, towed body rear portion minimum tension portion is less than 1t;
(3), in towing system running, except powering-off state, cable tension must be greater than zero;
(4) forward traction maximum pull: 6.17t;
(5) forward draws maximum rated speed: 308m/min (10kn);
(6) oppositely draw maximum pull: 3.107t;
(7) oppositely draw maximum rated speed: 61m/min (2kn);
(8) winch holds rope amount 3000m (wherein the Rong Shengliang of a winch meet can by complete hawser drawing back function);
(9) tensile force fluctuation amplitude be no more than ± 3%, the winch fluctuation of speed be no more than rated value ± 1%;
(10) in pulling winch forward when towing, provides the towed body required tractive force that advances, and necessary tensile force is provided while oppositely towing; Tensioning winch possesses above function equally;
(11) level brake and water-cooled dynamic brake are at a high speed set on winch, its high speed level brake is for often opening, and water-cooled dynamic brake is normally closed design. Tensioning winch water-cooled dynamic brake plays the function that keeps tensile force, can in case of emergency, increase gradually tensile force, and towed body is steadily stopped gradually; Pulling winch water-cooled dynamic brake only plays surely reel, realizes dynamically balanced function. Level brake plays in the time of winch variable-frequency motor and water-cooled dynamic brake maintenance dynamic balancing and gives stopping brake at a high speed, makes system keep static, and now the water-cooled brake of pulling winch also plays the function of stopping brake and fastening reel.
(12) two emergency stop switch are set, one stops for belt tension in emergency circumstances, and another is for cutting off rapidly master control power supply (consider the safety of personnel and equipment, this emergency stop switch need to reset with key).
The towing trial trailer system that prior art exists, has following problem:
(1), towed body is subject to the effect that stormy waves shoves in water, moves extremely unstablely, keep towed body six degree of freedom stable, and can not to be offset be a maximum difficult problem.
(2), keep towing system attitude stabilization to need the towing cable tension force moment to change, the moment of acceleration changes, and has the problem of many cable tensions self-adapting synergizing control.
(3), while handling track and the attitude of towed body, the power that acts on towed body is greater than after setting value, moment depart from towed body, has a difficult problem that guarantee towing system safety and operating mode are stable and the manipulation problem of fast and flexible.
(4), the strict control of towing system main winch and secondary winch drag cable length, major-minor winch rope tension force has strict kinematic function relation, has the problem of Collaborative Control major-minor winch rapidity.
Innovative point of the present invention is:
(1), towed body is subject to the used time of doing that stormy waves shoves in water, the present invention can keep the stable and skew of towed body six degree of freedom in the scope of allowing.
(2), many cable tensions of towing self-adapting synergizing of the present invention control, the towing cable tension force moment is changed, the moment of acceleration changes, and keeps towing system attitude stabilization.
(3), the present invention in the time handling towed body track and attitude, can rapid adjustment act on the active force on towed body, avoid tension adjustment excessively or adjustment repeatedly.
(4) length and tension force that, the present invention can Collaborative Control towing system major-minor winch towing cable rope.
(5), the present invention has double protection functions, in the time that winch capacity is greater than safety value, clutch is thrown off automatically, if throw-out-of clutch is abnormal, towed body block structure is thrown off automatically, reaches essential safety.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be looked protection scope of the present invention.
Claims (9)
1. an ocean engineering towing trial trailer system, is characterized in that, comprises that pillar and overhead driving holdPlatform subsystem and winch type traction subsystem;
Wherein, described pillar and overhead driving cushion cap subsystem comprise pile foundation (1), and described pile foundation (1) comprisesIntegrally formed flat pile foundation (1-1) and taper pile base (1-2); Described flat pile foundation (1-1) is positioned at below the water surface,The bottom of described taper pile base (1-2) is connected and is positioned at below the water surface, described taper pile with described flat pile foundation (1-1)More than the top of base (1-2) extends to the water surface; Top at described taper pile base (1-2) is fixed with overhead drivingCushion cap (2); Be fixed with respectively left bank towing pillar (3) and right at the two ends, left and right of described flat pile foundation (1-1)Bank towing pillar (4);
Described winch type traction subsystem comprises pulling winch (5), tensioning winch (6), leading block group (7)And electrical system;
Wherein, described leading block group (7) comprises 4 leading blocks, be respectively upper left leading block (7-1),Lower-left leading block (7-2), upper right leading block (7-3) and bottom right leading block (7-4); Described upper leftDescribed left bank towing pillar (3) is fixed in leading block (7-1) and described lower-left leading block (7-2)Upper and lower; Described in described upper right leading block (7-3) and described bottom right leading block (7-4) are fixed onThe upper and lower of right bank towing pillar (4);
Described pulling winch (5) and described tensioning winch (6) are arranged in described overhead driving cushion cap (2),The hawser (9) of described pulling winch (5) is walked around after described upper left leading block (7-1), is fixed to towingOne end of body (8); The hawser of described tensioning winch (6) walk around successively described lower-left leading block (7-2),After described bottom right leading block (7-4) and described upper right leading block (7-3), be fixed to described towed body (8)The other end;
Described electrical system is used for driving the described pulling winch of control (5) and described tensioning winch (6) action,And then described towed body is carried out to drag kick.
