CN106429871A - Wave compensation system and control method thereof - Google Patents
Wave compensation system and control method thereof Download PDFInfo
- Publication number
- CN106429871A CN106429871A CN201610950110.3A CN201610950110A CN106429871A CN 106429871 A CN106429871 A CN 106429871A CN 201610950110 A CN201610950110 A CN 201610950110A CN 106429871 A CN106429871 A CN 106429871A
- Authority
- CN
- China
- Prior art keywords
- piston rod
- displacement
- winch
- setting value
- highline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C21/00—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways
- B66C21/04—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways with cable-ways supported at one end or both ends on bodily movable framework, e.g. framework mounted on rail track
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/04—Accumulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a wave compensation system and a control method thereof, and belongs to the technical field of marine machinery. The wave compensation system comprises an elevated rope winch, a tension acting cylinder, a pulley set, a crane, an energy storer, a driving device and a control device; a steel wire rope of the elevated rope winch penetrates through the tension acting cylinder, the pulley set and the crane in sequence; the tension acting cylinder includes a fixed pulley, a movable pulley and a hydraulic oil cylinder arranged between the fixed pulley and the movable pulley; a cylinder body of the hydraulic oil cylinder is fixedly connected with the fixed pulley; a piston rod of the hydraulic oil cylinder is fixedly connected with the movable pulley; the energy storer is communicated with the hydraulic oil cylinder; the driving device is in transmission connection with the elevated rope winch; the control device includes a displacement sensor for detecting displacement of the piston rod, and a controller for controlling rotation of the elevated rope winch according to the displacement of the piston rod; and the controller is electrically connected with the displacement sensor and the driving device. The wave compensation system uses the elevated rope winch and the tension acting cylinder for wave compensation to guarantee stable transportation of supply materials onto a supply ship.
Description
Technical field
The present invention relates to marine machinery technical field, more particularly to a kind of wave compensation system and its control method.
Background technology
Ship rides the sea and ocean platform is in high seas working, all constantly can consume the food of deposit, fuel oil,
The goods and materials such as fresh water.In order to ensure the normal operation of ship and platform, generally can not mended using marine in the case of bank off the port
The mode that gives is fed the goods and materials of consumption.
Seaborne supply is the steel wire rope by being vacantly arranged between supply ship and reception ship, will feed goods and materials from benefit
Reception ship is transferred to ship.In the case that sea situation is relatively more severe, due to feeding ship and receiving ship on wave
Relative position difference, supply ship and reception ship can be subject to wave action and produce relative motion so that be lifted on steel wire rope
On supply goods and materials produce therewith and rock, it is possible to situations such as causing supply goods and materials occur fall into the sea, clash into ship.
Content of the invention
In order to problem of the prior art is solved, a kind of wave compensation system and its controlling party is embodiments provided
Method.The technical scheme is as follows：
In a first aspect, embodiments providing a kind of wave compensation system, the wave compensation system includes overhead
Rope winch, tension force pressurized strut, assembly pulley, crane, accumulator, driving means；The steel wire rope of the highline winch is sequentially passed through
The tension force pressurized strut, the assembly pulley, the crane, the tension force pressurized strut includes fixed pulley, movable pulley and is arranged on
Hydraulic jack between the fixed pulley and the movable pulley, the cylinder body of the hydraulic jack is fixedly connected with the fixed pulley,
The piston rod of the hydraulic jack is fixedly connected with the movable pulley, and the accumulator is connected with the hydraulic jack, the drive
Dynamic device is in transmission connection with the highline winch；The wave compensation system also includes control device, the control device bag
Include：
Displacement transducer, for detecting the displacement of the piston rod；
Controller, is electrically connected with institute's displacement sensors and the driving means, respectively for according to the piston rod
Displacement, controls the highline winch to rotate.
Alternatively, the controller is used for,
When the absolute value of the displacement of the piston rod is not more than the first setting value, controls the highline winch to be in and stop
Car state；
When the displacement of the piston rod is more than the first setting value, the highline winch is controlled to rotate along take-up direction；
When the displacement of the piston rod is less than the opposite number of the first setting value, control the highline winch along cable laying side
To rotation；
Wherein, first setting value is more than 0, and the displacement of the piston rod is the piston rod from the tension force pressurized strut
The displacement for stretching out direction from half way position to the piston rod.
