CN106429871B - A kind of wave compensation system and its control method - Google Patents
A kind of wave compensation system and its control method Download PDFInfo
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- CN106429871B CN106429871B CN201610950110.3A CN201610950110A CN106429871B CN 106429871 B CN106429871 B CN 106429871B CN 201610950110 A CN201610950110 A CN 201610950110A CN 106429871 B CN106429871 B CN 106429871B
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- piston rod
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- 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
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- 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
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- 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
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- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of wave compensation system and its control methods, belong to marine machinery technical field.Including highline winch, tension pressurized strut, pulley blocks, crane, accumulator, driving device and control device；The steel wire rope of highline winch sequentially passes through tension pressurized strut, pulley blocks, crane, tension pressurized strut includes fixed pulley, movable pulley, and it is arranged on the hydraulic cylinder between fixed pulley and movable pulley, the cylinder body of hydraulic cylinder is fixedly connected with fixed pulley, the piston rod of hydraulic cylinder is fixedly connected with movable pulley, accumulator is connected with hydraulic cylinder, driving device is sequentially connected with highline winch, control device include for detect piston rod displacement displacement sensor, the controller rotated according to the Bit andits control highline winch of piston rod, controller is electrically connected respectively with displacement sensor and driving device.The present invention cooperates with tension pressurized strut to carry out compensation of undulation jointly by highline winch, ensures that supply goods and materials can be in smooth transport to 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 can constantly 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, cannot be in the case of bank off the port, generally use sea be mended
The mode given is fed the goods and materials of consumption.
Seaborne supply is by being vacantly arranged on supply ship and receiving the steel wire rope between ship, will feed goods and materials from benefit
Reception ship is transferred to ship.In the case where sea situation is relatively more severe, due to supply ship and ship is received on wave
Relative position is different, and supply ship and reception ship can be generated relative motion by wave action so that be lifted on steel wire rope
On supply goods and materials generate shaking therewith, it is possible to cause occur supply goods and materials fall into the sea, hit situations such as ship.
Invention content
In order to solve problem of the prior art, an embodiment of the present invention provides a kind of wave compensation system and its controlling parties
Method.The technical solution is as follows：
In a first aspect, an embodiment of the present invention provides a kind of wave compensation system, the wave compensation system includes overhead
Rope winch, tension pressurized strut, pulley blocks, crane, accumulator, driving device；The steel wire rope of the highline winch sequentially passes through
The tension pressurized strut, the pulley blocks, the crane, the tension pressurized strut include fixed pulley, movable pulley and are arranged on
Hydraulic cylinder between the fixed pulley and the movable pulley, the cylinder body of the hydraulic cylinder are fixedly connected with the fixed pulley,
The piston rod of the hydraulic cylinder is fixedly connected with the movable pulley, and the accumulator is connected with the hydraulic cylinder, the drive
Dynamic device is sequentially connected with the highline winch；The wave compensation system further includes control device, the control device packet
It includes：
Displacement sensor, for detecting the displacement of the piston rod；
Controller is electrically connected respectively with institute's displacement sensors and the driving device, for according to the piston rod
Displacement controls the highline winch to rotate；
The controller is used for,
When the absolute value of the displacement of the piston rod is not more than the first setting value, the highline winch is controlled to be in and is stopped
Car state；
When the displacement of the piston rod is more than the first setting value, the highline winch is controlled to be rotated 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 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 pressurized strut
Half way position to the piston rod stretching direction displacement；
The controller is used to the highline winch be controlled to rotate according to the following formula：
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；
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 third 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 pressurized strut to the piston
The displacement in the stretching direction of bar, X1For the first ratio value of setting, X2For the second ratio value of setting, X1≤X2, Vn is the height
The maximum rotational speed of frame rope winch.
Preferably, the control device further includes：
Encoder is electrically connected with the controller, for detecting the velocity of rotation of the highline winch.
Preferably, the driving device includes hydraulic motor, for controlling the rotation direction of the hydraulic motor and rotation
The valve group of speed, the actuator port of the valve group are connected with the control port of hydraulic motor, the control of the electrohydraulic proportional control valve
End processed is connect with the controller, and the output shaft of the hydraulic motor is sequentially connected with the highline winch.
Optionally, the pulley blocks include leading block component and lifting pulley component, and the leading block component includes
First pulley and second pulley, the second pulley are arranged on the top of the first pulley, the first pulley with it is described fixed
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
A triangle.