2. ocean engineering towing trial trailer system according to claim 1, is characterized in that, described inPulling winch (5) and described tensioning winch (6) include hoist engine, reductor, motor and winchAttachment device; Described motor is by described reductor and the interlock of described hoist engine.
3. ocean engineering towing trial trailer system according to claim 2, is characterized in that, described inWinch attachment device comprises air ratchet ratchet fastening device, high speed level brake, pneumatic water-cooled dynamic systemMoving device, clutch and rope processing device.
4. ocean engineering towing trial trailer system according to claim 3, is characterized in that, described inElectrical system comprises control system, drive system, power-supply system and detection system; Described control system respectivelyBe connected with described drive system, described power-supply system and described detection system.
5. ocean engineering towing trial trailer system according to claim 4, is characterized in that, described inDetection system comprises:
Pull-cord tension pick-up, for detection of the tension value of pull-cord;
Tension cables rope tension sensor, for detection of the tension value of tensioning hawser;
Pull-cord encoder, for measuring speed and the length of pull-cord;
Tensioning hawser encoder, for measuring speed and the length of tensioning hawser;
Pulling winch rope outlet direction sensor, for measuring pulling winch going out at level and vertical both directionRope direction;
Tensioning winch rope outlet direction sensor, for measuring tensioning winch going out at level and vertical both directionRope direction;
Level brake open/close state checkout equipment, pneumatic water-cooled dynamic brake open/close state detect and establish at a high speedStandby, clutch open/close state checkout equipment, click fastening device open/close state checkout equipment, pneumatic waterThe bleed pressure sensor of cold type dynamic brake, the cooling water pressure sensing of pneumatic water-cooled dynamic brakeThe cooling-water temperature sensor of device and pneumatic water-cooled dynamic brake.
6. ocean engineering towing trial trailer system according to claim 4, is characterized in that, described inDrive system comprises frequency changing driving system and electric pneumatic drive system;
Wherein, described frequency changing driving system comprises two cover variable frequency drive unit, is respectively used to drive pulling winchMotor and tensioning winch motor;
Described electric pneumatic drive system comprises three cover air pressure driver elements, is respectively used to drive pneumatic water-cooledThe cylinder action of dynamic brake action, driving clutch and the cylinder of driving pawl ratchet fastening device are movingDo.
7. ocean engineering towing trial trailer system according to claim 6, is characterized in that, described inFrequency changing driving system comprise 12 arteries and veins rectifier transformers, rectifier, inverter, brake unit, braking resistor withAnd dc bus;
The input of described rectifier is connected to electrical network by described 12 arteries and veins rectifier transformers; Described rectifierOutput is parallel to dc bus;
Described dc bus is also parallel-connected to one end of described inverter, and the other end of described inverter is used forBe connected with frequency converter;
Described dc bus is also parallel-connected to one end of described brake unit, the other end of described brake unitBe connected with described braking resistor.