Preferably, the controller is used for controlling the highline winch to rotate according to below equation：
Work as L1＜ L≤L2When, V=X1*(L-L1)*Vn/(L2-L1)；
Work as L2＜ L≤L3When, V=X2*(L-L3)*Vn/(L3-L2)+Vn；
As L ＞ L3When, V=Vn；
Wherein, L1For first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is institute
The real-time velocity of rotation of highline winch is stated, L is the piston rod from the half way position of the tension force pressurized strut to the piston
The displacement for stretching out direction of bar, X1For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the height
The maximum rotational speed of frame rope winch.
Preferably, the controller is used for controlling the highline winch to rotate according to below equation：
As-L2＜ L≤- L1When, V=X1*(L+L1)*Vn/(L2-L1)；
As-L3＜ L≤- L2When, V=X2*(L+L3)*Vn/(L3-L2)-Vn；
As L ＜-L3When, V=Vn；
Wherein, L1For first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is institute
The real-time velocity of rotation of highline winch is stated, L is the piston rod from the half way position of the tension force pressurized strut to the piston
The displacement for stretching out direction of bar, X1For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the height
The maximum rotational speed of frame rope winch.
Preferably, the control device also includes：
Encoder, is electrically connected with the controller, for detecting the velocity of rotation of the highline winch.
Preferably, the driving means include hydraulic motor, for controlling rotation direction and the rotation of the hydraulic motor
The valve group of speed, the actuator port of the valve group is connected with the control port of hydraulic motor, the control of the electrohydraulic proportional control valve
End processed is connected with the controller, and the output shaft of the hydraulic motor is in transmission connection with the highline winch.
Alternatively, the assembly pulley includes leading block component and lifting pulley component, and the leading block component includes
First pulley and second pulley, the second pulley is arranged on the top of the first pulley, and the first pulley is fixed with described
Pulley is arranged in same level, and the lifting pulley component includes three pulleys, and the center of three pulleys is linked to be one
Individual triangle.
Second aspect, embodiments provides a kind of control method for providing wave compensation system as first aspect,
The control method includes：
Obtain the displacement of piston rod；
When the absolute value of the displacement of the piston rod is not more than the first setting value, control highline winch is in brake shape
State；
When the displacement of the piston rod is more than the first setting value, the highline winch is controlled to rotate along take-up direction；
When the displacement of the piston rod is less than the opposite number of the first setting value, control the highline winch along cable laying side
To rotation；
Wherein, first setting value is more than 0, and the displacement of the piston rod is the piston rod from the tension force pressurized strut
The displacement for stretching out direction from half way position to the piston rod.
Alternatively, when the displacement when the piston rod is more than the first setting value, control the highline winch along receipts
Cable direction rotates, including：
Work as L1＜ L≤L2When, V=X1*(L-L1)*Vn/(L2-L1)；
Work as L2＜ L≤L3When, V=X2*(L-L3)*Vn/(L3-L2)+Vn；
As L ＞ L3When, V=Vn；
Wherein, L1For first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is institute
The real-time velocity of rotation of highline winch is stated, L is the piston rod from the half way position of the tension force pressurized strut to the piston
The displacement for stretching out direction of bar, X1For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the height
The maximum rotational speed of frame rope winch.
Alternatively, when the displacement when the piston rod is less than the opposite number of the first setting value, control the highline
Winch is rotated along cable laying direction, including：
As-L2＜ L≤- L1When, V=X1*(L+L1)*Vn/(L2-L1)；
As-L3＜ L≤- L2When, V=X2*(L+L3)*Vn/(L3-L2)-Vn；
As L ＜-L3When, V=Vn；
Wherein, L1For first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is institute
The real-time velocity of rotation of highline winch is stated, L is the piston rod from the half way position of the tension force pressurized strut to the piston
The displacement for stretching out direction of bar, X1For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the height
The maximum rotational speed of frame rope winch.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
When ship is received away from supply ship, steel wire rope becomes the piston rod retraction liquid that big pressure promotes tension force pressurized strut
Compressing cylinder, accumulator storage energy, when ship is received near supply ship, accumulator releases energy, and orders about tension force pressurized strut
Piston rod stretch out hydraulic jack, displacement of the ship relative complement to ship, tension force are received by the compensation of the displacement of piston rod
Compensation of undulation is realized in pressurized strut.It is actively engaged according to the compensation situation of tension force pressurized strut with timed unit control highline winch
Compensation of undulation, highline winch can cooperate with tension force pressurized strut to carry out compensation of undulation jointly in the case that sea situation is relatively more severe,
Ensure that supply goods and materials smoothly can be transported on supply ship, it is to avoid supply goods and materials occur due to the irregular movement of wave
Uncontrolled motion, and then fall into the sea or clash into the danger of ship.