Second aspect, an embodiment of the present invention provides it is a kind of as first aspect provide wave compensation system control method,
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 be rotated 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 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 pressurized strut
Half way position to the piston rod stretching direction displacement；
When the displacement when the piston rod is more than the first setting value, the highline winch is controlled to turn along take-up direction
It is dynamic, 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 third 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 pressurized strut to the piston
The displacement in the stretching direction of bar, X1For the first ratio value of setting, X2For the second ratio value of setting, X1≤X2, Vn is the height
The maximum rotational speed of frame rope winch；
When the displacement when the piston rod is less than the opposite number of the first setting value, the highline winch is controlled along putting
Cable direction rotates, 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 third 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 pressurized strut to the piston
The displacement in the stretching direction of bar, X1For the first ratio value of setting, X2For the second ratio value of setting, X1≤X2, Vn is the height
The maximum rotational speed of frame rope winch.
The advantageous effect that technical solution provided in an embodiment of the present invention is brought is：
When receiving ship far from supply ship, the pressure that steel wire rope becomes larger promotes the piston rod retraction liquid of tension pressurized strut
Compressing cylinder, accumulator storage energy, when receiving ship close to supply ship, accumulator releases energy, and drives tension pressurized strut
Piston rod stretch out hydraulic cylinder, ship relative complement is received to the displacement of ship, tension by the compensation of the displacement of piston rod
Compensation of undulation is realized in pressurized strut.The highline winch of control device control simultaneously is actively engaged according to the compensation situation of tension pressurized strut
Compensation of undulation, highline winch can cooperate with tension pressurized strut to carry out compensation of undulation jointly in the case where sea situation is relatively more severe,
It ensures that supply goods and materials can be transported smoothly on supply ship, supply goods and materials is avoided to occur due to the irregular movement of wave
Uncontrolled motion, and then fall into the sea or hit the danger of ship.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of structure diagram for wave compensation system that the embodiment of the present invention one provides；
Fig. 2 is the structure diagram of the tension pressurized strut that the embodiment of the present invention one provides and accumulator；
Fig. 3 is the structure diagram of the driving device that the embodiment of the present invention one provides and control device；
Fig. 4 is the displacement for the piston rod that the embodiment of the present invention one provides and the relation schematic diagram of the speed of highline winch；
Fig. 5 a are that action of the reception ship far from wave compensation system when feeding ship that the embodiment of the present invention one provides is shown
It is intended to；
Fig. 5 b are that the reception ship that the embodiment of the present invention one provides shows close to 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 provided by Embodiment 2 of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment one
An embodiment of the present invention provides a kind of wave compensation systems, and referring to Fig. 1, which twists including highline
Vehicle 10, tension pressurized strut 20, pulley blocks 30, crane 40, accumulator 50 (referring to Fig. 2), driving device 60 (referring to Fig. 3).It is overhead
The steel wire rope 11 of rope winch 10 sequentially passes through tension pressurized strut 20, pulley blocks 30, crane 40, and referring to Fig. 2, tension pressurized strut 20 is wrapped
Fixed pulley 21, movable pulley 22 and the hydraulic cylinder 23 being arranged between fixed pulley 21 and movable pulley 22 are included, hydraulic cylinder 23
Cylinder body 23a is fixedly connected with fixed pulley 21, and the piston rod 23b of hydraulic cylinder 23 is fixedly connected with movable pulley 22, referring to Fig. 2, is stored
Energy device 50 is connected with hydraulic cylinder 23, and referring to Fig. 3, driving device 60 is sequentially connected with highline winch 10.
In the present embodiment, highline winch 10 is for actively carrying out compensation of undulation, tension pressurized strut 20 for passively into
Row compensation of undulation, pulley blocks 30 are used to be oriented to for the steel wire rope 11 of highline winch 10, and crane 40 feeds goods and materials for hanging
100, accumulator 50 provides constant pressure for tension pressurized strut 20, and driving device 60 is used to drive highline winch 10.It is overhead
Rope winch 10, tension pressurized strut 20, pulley blocks 30, accumulator 50, driving device 60 and control device 70 are arranged at tender
On oceangoing ship 200, the steel wire rope 11 of highline winch 10 is sequentially passed through to be fixed on after tension pressurized strut 20, pulley blocks 30, crane 40 and be connect
It receives on ship 300.