8. an ocean engineering towing trial traction method, is characterized in that, comprises the following steps:
Step 1, system starts and builds the tension force stage:
Control system starts air compression station and water-cooling system, and pipeline air pressure and cooling water pressure reach setting valueAfter, regulate the proportioning valve on dynamic brake air duct, make dynamic brake that maximum braking force is provided; SoAfter, the throw-out-of clutch of control system control tensioning winch, tensioning winch click is opened; Control tractionWinch clutch closure, controls pulling winch click and opens, and opens pulling winch dynamic brake; ControlThe actual cable tension value of system acquisition tensioning winch end processed and pulling winch end actual cable tension value,When the actual cable tension value of tensioning winch end and pulling winch end actual cable tension value equate and reachWhen setting value 3T, system is built tension force success;
Step 2, boost phase:
The ramp function generator of control system control pulling winch frequency converter, makes it progressively increase output torque,In the time that the tension value of pull-cord increases to setting value 3T+P, wherein, P is positive number; Control system is by adjustingSave proportioning valve aperture, reduce gradually the brake force of tensioning winch dynamic brake, tensioning winch end tension force is passedThe cable tension that sensor detects is 3T, in this process because tensioning winch end tension pick-up detectsCable tension is less than the cable tension that pulling winch end tension pick-up detects, therefore, towed body is for startingThe process of slowly accelerating;
Then, control system control pulling winch frequency converter by ramp function generator progressively increase output turnSquare, and increase to the safe threshold values of pulling force that approaching towing physical efficiency is born, the distance range that towed body is being setInside accelerate to gradually setting speed; In this process, the aperture of resize ratio valve, makes tensioning winch end automaticallyThe cable tension value that tension pick-up detects is in the fluctuation of 3T left and right;
Step 3, constant rate period:
The cable tension value stabilization that maintenance tensioning winch end tension pick-up detects is at 3T left and right, pulling winchKeep constant speed operation, until towed body arrives decelerate position;
Step 4, the decelerating phase:
Pulling winch frequency converter progressively reduces to export torque by ramp function generator, and this torque is according to calculatingThe accekeration needing is definite, and the cable tension value that pulling winch end tension pick-up is detected is 3T+P;Meanwhile, regulate proportioning valve aperture, increase gradually the brake force of tensioning winch dynamic brake, make tensioning winchEnd tension pick-up detects that cable tension approaches the safe threshold values that towing physical efficiency is born; In this process, dragDraging body slows down;
Step 5, accurately belt tension is stopped:
When detecting hawser speed, control system approaches zero, and pulling winch end tension pick-up and tensioning winchWhen the tension value that end tension pick-up detects is 3T+P, controls tensioning winch dynamic brake and close, sour jujubePawl is closed; Control pulling winch dynamic brake and close, ratchet is closed, and high-speed brake cuts out, frequency converterEnable to disconnect, stop complete.
9. ocean engineering towing trial traction method according to claim 8, is characterized in that, in stepIn the process of rapid 1-step 5, control system realizes pulling winch and tensioning winch by following concrete modeThe control of tension force self-adapting synergizing:
At current time, pulling winch PID adaptive controller obtains pulling winch payingoff speed set-point;Also obtain the current rope outlet direction of pulling winch by pulling winch rope outlet direction sensor, also pass through pulling winchTension pick-up obtains the current actual tension value of pulling winch; Pulling winch PID adaptive controller is to inputParameter stick with paste mould processing, obtain initial moment adjustment amount, on the one hand, initial moment adjustment amount is through torqueAfter limiter, be input to motion controller; On the other hand, initial moment adjustment amount is through the processing of coefficient adjustment deviceAfter, as the tension set-point of tensioner winch, be input to tensioning winch PID adaptive controller, tensioning strandCar PID adaptive controller also obtains the current rope stretching side of tensioning winch by tensioning winch rope outlet direction sensorTo, also obtain the current actual tension value of tensioning winch, tensioning winch PID by tensioning winch tension pick-upAdaptive controller is stuck with paste mould processing to the parameter of input, obtains initial velocity adjustment amount, and initial velocity is adjustedWhole amount, after speed limiting device, is input to motion controller;
Motion controller carries out the tensioning winch speed adjustment amount receiving and pulling winch torque adjustment amountIntegrated treatment, generates tensioning winch speed controlled quentity controlled variable and pulling winch torque controlled quentity controlled variable, by tensioning is twistedThe control of car servo-driver, realizes the function of adjusting tensioning winch speed, and, by pulling winchThe control of servo-driver, realizes the function of adjusting pulling winch torque.
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| CN107036784A (en) * | 2017-04-26 | 2017-08-11 | 哈尔滨工程大学 | Cable type intelligence seaworthiness instrument apparatus |
| CN108689327A (en) * | 2018-03-22 | 2018-10-23 | 武汉船用机械有限责任公司 | A kind of winch hawser constant-tension control method and device |
| CN109459260A (en) * | 2018-12-19 | 2019-03-12 | 中铁工程装备集团有限公司 | Continuous conveyor system frequency conversion automatic takeup imitative experiment platform and analogy method |
| CN109459260B (en) * | 2018-12-19 | 2024-02-09 | 中铁工程装备集团有限公司 | Experimental simulation platform and simulation method for variable-frequency automatic tensioning device of continuous belt conveyor |
| CN110065853A (en) * | 2019-02-28 | 2019-07-30 | 武汉船用机械有限责任公司 | Cable towing winch system control device |
| CN110065853B (en) * | 2019-02-28 | 2020-09-22 | 武汉船用机械有限责任公司 | Control device of cable towing winch system |
| CN114084283A (en) * | 2021-12-02 | 2022-02-25 | 中国船舶科学研究中心 | Dragging point conversion structure and dragging point conversion method using same |
| CN114084283B (en) * | 2021-12-02 | 2023-02-28 | 中国船舶科学研究中心 | Dragging point conversion structure and dragging point conversion method using same |
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