Description of the drawings
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to making needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of structural representation of wave compensation system that the embodiment of the present invention one is provided；
Fig. 2 is the structural representation of the tension force pressurized strut that the embodiment of the present invention one is provided and accumulator；
Fig. 3 is the structural representation of the driving means that the embodiment of the present invention one is provided and control device；
Fig. 4 is the relation schematic diagram of the displacement with the speed of highline winch of the piston rod that the embodiment of the present invention one is provided；
Fig. 5 a is that the ship that receives that the embodiment of the present invention one is provided shows away from the action of wave compensation system during supply ship
It is intended to；
Fig. 5 b is that the ship that receives that the embodiment of the present invention one is provided shows near the action of wave compensation system when feeding ship
It is intended to；
Fig. 6 is a kind of flow chart of the control method of wave compensation system that the embodiment of the present invention two is provided.
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment one
A kind of wave compensation system is embodiments provided, referring to Fig. 1, the wave compensation system includes that highline is twisted
Car 10, tension force pressurized strut 20, assembly pulley 30, crane 40, accumulator 50 (referring to Fig. 2), driving means 60 (referring to Fig. 3).Overhead
The steel wire rope 11 of rope winch 10 sequentially passes through tension force pressurized strut 20, assembly pulley 30, crane 40, and referring to Fig. 2, tension force pressurized strut 20 is wrapped
Fixed pulley 21, movable pulley 22 and the hydraulic jack 23 being arranged between fixed pulley 21 and movable pulley 22 is included, hydraulic jack 23
Cylinder body 23a is fixedly connected with fixed pulley 21, and the piston rod 23b of hydraulic jack 23 is fixedly connected with movable pulley 22, referring to Fig. 2, is stored
Energy device 50 is connected with hydraulic jack 23, and referring to Fig. 3, driving means 60 are in transmission connection with highline winch 10.
In the present embodiment, highline winch 10 is for actively carrying out compensation of undulation, and tension force pressurized strut 20 is used for passively entering
Row compensation of undulation, assembly pulley 30 is used for being oriented to for the steel wire rope 11 of highline winch 10, and crane 40 is used for hanging supply goods and materials
100, accumulator 50 is that tension force pressurized strut 20 provides constant pressure, and driving means 60 are used for driving highline winch 10.Overhead
Rope winch 10, tension force pressurized strut 20, assembly pulley 30, accumulator 50, driving means 60 and control device 70 are arranged at tender
On oceangoing ship 200, the steel wire rope 11 of highline winch 10 sequentially passes through tension force pressurized strut 20, assembly pulley 30, be fixed on after crane 40 and connect
Receive on ship 300.
In the present embodiment, referring to Fig. 3, the wave compensation system also includes control device 70, and control device 70 includes：
Displacement transducer 71, for detecting the displacement of piston rod 23b；
Controller 72, is electrically connected with displacement transducer 71 and driving means 60, respectively for the position according to piston rod 23b
Move, control highline winch 10 is rotated.
Specifically, displacement transducer 72 is arranged in tension force pressurized strut 20.
Alternatively, controller 72 can be used for,
When the absolute value of the displacement of piston rod is not more than the first setting value, control highline winch is in braking state；
When the displacement of piston rod is more than the first setting value, control highline winch is rotated along take-up direction；
When the displacement of piston rod is less than the opposite number of the first setting value, control highline winch is rotated along cable laying direction；
Wherein, the first setting value is more than 0, and the displacement of piston rod is piston rod from the half way position of tension force pressurized strut to piston
The displacement for stretching out direction of bar.
Preferably, referring to Fig. 4, controller 72 can be rotated according to below equation control highline winch：
Work as L1＜ L≤L2When, V=X1*(L-L1)*Vn/(L2-L1)；
Work as L2＜ L≤L3When, V=X2*(L-L3)*Vn/(L3-L2)+Vn；
As L ＞ L3When, V=Vn；
Wherein, L1For the first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is highline
The real-time velocity of rotation of winch, L is the displacement of stretching out direction of the piston rod from the half way position of tension force pressurized strut to piston rod, X1
For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the maximum rotational speed of highline winch.