In the present embodiment, referring to Fig. 3, which further includes control device 70, and control device 70 includes：
Displacement sensor 71, for detecting the displacement of piston rod 23b；
Controller 72 is electrically connected respectively with displacement sensor 71 and driving device 60, for the position according to piston rod 23b
It moves, control highline winch 10 rotates.
Specifically, displacement sensor 72 is arranged in tension pressurized strut 20.
Optionally, 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 pressurized strut to piston
The displacement in the stretching direction of bar.
Preferably, referring to Fig. 4, controller 72 can control the rotation of highline winch according to the following formula：
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 third setting value, L1＜ L2＜ L3, V is highline
The real-time velocity of rotation of winch, L be piston rod from the half way position of tension pressurized strut to piston rod stretching direction displacement, X1
For the first ratio value of setting, X2For the second ratio value of setting, X1≤X2, Vn is the maximum rotational speed of highline winch.
Preferably, referring to Fig. 4, controller 71 can control the rotation of highline winch according to the following formula：
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 third setting value, L1＜ L2＜ L3, V is highline
The real-time velocity of rotation of winch, L be piston rod from the half way position of tension pressurized strut to piston rod stretching direction displacement, X1
For the first ratio value of setting, X2For the second ratio value of setting, X1≤X2, Vn is the maximum rotational speed of highline winch.
In the concrete realization, the first setting value, the second setting value, third setting value, the first ratio value, the second ratio value can
It is set with considering tension 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 to twist
The real-time velocity of rotation of vehicle carries out compensation of undulation：As 0 ＜ L≤L1Or-L1During ＜ L≤0, wave is tranquiler or fluctuation very
It is small, can compensation of undulation be completed by tension pressurized strut completely；Work as L2＜ L≤L3Or-L2＜ L≤- L1When, wave fluctuation compared with
It is small, but can not completely by tension pressurized strut complete compensation of undulation, highline winch participate in compensation of undulation, compensation speed compared with
Slowly；Work as L2＜ L≤L3Or-L3＜ L≤- L2When, wave fluctuation is larger, and wave is realized in highline winch and tension 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 twists
Vehicle carries out compensation of undulation jointly with maximum compensation ability and tension 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 device 60 can include hydraulic motor 61, the rotation for controlling hydraulic motor 61
Direction and the valve group 62 of velocity of rotation, the actuator port of valve group 62 are connected with the control port of hydraulic motor 61, electric-hydraulic proportion control
The control terminal of valve processed is connect with controller 71, and output shaft and the highline winch 10 of hydraulic motor 61 are sequentially connected.
In practical applications, valve group 62 can include controlling the reversal valve of the rotation direction of hydraulic motor 61 and being used for
Control the electro-hydraulic proportional valve of the velocity of rotation of hydraulic motor 61.
Optionally, referring to Fig. 1, pulley blocks 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, and first
Pulley 31a is arranged on fixed pulley 21 in same level, and lifting pulley component 32 includes three pulleys 32a, three pulley 32a
Center be linked to be a triangle.
It 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 follow wave motion (generally sine
Wave motion), it illustrates for convenience, supply ship 200 and reception ship 300 is subjected to equivalent change all in the state of wave motion
It changes, it is assumed that supply ship 200 remains static, and receives the shape that the opposite supply ship 200 of ship 300 is in twice of wave motion
State.If without 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 transportational process of goods and materials 100 tends to be steady, a similar horizontal line.It should be noted that before compensation of undulation, piston rod 23b
Positioned at the half position of the full displacement of tension pressurized strut 20 (abbreviation half way position), the i.e. equilbrium position of tension pressurized strut 20.
It is high when the direction for receiving the opposite supply ship 200 of ship 300 to separate supply ship 200 moves referring to Fig. 5 a
11 tension of steel wire rope of frame rope winch 10 becomes larger, in forces piston bar 23b retraction hydraulic cylinders 23a, piston rod 23b compressions
Displacement participates in compensation and receives displacement of the ship 300 far from supply ship 200, and passive compensation of undulation is realized in tension pressurized strut 20,
Accumulator 50 stores energy simultaneously.If the absolute value of the displacement of piston rod 23b is not more than the first setting value, control device 70
Controlling highline winch 10, highline winch 10 is not involved in compensation of undulation in braking state；If the displacement of piston rod 23b is less than
During the opposite number of the first setting value, control device 70 controls highline winch 10 to be rotated along cable laying direction, and highline winch 10 is led
It is dynamic to participate in compensation of undulation, piston rod 23b is avoided further to compress, the absolute value of the displacement of piston rod 23b is with highline winch
10 cable layings are slowly returned to no more than in the range of the first setting value, and control device 70 controls highline winch 10 to stop putting at this time
Cable.