Preferably, referring to Fig. 4, controller 71 can be rotated according to below equation control highline winch：
As-L2＜ L≤- L1When, V=X1*(L+L1)*Vn/(L2-L1)；
As-L3＜ L≤- L2When, V=X2*(L+L3)*Vn/(L3-L2)-Vn；
As L ＜-L3When, V=Vn；
Wherein, L1For the first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is highline
The real-time velocity of rotation of winch, L is the displacement of stretching out direction of the piston rod from the half way position of tension force pressurized strut to piston rod, X1
For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the maximum rotational speed of highline winch.
In implementing, the first setting value, the second setting value, the 3rd setting value, the first ratio value, the second ratio value can
Set with considering tension force pressurized strut and highline winch compensation of undulation ability.
It is readily apparent that, as 0 ＜ L≤L1When, V=0；As-L1During ＜ L≤0, V=0.Controller 72 is by controlling highline strand
The real-time velocity of rotation of car carries out compensation of undulation：As 0 ＜ L≤L1Or-L1During ＜ L≤0, the tranquiler or fluctuation of wave is very
Little, completely compensation of undulation can be completed by tension force pressurized strut；Work as L2＜ L≤L3Or-L2＜ L≤- L1When, wave fluctuates relatively
Little, but completely compensation of undulation cannot be completed by tension force pressurized strut, highline winch participates in compensation of undulation, and compensation speed is relatively
Slowly；Work as L2＜ L≤L3Or-L3＜ L≤- L2When, wave fluctuation is larger, and ripple is realized in highline winch and tension force pressurized strut jointly
Wave compensation, and the compensation speed of highline winch is very fast；As L ＞ L3Or L ＜-L3When, wave fluctuation is very big, and highline is twisted
Car carries out compensation of undulation jointly with maximum compensation ability and tension force pressurized strut.
Further, referring to Fig. 3, control device 70 can also include：
Encoder 73, is electrically connected with controller 72, for detecting the velocity of rotation of highline winch.
Specifically, encoder 73 can be arranged on highline winch.
Specifically, referring to Fig. 3, driving means 60 can include hydraulic motor 61, be used for controlling the rotation of hydraulic motor 61
The valve group 62 of direction and velocity of rotation, the actuator port of valve group 62 is connected with the control port of hydraulic motor 61, electric-hydraulic proportion control
The control end of valve processed 62 is connected with controller 71, and the output shaft of hydraulic motor 61 is in transmission connection with highline winch 10.
In actual applications, valve group 62 can include for the rotation direction that controls hydraulic motor 61 reversal valve and for
The electro-hydraulic proportional valve of the velocity of rotation of control hydraulic motor 61.
Alternatively, referring to Fig. 1, assembly pulley 30 can include leading block component 31 and lifting pulley component 32, be oriented to and slide
Wheel assembly 31 includes first pulley 31a and second pulley 31b, and second pulley 31b is arranged on the top of first pulley 31a, first
Pulley 31a is arranged in same level with fixed pulley 21, and lifting pulley component 32 includes three pulley 32a, three pulley 32a
Center be linked to be a triangle.
Following is a brief introduction of the operation principle of wave compensation system provided in an embodiment of the present invention：
During at sea feeding, supply ship 200 and reception ship 300 all follow wave motion (generally sinusoidal
Wave motion), illustrate for convenience, supply ship 200 and reception ship 300 are carried out equivalent change all in the state of wave motion
Change, it is assumed that supply ship 200 remains static, receive shape of the relative supply ship 200 of ship 300 in twice wave motion
State.If not carrying out compensation of undulation, supply goods and materials 100 can be moved with supply ship 200；Compensation of undulation is carried out, supply can be made
The transportation of goods and materials 100 tends to be steady, and is similar to a horizontal line.It should be noted that before compensation of undulation, piston rod 23b
Half position (abbreviation half way position), the i.e. equilbrium position of tension force pressurized strut 20 positioned at the full displacement of tension force pressurized strut 20.
Referring to Fig. 5 a, when the relative supply ship 200 of reception ship 300 is moved to the direction away from supply ship 200, high
11 tension force of steel wire rope of frame rope winch 10 becomes big, in forces piston bar 23b retraction hydraulic jack 23a, the position of piston rod 23b compression
Move the displacement for compensation reception ship 300 being participated in away from supply ship 200, passive compensation of undulation is realized in tension force pressurized strut 20, with
When accumulator 50 store energy.If the absolute value of the displacement of piston rod 23b is not more than the first setting value, control device 70 controls
Highline winch 10 is in braking state, and highline winch 10 is not involved in compensation of undulation；If the displacement of piston rod 23b is less than first
During the opposite number of setting value, control device 70 controls highline winch 10 to rotate along cable laying direction, and highline winch 10 is actively joined
With compensation of undulation, it is to avoid piston rod 23b compresses further, the absolute value of the displacement of piston rod 23b is put with highline winch 10
Cable is slowly returned in the range of no more than the first setting value, and this timed unit 70 controls highline winch 10 to stop cable laying.
Referring to Fig. 5 b, when the relative supply ship 200 of reception ship 300 is moved to the direction of close supply ship 200, height
11 tension force of steel wire rope of frame rope winch 10 diminishes, and accumulator 50 releases energy, and drives piston rod 23b to stretch out hydraulic jack 23a, living
The displacement that stopper rod 23b stretches out participates in compensation and receives displacement of the ship 300 near supply ship 200, and tension force pressurized strut 20 is realized
Passive compensation of undulation.If the absolute value of the displacement of piston rod 23b is not more than the first setting value, control device 70 controls highline
Winch 10 is in braking state, and highline winch 10 is not involved in compensation of undulation；If the displacement of piston rod is more than the first setting value,
Control device 70 controls highline winch 10 to rotate along take-up direction, and highline winch 10 is actively engaged in compensation of undulation, it is to avoid living
Stopper rod 23b stretches out further, and the absolute value of the displacement of piston rod 23b slowly returns to no more than with 10 take-up of highline winch
In the range of one setting value, this timed unit 70 controls highline winch 10 to stop cable laying.
The embodiment of the present invention is when ship is received away from supply ship, and the pressure that steel wire rope becomes big promotes tension force pressurized strut
Piston rod retraction hydraulic jack, accumulator storage energy, when ship is received near supply ship, accumulator releases energy, and drives
Make the piston rod of tension force pressurized strut that hydraulic jack is stretched out, ship relative complement is received to ship by the displacement compensation of piston rod
Displacement, compensation of undulation is realized in tension force pressurized strut.Control highline winch according to the compensation of tension force pressurized strut with timed unit
Situation is actively engaged in compensation of undulation, and highline winch can cooperate with tension force pressurized strut to enter jointly in the case that sea situation is relatively more severe
Row compensation of undulation, ensures that supply goods and materials smoothly can be transported on supply ship, it is to avoid supply goods and materials not advising due to wave
Then motion and there is uncontrolled motion, and then fall into the sea or clash into the danger of ship.
Embodiment two
A kind of control method of the wave compensation system as the offer of embodiment one is embodiments provided, referring to Fig. 6,
The control method includes：
Step 201：Obtain the displacement of piston rod.When the absolute value of the displacement of piston rod is not more than the first setting value, hold
Row step 202；When the displacement of piston rod is more than the first setting value, execution step 203；When the displacement of piston rod is set less than first
During the opposite number of definite value, execution step 204.Wherein, the first setting value is more than 0, and the displacement of piston rod is that piston rod is made from tension force
The half way position of dynamic cylinder is to the displacement for stretching out direction of piston rod.
In actual applications, can be by the position of the displacement transducer detection piston rod being arranged between fixed pulley and movable pulley
Move and be transferred to controller.
Step 202：Control highline winch is in braking state.
Specifically, the step 202 can include：
As 0 ＜ L≤L1When, V=0；
As-L1During ＜ L≤0, V=0；
Wherein, L is the displacement of stretching out direction of the piston rod from the half way position of tension force pressurized strut to piston rod, L1For first
Setting value, V is the real-time velocity of rotation of highline winch.
Step 203：Control highline winch is rotated along take-up direction.
Alternatively, the step 203 can include：
Work as L1＜ L≤L2When, V=X1*(L-L1)*Vn/(L2-L1)；
Work as L2＜ L≤L3When, V=X2*(L-L3)*Vn/(L3-L2)+Vn；
As L ＞ L3When, V=Vn；
Wherein, L1For the first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is highline
The real-time velocity of rotation of winch, L is the displacement of stretching out direction of the piston rod from the half way position of tension force pressurized strut to piston rod, X1
For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the maximum rotational speed of highline winch.