It is high when the direction for receiving the opposite supply ship 200 of ship 300 to close supply ship 200 moves referring to Fig. 5 b
11 tension of steel wire rope of frame rope winch 10 becomes smaller, and accumulator 50 releases energy, and driving piston rod 23b stretches out hydraulic cylinder 23a, living
The displacement that stopper rod 23b stretches out participates in compensation and receives displacement of the ship 300 close to supply ship 200, and tension 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 be rotated along take-up direction, and highline winch 10 is actively engaged in compensation of undulation, avoids living
Stopper rod 23b further stretches out, and the absolute value of the displacement of piston rod 23b is slowly returned to 10 take-up of highline winch no more than
In the range of one setting value, control device 70 controls highline winch 10 to stop cable laying at this time.
For the embodiment of the present invention when receiving ship far from supply ship, the pressure that steel wire rope becomes larger promotes tension pressurized strut
Piston rod retraction hydraulic cylinder, accumulator storage energy, when receiving ship close to supply ship, accumulator releases energy, and drives
The piston rod of tension pressurized strut is made to stretch out hydraulic cylinder, ship relative complement is received to ship by the displacement compensation of piston rod
Compensation of undulation is realized in displacement, tension pressurized strut.Control device controls compensation of the highline winch according to tension pressurized strut simultaneously
Situation is actively engaged in compensation of undulation, highline winch can be cooperateed in the case where sea situation is relatively more severe tension pressurized strut jointly into
Row compensation of undulation ensures that supply goods and materials can be transported smoothly on supply ship, avoids supply goods and materials not advising due to wave
It then moves and uncontrolled motion occurs, and then fall into the sea or hit the danger of ship.
Embodiment two
An embodiment of the present invention provides a kind of control method of the wave compensation system provided such as embodiment one, 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, step 203 is performed；When the displacement of piston rod is set less than first
During the opposite number of definite value, step 204 is performed.Wherein, the first setting value is more than 0, and the displacement of piston rod is made for piston rod from tension
Displacement of the half way position of dynamic cylinder to the stretching direction of piston rod.
In practical applications, the position of piston rod can be detected by the displacement sensor being arranged between fixed pulley and movable pulley
It moves and is transferred to controller.
Step 202：Control highline winch is in braking state.
Specifically, which can include：
As 0 ＜ L≤L1When, V=0；
As-L1During ＜ L≤0, V=0；
Wherein, L be piston rod from the half way position of tension pressurized strut to piston rod stretching direction displacement, L1It is
One setting value, V are the real-time velocity of rotation of highline winch.
Step 203：Highline winch is controlled to be rotated along take-up direction.
Optionally, which 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 third setting value, L1＜ L2＜ L3, V is highline
The real-time velocity of rotation of winch, L be piston rod from the half way position of tension pressurized strut to piston rod stretching direction displacement, X1
For the first ratio value of setting, X2For the second ratio value of setting, X1≤X2, Vn is the maximum rotational speed of highline winch.
Step 204：Highline winch is controlled to be rotated along cable laying direction.
Optionally, which 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 third setting value, L1＜ L2＜ L3, V is highline
The real-time velocity of rotation of winch, L be piston rod from the half way position of tension pressurized strut to piston rod stretching direction displacement, X1
For the first ratio value of setting, X2For the second ratio value of setting, X1≤X2, Vn is the maximum rotational speed of highline winch.
For the embodiment of the present invention when receiving ship far from supply ship, the pressure that steel wire rope becomes larger promotes tension pressurized strut
Piston rod retraction hydraulic cylinder, accumulator storage energy, when receiving ship close to supply ship, accumulator releases energy, and drives
The piston rod of tension pressurized strut is made to stretch out hydraulic cylinder, ship relative complement is received to ship by the displacement compensation of piston rod
Compensation of undulation is realized in displacement, tension pressurized strut.Control device controls compensation of the highline winch according to tension pressurized strut simultaneously
Situation is actively engaged in compensation of undulation, highline winch can be cooperateed in the case where sea situation is relatively more severe tension pressurized strut jointly into
Row compensation of undulation ensures that supply goods and materials can be transported smoothly on supply ship, avoids supply goods and materials not advising due to wave
It then moves and uncontrolled motion occurs, and then fall into the sea or hit the danger of ship.