Step 204：Control highline winch is rotated along cable laying direction.
Alternatively, the step 204 can include：
As-L2＜ L≤- L1When, V=X1*(L+L1)*Vn/(L2-L1)；
As-L3＜ L≤- L2When, V=X2*(L+L3)*Vn/(L3-L2)-Vn；
As L ＜-L3When, V=Vn；
Wherein, L1For the first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is highline
The real-time velocity of rotation of winch, L is the displacement of stretching out direction of the piston rod from the half way position of tension force pressurized strut to piston rod, X1
For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the maximum rotational speed of highline winch.
The embodiment of the present invention is when ship is received away from supply ship, and the pressure that steel wire rope becomes big promotes tension force pressurized strut
Piston rod retraction hydraulic jack, accumulator storage energy, when ship is received near supply ship, accumulator releases energy, and drives
Make the piston rod of tension force pressurized strut that hydraulic jack is stretched out, ship relative complement is received to ship by the displacement compensation of piston rod
Displacement, compensation of undulation is realized in tension force pressurized strut.Control highline winch according to the compensation of tension force pressurized strut with timed unit
Situation is actively engaged in compensation of undulation, and highline winch can cooperate with tension force pressurized strut to enter jointly in the case that sea situation is relatively more severe
Row compensation of undulation, ensures that supply goods and materials smoothly can be transported on supply ship, it is to avoid supply goods and materials not advising due to wave
Then motion and there is uncontrolled motion, and then fall into the sea or clash into the danger of ship.
One of ordinary skill in the art will appreciate that all or part of step for realizing above-described embodiment can pass through hardware
To complete, it is also possible to which the hardware for being instructed correlation by program is completed, and described program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read only memory, disk or CD etc..
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement that is made etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of wave compensation system, it is characterised in that the wave compensation system include highline winch, tension force pressurized strut,
Assembly pulley, crane, accumulator, driving means；The steel wire rope of the highline winch sequentially passes through the tension force pressurized strut, described
Assembly pulley, the crane, the tension force pressurized strut includes fixed pulley, movable pulley and is arranged on the fixed pulley and described dynamic
Hydraulic jack between pulley, the cylinder body of the hydraulic jack is fixedly connected with the fixed pulley, the piston of the hydraulic jack
Bar is fixedly connected with the movable pulley, and the accumulator is connected with the hydraulic jack, the driving means and the highline
Winch is in transmission connection；The wave compensation system also includes control device, and the control device includes：
Displacement transducer, for detecting the displacement of the piston rod；
Controller, is electrically connected with institute's displacement sensors and the driving means respectively, for the displacement according to the piston rod,
The highline winch is controlled to rotate.
2. wave compensation system according to claim 1, it is characterised in that the controller is used for,
When the absolute value of the displacement of the piston rod is not more than the first setting value, control the highline winch in brake shape
State；
When the displacement of the piston rod is more than the first setting value, the highline winch is controlled to rotate along take-up direction；
When the displacement of the piston rod is less than the opposite number of the first setting value, the highline winch is controlled to turn along cable laying direction
Dynamic；
Wherein, first setting value is more than 0, and the displacement of the piston rod is the piston rod from the tension force pressurized strut half
Journey position is to the displacement for stretching out direction of the piston rod.
3. wave compensation system according to claim 2, it is characterised in that the controller is used for according to below equation control
Make highline winch rotation：
Work as L1＜ L≤L2When, V=X1*(L-L1)*Vn/(L2-L1)；
Work as L2＜ L≤L3When, V=X2*(L-L3)*Vn/(L3-L2)+Vn；
As L ＞ L3When, V=Vn；
Wherein, L1For first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is the height
The real-time velocity of rotation of frame rope winch, L is the piston rod from the half way position of the tension force pressurized strut to the piston rod
Stretch out the displacement in direction, X1For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the highline
The maximum rotational speed of winch.
4. wave compensation system according to claim 2, it is characterised in that the controller is used for according to below equation control
Make highline winch rotation：
As-L2＜ L≤- L1When, V=X1*(L+L1)*Vn/(L2-L1)；
As-L3＜ L≤- L2When, V=X2*(L+L3)*Vn/(L3-L2)-Vn；
As L ＜-L3When, V=Vn；
Wherein, L1For first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is the height
The real-time velocity of rotation of frame rope winch, L is the piston rod from the half way position of the tension force pressurized strut to the piston rod
Stretch out the displacement in direction, X1For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the highline
The maximum rotational speed of winch.
5. the wave compensation system according to any one of claim 2～4, it is characterised in that the control device also includes：
Encoder, is electrically connected with the controller, for detecting the velocity of rotation of the highline winch.
6. the wave compensation system according to any one of claim 2～4, it is characterised in that the driving means include liquid
Pressure motor, for controlling the rotation direction of the hydraulic motor and the valve group of velocity of rotation, the actuator port of the valve group and liquid
The control port connection of pressure motor, the control end of the electrohydraulic proportional control valve is connected with the controller, the hydraulic motor
Output shaft be in transmission connection with the highline winch.
7. the wave compensation system according to any one of Claims 1 to 4, it is characterised in that the assembly pulley includes to be oriented to
Pulley assembly and lifting pulley component, the leading block component includes first pulley and second pulley, and the second pulley sets
Put in the top of the first pulley, the first pulley is arranged in same level with the fixed pulley, the lifting is slided
Wheel assembly includes three pulleys, and the center of three pulleys is linked to be a triangle.
8. a kind of control method of the wave compensation system as described in any one of claim 1～7, it is characterised in that the control
Method processed includes：
Obtain the displacement of piston rod；
When the absolute value of the displacement of the piston rod is not more than the first setting value, control highline winch is in braking state；
When the displacement of the piston rod is more than the first setting value, the highline winch is controlled to rotate along take-up direction；
When the displacement of the piston rod is less than the opposite number of the first setting value, the highline winch is controlled to turn along cable laying direction
Dynamic；
Wherein, first setting value is more than 0, and the displacement of the piston rod is the piston rod from the tension force pressurized strut half
Journey position is to the displacement for stretching out direction of the piston rod.
9. control method according to claim 8, it is characterised in that the displacement when the piston rod is set more than first
During definite value, the highline winch is controlled to rotate along take-up direction, including：
Work as L1＜ L≤L2When, V=X1*(L-L1)*Vn/(L2-L1)；
Work as L2＜ L≤L3When, V=X2*(L-L3)*Vn/(L3-L2)+Vn；
As L ＞ L3When, V=Vn；
Wherein, L1For first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is the height
The real-time velocity of rotation of frame rope winch, L is the piston rod from the half way position of the tension force pressurized strut to the piston rod
Stretch out the displacement in direction, X1For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the highline
The maximum rotational speed of winch.
10. control method according to claim 8, it is characterised in that the displacement when the piston rod is less than first
During the opposite number of setting value, the highline winch is controlled to rotate along cable laying direction, including：
As-L2＜ L≤- L1When, V=X1*(L+L1)*Vn/(L2-L1)；
As-L3＜ L≤- L2When, V=X2*(L+L3)*Vn/(L3-L2)-Vn；
As L ＜-L3When, V=Vn；
Wherein, L1For first setting value, L2For the second setting value, L3For the 3rd setting value, L1＜ L2＜ L3, V is the height
The real-time velocity of rotation of frame rope winch, L is the piston rod from the half way position of the tension force pressurized strut to the piston rod
Stretch out the displacement in direction, X1For the first ratio value for setting, X2For the second ratio value for setting, X1≤X2, Vn is the highline
The maximum rotational speed of winch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610950110.3A CN106429871B (en) | 2016-10-26 | 2016-10-26 | A kind of wave compensation system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610950110.3A CN106429871B (en) | 2016-10-26 | 2016-10-26 | A kind of wave compensation system and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106429871A true CN106429871A (en) | 2017-02-22 |
| CN106429871B CN106429871B (en) | 2018-07-06 |
Family
ID=58178700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610950110.3A Active CN106429871B (en) | 2016-10-26 | 2016-10-26 | A kind of wave compensation system and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106429871B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521626A (en) * | 2017-07-20 | 2017-12-29 | 武汉船用机械有限责任公司 | A kind of flexible pipe extension and retraction system |
| CN108454787A (en) * | 2017-07-12 | 2018-08-28 | 江苏科技大学 | A kind of compensation of undulation robot system and its control method |