One of ordinary skill in the art will appreciate that hardware can be passed through by realizing all or part of step of above-described embodiment
It completes, relevant hardware can also be instructed to complete by program, the 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 merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of wave compensation system, which is characterized in that the wave compensation system include highline winch, tension pressurized strut,
Pulley blocks, crane, accumulator, driving device；The steel wire rope of the highline winch sequentially passes through the tension pressurized strut, described
Pulley blocks, the crane, the tension pressurized strut include fixed pulley, movable pulley and are arranged on the fixed pulley and described dynamic
Hydraulic cylinder between pulley, the cylinder body of the hydraulic cylinder are fixedly connected with the fixed pulley, the piston of the hydraulic cylinder
Bar is fixedly connected with the movable pulley, and the accumulator is connected with the hydraulic cylinder, the driving device and the highline
Winch is sequentially connected；The wave compensation system further includes control device, and the control device includes：
Displacement sensor, for detecting the displacement of the piston rod；
Controller is electrically connected respectively with institute's displacement sensors and the driving device, for the displacement according to the piston rod,
The highline winch is controlled to rotate；
The controller is used for,
When the absolute value of the displacement of the piston rod is not more than the first setting value, the highline winch is controlled to be in brake shape
State；
When the displacement of the piston rod is more than the first setting value, the highline winch is controlled to be rotated 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
It is dynamic；
Wherein, first setting value is more than 0, and the displacement of the piston rod is the piston rod half from the tension pressurized strut
Displacement of the journey position to the stretching direction of the piston rod；
The controller is used to the highline winch be controlled to rotate according to the following formula：
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；
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 third setting value, L1＜ L2＜ L3, V is the height
The real-time velocity of rotation of frame rope winch, L are the piston rod from the half way position of the tension pressurized strut to the piston rod
Stretch out the displacement in direction, X1For the first ratio value of setting, X2For the second ratio value of setting, X1≤X2, Vn is the highline
The maximum rotational speed of winch.
2. wave compensation system according to claim 1, which is characterized in that the control device further includes：
Encoder is electrically connected with the controller, for detecting the velocity of rotation of the highline winch.
3. wave compensation system according to claim 1, which is characterized in that the driving device includes hydraulic motor, uses
In the valve group for the rotation direction and velocity of rotation for controlling the hydraulic motor, the control of the actuator port and hydraulic motor of the valve group
Liquefaction mouth connects, and the control terminal of the valve group is connect with the controller, the output shaft of the hydraulic motor and the highline
Winch is sequentially connected.
4. according to claim 1 ~ 3 any one of them wave compensation system, which is characterized in that the pulley blocks, which include being oriented to, to be slided
Wheel assembly and lifting pulley component, the leading block component include first pulley and second pulley, the second pulley setting
In the top of the first pulley, the first pulley is arranged on the fixed pulley in same level, the lifting pulley
Component includes three pulleys, and the center of three pulleys is linked to be a triangle.
It is 5. a kind of such as the control method of claim 1 ~ 4 any one of them wave compensation system, which is characterized in that 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 braking state；
When the displacement of the piston rod is more than the first setting value, the highline winch is controlled to be rotated 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
It is dynamic；
Wherein, first setting value is more than 0, and the displacement of the piston rod is the piston rod half from the tension pressurized strut
Displacement of the journey position to the stretching direction of the piston rod；
It is described the highline winch to be controlled to be rotated along take-up direction when the displacement of the piston rod is more than the first setting value,
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 third setting value, L1＜ L2＜ L3, V is the height
The real-time velocity of rotation of frame rope winch, L are the piston rod from the half way position of the tension pressurized strut to the piston rod
Stretch out the displacement in direction, X1For the first ratio value of setting, X2For the second ratio value of setting, X1≤X2, Vn is the highline
The maximum rotational speed of winch；
When the displacement when the piston rod is less than the opposite number of the first setting value, the highline winch is controlled along cable laying side
To rotation, 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 third setting value, L1＜ L2＜ L3, V is the height
The real-time velocity of rotation of frame rope winch, L are the piston rod from the half way position of the tension pressurized strut to the piston rod
Stretch out the displacement in direction, X1For the first ratio value of setting, X2For the second ratio value of setting, X1≤X2, Vn is the highline
The maximum rotational speed of winch.
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| 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 |
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