| CN108646551A (en) * | 2018-04-11 | 2018-10-12 | 南通大学 | Heave compensation control system design method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003212182A (en) * | 2002-01-22 | 2003-07-30 | Universal Shipbuilding Corp | Suspended position control method for underway replenishment, and underway replenishing device |
| CN202499677U (en) * | 2012-03-27 | 2012-10-24 | 中国水产科学研究院渔业机械仪器研究所 | Heave compensation control system of marine investigation equipment |
| CN204125099U (en) * | 2014-09-17 | 2015-01-28 | 镇江明润信息科技有限公司 | Winch active wave compensation system |
| CN105607488A (en) * | 2016-03-28 | 2016-05-25 | 上海阜有海洋科技有限公司 | Constant tension highline maritime adaptive control and supply system and supply method |
| CN205507452U (en) * | 2016-03-28 | 2016-08-24 | 上海阜有海洋科技有限公司 | A motion control system for overhead all alone replenishing device |
-
2016
- 2016-10-26 CN CN201610950110.3A patent/CN106429871B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003212182A (en) * | 2002-01-22 | 2003-07-30 | Universal Shipbuilding Corp | Suspended position control method for underway replenishment, and underway replenishing device |
| CN202499677U (en) * | 2012-03-27 | 2012-10-24 | 中国水产科学研究院渔业机械仪器研究所 | Heave compensation control system of marine investigation equipment |
| CN204125099U (en) * | 2014-09-17 | 2015-01-28 | 镇江明润信息科技有限公司 | Winch active wave compensation system |
| CN105607488A (en) * | 2016-03-28 | 2016-05-25 | 上海阜有海洋科技有限公司 | Constant tension highline maritime adaptive control and supply system and supply method |
| CN205507452U (en) * | 2016-03-28 | 2016-08-24 | 上海阜有海洋科技有限公司 | A motion control system for overhead all alone replenishing device |
Non-Patent Citations (1)
| Title |
|---|
| 赵伟等: "海上航行横向干货补给系统仿真", 《船舶工程》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454787A (en) * | 2017-07-12 | 2018-08-28 | 江苏科技大学 | A kind of compensation of undulation robot system and its control method |
| CN107521626A (en) * | 2017-07-20 | 2017-12-29 | 武汉船用机械有限责任公司 | A kind of flexible pipe extension and retraction system |
| CN108646551A (en) * | 2018-04-11 | 2018-10-12 | 南通大学 | Heave compensation control system design method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106429871B (en) | 2018-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107207221B (en) | Utilize the ocean platform crane heave compensation control system and method for video ranging | |
| CN106089127B (en) | A kind of semi-active type overhead traveling crane heave compensation system for deepwater drilling operation | |
| CN101780923B (en) | Heavy load salvage wave compensation system of super large floating crane | |
| CN104828721B (en) | Self-balancing compensates system, ship's crane and control method thereof | |
| CN106429871B (en) | A kind of wave compensation system and its control method | |
| CN101948082B (en) | Control the method for the actuating device of hoisting crane | |
| CN106744320A (en) | A kind of six degree of freedom active heave compensation hanging method and Lift-on/Lift-off System | |
| CN103979419B (en) | Based on active heave compensation control system and the method for wave Trend judgement | |
| CN104555769A (en) | Electrically-driven active heaving supplementing type marine winch | |
| CN107161882B (en) | A kind of novel Active Compensation loop wheel machine system | |
| CN106185647A (en) | A kind of boats and ships crane compensation of undulation auxiliary device and compensation method | |
| CN105417381A (en) | Direct pump control type electro-hydraulic heaving compensation device | |
| CN102410922B (en) | Device for testing abrasion and fatigue of steel wire rope and traction sheave of elevator | |
| CN103979416B (en) | Crane ship A support compensation of undulation actuating unit | |
| CN106875815A (en) | A kind of active heave compensation experimental system for simulating platform | |
| CN107473118A (en) | A kind of hydraulic cylinder type half active compensation device of crane | |
| CN205500614U (en) | Permanent overhead all alone heave compensation system of tension | |
| CN105398965A (en) | Video-ranging offshore platform crane heave compensation control system and method | |
| CN204150975U (en) | Secondary motor control wave compensation system | |
| CN205419559U (en) | Direct pump control formula electricity liquid heave compensator | |
| NL8000582A (en) | Apparatus for smoothing motion. | |
| CN207192639U (en) | Deep water lifts heave compensation hydraulic system | |
| CN107986179A (en) | The heave compensator of operation on the sea crane | |
| CN206071486U (en) | The electronic heave compensation system of four rope of one kind | |
| CN202717543U (en) | Sampling winch with ratchet anti-slide mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |