CN106429931A - System and method for controlling active type electric wave compensation crane - Google Patents

System and method for controlling active type electric wave compensation crane Download PDF

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Publication number
CN106429931A
CN106429931A CN201611111048.5A CN201611111048A CN106429931A CN 106429931 A CN106429931 A CN 106429931A CN 201611111048 A CN201611111048 A CN 201611111048A CN 106429931 A CN106429931 A CN 106429931A
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CN
China
Prior art keywords
reel
compensation
undulation
data
controller
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
Application number
CN201611111048.5A
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Chinese (zh)
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CN106429931B (en
Inventor
蔡东伟
程向阳
沈刚
秦方玮
孟旭
褚德英
孔祥川
徐林
刘险峰
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Shanghai Zhenghua Heavy Industries Co Ltd
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Shanghai Zhenghua Heavy Industries Co Ltd
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Priority to CN201611111048.5A priority Critical patent/CN106429931B/en
Publication of CN106429931A publication Critical patent/CN106429931A/en
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Publication of CN106429931B publication Critical patent/CN106429931B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
    • B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/082—Control of the secondary movements, e.g. travelling, slewing, luffing of the jib, changing of the range
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/088—Remote control of electric cranes

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Abstract

The invention discloses a system and method for controlling an active type electric wave compensation crane. The control system comprises a wave compensation calculation device, a handle data conversion device, a winding drum controller and a central controller, wherein the wave compensation calculation device collects and calculates wave compensation data in real time; the handle data conversion device converts a manual operation instruction into handle data; the winding drum controller collects lifting limiting data and driving state data of a wave compensation winding drum in real time, and controls a motor to operate according to a driving command; the central controller reads and performs superposition calculation on the wave compensation data and the handle data to obtain a synthetic rotating speed, and if a current movement state of a crane system is normal, the central controller sends a driving command containing the synthetic rotating speed to the winding drum controller so as to drive the motor to operate. Compared with a conventional hydraulic driving control system, the system greatly improves driving efficiency and reduces energy loss, a lithium battery and a supercapacitor are further utilized to absorb recovered energy, ship generator power is effectively reduced, and the system has very high practical value.

Description

The control system of active electronic heave compensation crane and control method
Technical field
The present invention relates to offshore crane field, more particularly, to a kind of control system of heave compensation crane and controlling party Method, this crane is applied to sea lifting and installs under water.
Background technology
With greatly developing of modern marine engineering, various it is installed in the buoyancy body of the ocean such as working ship, drilling platforms Crane is also applied more and more.Due to the interference of the factors such as wave, the crane being installed in buoyancy body is made also to be interfered, The raising load causing correlation further produces corresponding disturbed motion, thus injuring the peace of whole lifting operation with property With accuracy.
Compensation of undulation refers to the compensation correction carrying out because shifting causes working equipment to produce fluctuation.Compensation of undulation skill Art is mainly used in seaborne supply, the aspect such as marine drilling, deep-sea detecting.Operator can be greatly enhanced by compensation of undulation Safety with hanging device and ensure the accuracy installed under water, reduces the operation bringing because of weather conditions simultaneously and stops Work.For example, the Chinese patent document of Application No. CN201210219968.4 provides a kind of active heave compensation of undulation and controls System, including：Hoisting drum, ship attitude motion sensor, absolute value encoder, tension pick-up and compensation equipment.Raising Reel is arranged on offshore crane, bypasses the suspension fulcrum lifting load of supporting arm front end by steel wire rope, and load is immersed in water Under face.Ship attitude motion sensor real-time detection ship heave movement.The fortune of absolute value encoder real-time detection hoisting drum Dynamic situation.The dynamic tension of tension pick-up real-time detection steel wire rope.Compensation equipment is connected to ship attitude motion sensor, absolutely To value encoder and tension pick-up, compensate the ship heave movement based on historical data and real-time detection for the equipment, rise reel The data of the dynamic tension of moving situation and steel wire rope calculates Prediction Parameters, and applies offset voltage in raising based on Prediction Parameters Reel.Present invention further teaches a kind of active heave compensation of undulation control method.
Based on above advantage it is necessary to design a kind of active heave heave compensation crane.International active at present The control system of formula heave compensation crane mainly adopts hydraulic-driven to control, such as Application No. CN200910056001.7 Patent documentation provides for a kind of heavy load salvage wave compensation system of super large floating crane, including mechanical system, hydraulic system, prison Control of control system and hydraulic jack and accumulator etc., mechanical system is by hoisting drum, respectively set pulley, steel wire rope, large-tonnage Suspension hook forms；Hydraulic system is made up of oil cylinder, accumulator, hydraulic oil pump, hydraulic valve；Monitoring system is supervised by this displacement body of crane barge Survey, crane barge hull displacement monitoring, floating-crane lifting weight displacement monitoring composition.The present invention solves super large floating crane heavy load salvage When, weight hung out moment of the water surface, because weight is bulky, sea water forms vortex makes crane barge hull ship incline and wave not Fixed, and lift heavy also waves the problem it is impossible to control therewith；And when solving offshore lifting large scale structure, wave is to crane barge hull Affect the offshore platform docking difficult problem leading to it is ensured that goods land install safety to boat deck safety or ocean platform；And And allow ship to have certain inclination, adapt to the bad working environments of operation on the sea.
However, above-mentioned hydraulic drive control system and hydraulic oil cylinder driving system have complex structure, less efficient, energy consumption is relatively Big the problems such as.The present invention is directed to the shortcoming of above-mentioned crane driving control system it is proposed that a kind of active electronic compensation of undulation The control system of crane and control method.
Content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of control of active electronic heave compensation crane System processed, crane is fixed on offshore lash ship, including reel system, boom system and the artificial manipulator controlling boom system Handle, reel system includes compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and rolls up around compensation of undulation The hoisting rope of cylinder, hoisting rope connects compensation of undulation reel and boom system, and its length is stretched with the rotation of compensation of undulation reel Contracting, thus controlling the athletic posture of boom system, control system includes：Compensation of undulation computing device, for Real-time Collection offshore The current exercise data of lash ship, and compensation of undulation data is calculated according to exercise data；Handle DTU, will manually operate The instruction of handle input is converted to handle data；Reel controller, for the current ceiling of Real-time Collection compensation of undulation reel Position data and driving condition data, and motor operation is controlled according to the drive command receiving；Central controller, for reading Compensation of undulation data and handle data, compensation of undulation data and handle data investigation are calculated synthesis rotating speed, and read volume The spacing data of raising in cylinder controller and driving condition data the current motion state of crane is judged, if worked as Front kinestate is normal, then send, to reel controller, the drive command comprising to synthesize rotating speed, with drive motor operating；If Current motion state is abnormal, then send halt command to reel controller, to terminate motor operation.
Preferably, motor adopts permanent-magnet synchronous high torque motor.
Further, reel system is located in the cabin of offshore lash ship, and boom system includes crane arm support, swings and slide Wheel, changed course pulley and the suspension hook for lifting weight, hoisting rope is sequentially connected compensation of undulation reel, swings pulley, changed course pulley And suspension hook, its length is stretched with the rotation of compensation of undulation reel, thus controlling the athletic posture of boom system.
Further, boom system is additionally provided with arm rest controller and the arm support encoder being connected with arm rest controller, Arm support encoder is used for recording the luffing angle of crane arm support, thus calculating the amplitude data of boom system；Arm support controls Device reads amplitude data and it is transferred to central controller.
Preferably, crane arm support include being fixed on offshore lash ship lower shell and lower shell by slewing equipment even The upper shell connecing, the main boom being installed on upper shell and the secondary arm frame being connected with main boom；Wherein, it is provided with revolution in slewing equipment Driving means and rotary encoder, rotary encoder is used for recording the angle of revolution that upper shell is with respect to offshore lash ship, and passes through Angle of revolution is transferred to central controller by arm rest controller.
Further, device for revolving and driving adopts hydraulic-driven.
Preferably, the motor of reel system is connected to the inverter unit that multiple inverters are constituted, inverter unit with Reel controller is connected, and wherein, multiple inverters are connected one to one with multiple motor respectively, and multiple inverter is common Using a dc bus, dc bus is connected to external power source.
Further, inverter unit carries out data biography by fieldbus or EPA with reel controller Defeated.
Preferably, reel system also includes rectifier transformer and alternating current is converted to galvanic rectification unit, rectification Transformator connects rectification unit front end by dc bus, and rectification unit rear end is connected with inverter unit by dc bus.
Further, reel system also includes rectification unit controller, for gathering the operational factor of rectification unit, and will Operational factor is transferred to central controller by reel controller.
Preferably, reel system also includes reel encoder, for calculating rotating speed and the number of turns of compensation of undulation reel, reel Encoder is connected to central controller by reel controller, and rotating speed and the number of turns are transferred to central authorities' control by reel controller Device processed.
Further, reel system is additionally provided with interconnective capacitance module and capacitance module controller, and capacitance module is even It is connected on dc bus, for compensating or absorbing the power of motor, capacitance module controller is connected by reel controller In central controller, and by the power signal transmissions of capacitance module to central controller.
Preferably, reel system is additionally provided with interconnective lithium battery pack module and battery module controller, lithium battery Group module is used for the regeneration energy of constant absorption motor, and battery module controller is connected to central authorities' control by reel controller Device processed, and by the power signal transmissions of lithium battery pack module to central controller.
Further, reel system is additionally provided with interconnective braking resistor module and resistive module controller, braking electricity Hinder for consuming the unnecessary of motor and the regeneration energy that cannot be absorbed by capacitance module or lithium battery pack module, resistive module Controller is connected to central controller by reel controller, and the power signal transmissions of braking resistor module control to central authorities Device.
Preferably, inverter unit, motor and braking resistor module are connected to the fresh water cooled equipment of outside Carry out heat exchange, central controller is connected to fresh water cooled equipment, and reality is carried out to the water temperature in fresh water cooled equipment and flow When monitoring.
Further, control system also includes being connected to the motion reference units of compensation of undulation computing device reel system, Motion reference units are used for the real-time Heaving Signal measuring offshore lash ship, and Heaving Signal is transferred to compensation of undulation calculating dress Put.
Preferably, compensation of undulation computing device is according to the active compensation algorithm setting and the Heaving Signal receiving To be calculated compensation of undulation data.
Further, boom system is also mounted with weight sensor, for detecting the load weight on hoisting rope；Control System also includes torque limiter, for the nominal load capacity gathering load weight data and calculate predetermined direction, when negative When loading capacity exceedes the nominal load capacity of preset ratio, moment limiting system is reported to the police and is sent restriction to central controller and runs letter Number, continue to run to predetermined direction to limit crane.
Preferably, also include hoist crane management system, hoist crane management system is connected with central controller, for receive and The data message of storage central controller.
Further, hoist crane management system includes display screen, for showing the data message of central controller.
Preferably, display screen is touch screen, and is provided with manual debugging interface, for inputting manual debugging parameter information.
Further, hoist crane management system also includes logging modle, for have recorded at set time intervals The operation content of the running of heavy-duty machine, operator, operating time and real time execution parameter information.
Preferably, central controller carries out data by fieldbus or EPA with the various pieces of crane Transmission.
Further, reel controller is connected to central controller by photoelectric conversion module.
The invention also discloses a kind of control method of active electronic heave compensation crane, crane is fixed on offshore On lash ship, including reel system, boom system and the manual handles controlling boom system, reel system includes compensation of undulation Reel, the motor of multiple driving compensation of undulation spool turns and the hoisting rope around compensation of undulation reel, hoisting rope connects ripple Wave compensates reel and boom system, and its length is stretched with the rotation of compensation of undulation reel, thus controlling the fortune of boom system Dynamic attitude, control method comprises the following steps：Compensation of undulation calculates, the current exercise data of Real-time Collection offshore lash ship, and root Calculate compensation of undulation data according to exercise data；Handle data conversion, the instruction that manual handles are inputted is converted to handle number According to；Superposition calculation, compensation of undulation data and handle data investigation are calculated synthesis rotating speed；Condition adjudgement, Real-time Collection ripple Wave compensates the current spacing data of raising of reel and driving condition data, and the current motion state of crane is judged； Transmitting order to lower levels, if current motion state is normal, is sent the drive command comprising to synthesize rotating speed and is operated with drive motor；As Fruit current motion state is abnormal, then send halt command to terminate motor operation.
Further, compensation of undulation calculates is to be calculated compensation of undulation number according to the active compensation algorithm of setting According to.
Preferably, boom system is also mounted with weight sensor, for detecting the load weight on hoisting rope；Controlling party Method also includes：Gather load weight data and calculate the nominal load capacity of predetermined direction, when load weight exceedes preset ratio Then send restriction run signal during nominal load capacity, continue to run to predetermined direction to limit crane.
As above, using control system and the control method of the active electronic heave compensation crane of the present invention, structure letter Single, substantially increase drive efficiency with respect to traditional hydraulic drive control system, and reduce energy loss simultaneously, and apply Super capacitor and lithium battery providing energy during compensation of undulation, effectively reduce the installed power of marine generator, have Very high practical value.
It is that the above of the present invention can be become apparent, preferred embodiment cited below particularly, and combine accompanying drawing, make in detail It is described as follows.
Brief description
Fig. 1 is that the module of the control system of active electronic heave compensation crane in the first embodiment of the present invention connects Map interlinking；
Fig. 2 is the control of the active electronic heave compensation crane in second, third and the fourth embodiment of the present invention System integral module connection figure；
Fig. 3-1 is the structural representation of the folding-jib heave compensation crane in the second embodiment of the present invention；
Fig. 3-2 is the rope stretching angle schematic diagram of the hoisting rope of the present invention；
Fig. 4 is the internal module connection diagram of the reel system 10 in second, third and the fourth embodiment of the present invention
Fig. 5 is the structural representation of the heave compensation crane of herringbone posture of the third embodiment of the present invention；
Fig. 6 is the structural representation of the floating heave compensation crane of the fourth embodiment of the present invention；
Fig. 7 is the control method flow chart of the active electronic heave compensation crane of the fifth embodiment of the present invention.
Specific embodiment
Hereinafter embodiments of the present invention are illustrated by particular specific embodiment, those skilled in the art can be by this specification Disclosed content understands other advantages and effect of the present invention easily.Although description of the invention will be in conjunction with preferred embodiment Introduce together, but this feature not representing this invention is only limitted to this embodiment.On the contrary, inventing with reference to embodiment The purpose introduced is to cover the other selections being possible to extend based on the claim of the present invention or transforming.In order to carry For the depth understanding to the present invention, in below describing, many concrete details will be comprised.The present invention can not also use these thin Section is implemented.Additionally, in order to avoid the emphasis of the chaotic or fuzzy present invention, some details will be omitted in the de-scription.
In addition, used in the following description " on ", D score, "left", "right", " top ", " bottom ", it is right to should not be construed as The restriction of the present invention.
【First embodiment】
As shown in Figure 1, the invention provides a kind of control system of active electronic heave compensation crane, lifting Machine is fixed on offshore lash ship, including reel system, boom system and the manual handles controlling boom system, reel system Including compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and the hoisting rope around compensation of undulation reel, Hoisting rope is sequentially connected compensation of undulation reel and boom system, and its length is stretched with the rotation of compensation of undulation reel, thus Control the athletic posture of boom system, the control system of first embodiment of the invention includes：
Compensation of undulation computing device 101, for the current exercise data of Real-time Collection offshore lash ship, and according to exercise data Calculate compensation of undulation data；
Handle DTU 102, the instruction that manual handles are inputted is converted to handle data；
Reel controller 103, for the current spacing data of raising of Real-time Collection compensation of undulation reel and driving condition number According to, and motor operation is controlled according to the drive command receiving；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtains synthesizing rotating speed, and reads the spacing data of raising in reel controller 103 and driving condition data is come to rising The current motion state of heavy-duty machine is judged, if current motion state is normal, sends to reel controller and comprises synthesis turn The drive command of speed, with drive motor operating；If current motion state is abnormal, send shutdown life to reel controller Order, to terminate motor operation.
Wherein, the raising of the compensation of undulation reel that the kinestate of crane can be gathered according to reel controller 103 Spacing data and driving condition data being judged, when the spacing data of raising and driving condition data are in predetermined normal number According to when within scope, it is believed that the kinestate of crane is normal, now, central controller 104 is given out a contract for a project under reel controller 103 Drive command containing synthesis rotating speed, drive motor operates, and motor drives compensation of undulation reel to synthesize rotational speed；When The spacing data of raising and driving condition data exceed during predetermined normal data scope it is believed that the kinestate of crane not just Often it may occur however that the situation such as hypervelocity, emergency shutdown, now, central controller 104 issues halt command to reel controller 103, To terminate motor operation so that compensation of undulation reel stops operating.
Preferably, motor adopts permanent-magnet synchronous large-torque electrical machine.This kind of motor has the characteristics that：1. low speed is big Moment of torsion, can reduce the gear ratio of mechanical reduction box；2. compact conformation, its length and volume are compared to the alternating current asynchronous of same power Motor is much smaller；3. need using water cooling such that it is able to meet the requirement belowdecks installed.
Further, the reel system in crane can be arranged in the cabin of offshore lash ship for reel system, and leads to The assembly pulley of overswing movable pulley and changed course pulley composition is directed to the hoisting rope of compensation of undulation reel on boom system, thus subtracting Little crane taking up space above deck.The boom system of crane includes crane arm support, above-mentioned swing pulley, changed course Pulley and the suspension hook for lifting weight, hoisting rope is sequentially connected compensation of undulation reel from cabin, swings pulley, changed course pulley And suspension hook, its length is stretched with the rotation of compensation of undulation reel, thus controlling the athletic posture of boom system.The present embodiment In hoisting rope be steel wire rope.The athletic posture of boom system refers to crane arm support luffing angle with respect to the horizontal plane, with And the relative position relation between the Each part of boom system.
More specifically, reel controller 103 is connected to the absolute position encoder install on compensation of undulation reel in fact When the collection current spacing data of raising of compensation of undulation reel and driving condition data, reel controller 103 can be using setting Realizing, this one or more PLC passes through existing one or more PLC (programmable logic controller (PLC)) on compensation of undulation reel Field bus or Ethernet are connected to fetch with central controller 104 and carry out data communication.Further, reel controller 103 can To be connected to central controller 104 by photoelectric conversion module, that is, fieldbus signal can be using optical fiber through cable-pulling chain The central controller 104 connecting reel controller 103 and being located at crane top.
Further, the control system of first embodiment of the invention also includes being connected to the motion of compensation of undulation computing device Reference unit, motion reference units are used for the real-time Heaving Signal measuring offshore lash ship, and Heaving Signal is transferred to wave benefit Repay computing device 101.Specifically, compensation of undulation computing device 101 is according to the active compensation algorithm setting and to receive Heaving Signal being calculated compensation of undulation data.Wherein, active compensation algorithm refers to Application No. Computational methods provided in the Chinese patent literature of CN201210219968.4, the method is obtained by motion reference units The heave data of wave, on-line identification heave movement model, the short cyclical forecast of heave movement is carried out based on this model, then utilizes Compensation of undulation computing device carries out feed-forward and feedback complex control algorithm decision-making, the linear velocity needed for compensation of undulation and telegoniometer Calculate and be transferred to central controller.Control system provided by the present invention is not limited to using offer in above-mentioned patent documentation Method, can also can reach the active compensation algorithm of identical purpose using other.
Wherein, central controller 104 is the core controller of crane, equally can be controlled using PLC, its reception All outer signals simultaneously export the input-output unit of crane various pieces and other control units after logical process. The rotary speed data needed for compensation of undulation simultaneously also receiving wave compensation calculation device 101 output is used as the data of compensation of undulation Input.Preferably, central controller 104 carries out data by fieldbus or EPA with the various pieces of crane Transmission.
Further, the boom system of above-mentioned crane is also mounted with weight sensor, this weight sensor is used for examining Survey the load weight on hoisting rope；Based on this, the control system in first embodiment of the invention can also include limiter of moment System, moment restriction controller system is used for the nominal load capacity gathering this load weight data and calculating predetermined direction, when negative When loading capacity exceedes the nominal load capacity of preset ratio, moment limiting system is reported to the police and is sent restriction to central controller and runs letter Number, continue to run to predetermined direction to limit crane.Specifically, torque limiter is connect by the weight sensor loading Receive the load on hoisting rope, and the calculating that curve carries out permission loading capacity is carried according to hanging of being pre-designed, such as when this load Weight exceedes and then sends alarm signal during nominal load capacity 110%, and notifies central controller to forbid that crane continues toward predetermined Dangerous direction run.Wherein, hang load curve refer to Machine Design according to the loading capacity drawing after force analysis and amplitude it Between relation, the curve that this relation is depicted as.
Preferably, also include hoist crane management system, hoist crane management system is connected with central controller 104, is used for connecing Receive and store the data message of central controller 104.Further, hoist crane management system includes display screen, in display The data message of centre controller 104.Preferably, display screen can be touch screen, and be provided with manual debugging interface, for supplying Operator inputs manual debugging parameter information.Further, hoist crane management system also includes logging modle, for according to setting Time interval recording the operation content in crane running, operator, operating time and real time execution parameter etc. Information.
More specifically, the hardware of hoist crane management system is based on touch screen, and its display size can be color more than 15 inches Color figure shows simultaneously configure at least 1GB memory space.Hoist crane management system by Ethernet be connected with central controller 104 into Row exchange data.The service data of indication mechanism, the such as height of the rotating speed of compensation of undulation reel, hoisting rope are capable of on its display screen Degree, amplitude, loading capacity；Show spacing situation, such as deceleration stop position；Display motor situation, such as voltage, electric current, power The situation of square；Display fault alarm and its historical record, can occur unacknowledged warning emphasis prompting current, and provides and go through The inquiry of history alarm logging；Its display screen is directed to field adjustable personnel, also has special Debugging interface it is allowed to commissioning staff exists Log in the setup parameter that can change operation after there is modification authority.Additionally, hoist crane management system can also possess data note Recording function, is configured the data needing sampling, it can recorded file at set time intervals, for crane dimension Inquiry during pillar reason.
The structure of the control system of active electronic heave compensation crane of first embodiment of the invention is simple, with respect to Traditional hydraulic drive control system can greatly improve drive efficiency, and reduce energy loss simultaneously, has very high reality With being worth.
【Second embodiment】
As shown in accompanying drawing 3-1, the invention provides a kind of control system of active electronic heave compensation crane, rise Heavy-duty machine is fixed on offshore lash ship, including reel system 10, boom system 20 and the manual handles controlling boom system 20, Reel system 10 includes compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and around compensation of undulation reel Hoisting rope, hoisting rope is sequentially connected compensation of undulation reel and boom system 20, and its length is with the rotation of compensation of undulation reel And stretch, thus controlling the athletic posture of boom system 20, as shown in Figure 2, the control system of second embodiment of the invention Including：
Compensation of undulation computing device 101, for the current exercise data of Real-time Collection offshore lash ship, and according to exercise data Calculate compensation of undulation data；
Handle DTU 102, the instruction that manual handles are inputted is converted to handle data；
Reel controller 103, for the current spacing data of raising of Real-time Collection compensation of undulation reel and driving condition number According to, and motor operation is controlled according to the drive command receiving；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtains synthesizing rotating speed, and reads the spacing data of raising in reel controller 103 and driving condition data is come to rising The current motion state of heavy-duty machine is judged, if current motion state is normal, the drive command comprising to synthesize rotating speed is passed Pass reel controller, with drive motor operating；If current motion state is abnormal, send to reel controller 103 Halt command, is operated with terminating motor 3.
Wherein, the compensation of undulation reel 1 that the kinestate of crane 200 can be gathered according to reel controller 103 The spacing data of raising and driving condition data being judged, when the spacing data of raising and driving condition data be in predetermined just It is believed that the kinestate of crane 200 is normal when within regular data scope, now, central controller 104 is to reel controller 103 issue the drive command including synthesis rotating speed, and drive motor 3 operates, and motor 3 drives compensation of undulation reel 1 to close Become rotational speed；When the spacing data of raising and driving condition data exceed predetermined normal data scope it is believed that crane 200 Kinestate abnormal it may occur however that the situation such as hypervelocity, emergency shutdown, now, central controller 104 is to reel controller 103 issue halt command, are operated so that compensation of undulation reel 1 stops operating with terminating motor 3.
Further, compensation of undulation data and handle data investigation are calculated synthesis rotating speed by central controller 104, should Superposition calculation may be referred to the computational methods provided in the Chinese patent literature that application reference number is CN201210219968.4.
Structure below in conjunction with one of Fig. 3-1 folding-jib heave compensation crane to describe in detail in the present embodiment Control system：
As shown in figure 3-1, crane 200 is fixed on offshore lash ship, including reel system 10, boom system 20 and control The manual handles of boom system 20, reel system 10 includes compensation of undulation reel 1, multiple 1 turn of compensation of undulation reel of driving Dynamic motor 3 and the hoisting rope 4 around compensation of undulation reel 1, hoisting rope 4 is sequentially connected compensation of undulation reel 1 and arm support system System 20, its length is stretched with the rotation of compensation of undulation reel 1, thus controlling the athletic posture of boom system 20.This enforcement Hoisting rope 4 in example is steel wire rope.
As shown in Fig. 3-1, compensation of undulation reel 6 motor 3 of 1 single-sided arrangement, motor 3 can adopt permanent-magnet synchronous Motor, it is connected to compensation of undulation reel 1 by reduction box, and unidirectional current is converted to alternating current to having by each motor 3 Inverter.Wherein, reduction box is a kind of machinery reducing rotating speed, increasing torque.Swing the position that pulley 5 can follow the trail of hoisting rope 4 Put it is ensured that the elevation angle of hoisting rope 4 is less than 1.5 degree, meet the requirement of broken line reel.The advantage of broken line reel is：Steel wire rope During multi-lay winding, ensure that between the upper and lower layer steel wire rope of multi-lay winding, ordered phase is embedding, marshalling, smooth transition and not Disorder cable, improves the contact performance between steel wire rope, and then can reduce abrasion, increases the service life.With the same length steel of winding The single layer web of cord is compared, and the length of broken line reel greatly shortens, thus reducing rope stretching angle, simplifying structure, mitigating equipment Weight.As shown in figure 3-2, rope stretching angle here refers to angle α.Preferably, motor 3 adopts permanent-magnet synchronous large-torque electrical Machine.This kind of motor has the characteristics that：1. low-speed big, can reduce the gear ratio of mechanical reduction box；2. compact conformation, Its length and volume are much smaller compared to the AC asynchronous motor of same power；3. need using water cooling such that it is able to meet The requirement belowdecks installed.Number of motors can in the light of actual conditions be increased and decreased.
Further, reel system 10 can be arranged in the cabin of offshore lash ship for reel system 10, and by swinging The assembly pulley that pulley 5 becomes with changed course pulley structure 6 is directed to the hoisting rope 4 of compensation of undulation reel 1 on boom system 20, thus subtracting Little crane 200 taking up space above deck.The boom system 20 of crane 200 include crane arm support 9, swing pulley 5, Changed course pulley 6 and the suspension hook 7 for lifting weight, hoisting rope 4 is sequentially connected compensation of undulation reel 1 from cabin, swings pulley 5th, changed course pulley 6 and suspension hook 7, its length is stretched with the rotation of reel system 101, thus controlling the motion of boom system 20 Attitude.
The athletic posture of boom system 20 refers to crane arm support 9 luffing angle with respect to the horizontal plane, and arm support system Relative position relation between the Each part of system 20.
Further, crane arm support 9 is included being fixed on the lower shell 8a and lower shell 8a of offshore lash ship and is filled by revolution The upper shell 8b putting connection, main boom 9a being installed on upper shell 8b and the secondary arm frame 9b being connected with main boom 9a；Wherein, turn round Be provided with device for revolving and driving 11 and rotary encoder 107 in device, rotary encoder 107 be used for recording upper shell 8b with respect to from The angle of revolution of bank lash ship；Main boom 9a is set respectively with the junction of the junction, main boom 9a and secondary arm frame 9b of upper shell 8b There are luffing driving means and arm support encoder 106, arm support encoder 106 is used for recording main boom 9a and the angle of pitch of secondary arm frame 9b Degree, thus calculate the amplitude data of boom system 20.
Preferably, boom system 20 is additionally provided with arm rest controller 105, arm rest controller 105 is connected to rotary encoder 107 and arm support encoder 106, for reading above-mentioned angle of revolution and amplitude data and it being transferred to central controller 104.
Preferably, together with Hull Welding, upper shell 8b is the crane portion that can rotate to lower shell 8a.Upper shell Changed course pulley 6a is installed in 8b upper end, and the raising hoisting rope 4 coming up from swing pulley 5 guiding of lower shell 8a is directed to arm support system 20 main booms 9a of uniting and secondary arm frame 9b, main boom 9a and secondary arm frame 9b are driven by oil cylinder, and oil cylinder is as the lifting in the present embodiment The luffing driving means of machine.Main boom 9a is set respectively with the junction of the junction, secondary arm frame 9b and main boom 9a of upper shell 8b There is changed course pulley 6a and 6b.As shown in Figure 2, main boom 9a and secondary arm frame 9b, by being designed to articulated boom, can rise Heavy-duty machine 200 is greatly decreased space hold, convenient arrangement on ship or platform when not working.
Wherein, arm support encoder 106 can include main boom encoder and secondary arm frame encoder, and main boom encoder is clothes It is engaged in the absolute value encoder of main boom 9a, for calculating the angle of revolution between main boom 9a and cylinder 8, this angle can be used To calculate the amplitude data of boom system 20；In the same manner, secondary arm frame encoder is the absolute value encoder serving secondary arm frame 9b, uses To calculate the angle of revolution between secondary arm frame 9b and main boom 9a, this angle is also used for calculating the amplitude data of boom system 20.
Further, in slewing equipment, the device for revolving and driving 11 of setting is rotary motor, device for revolving and driving and luffing Driving means are all using hydraulic-driven.Specifically, the revolution of the crane in the present embodiment and jib lubbing mechanism are hydraulically operated.Return Rotation mechanism due to unrelated with compensation of undulation it is not necessary to high response require it is only necessary to meet conventional func, in order to save upper The space arrangement of cylinder, therefore use hydraulic-driven.And luffing, all using oil cylinder form, so compares rope luffing scheme same Save space, easily realize overload protection function.All can be increased and decreased according to project is actual with upper motor quantity.
As shown in Figure 4, reel system 10 includes the inverter unit 108 being made up of multiple inverters, inverter unit 108 are used for the motor unit controlling multiple motor 3 to constitute.Multiple inverters are corresponded even with multiple motor 3 respectively Connect, and multiple inverter is used in conjunction with a dc bus, this dc bus is connected to externally fed power supply.
Further, inverter unit 108 is connected with reel controller 103, and passes through fieldbus or industry Ethernet is carried out data transmission with reel controller 103.Relatively plus ground, the electric-controlled within compensation of undulation reel in the present embodiment System can be all using using field bus technique (such as Profibus-DP) or industrial Ethernet technology (such as Profinet) Communicated.
Preferably, as shown in Figure 4, reel system 10 also includes rectifier transformer 109 and alternating current is converted to direct current The rectification unit 110 of electricity, rectifier transformer 109 passes through above-mentioned dc bus and connects rectification unit 110 front end, rectification unit 110 rear ends are connected with inverter unit 108 by dc bus, that is, outside power supply pass sequentially through rectifier transformer 109, Rectification unit 110 and inverter unit 108 are connected to motor 3.More specifically, the rectifier transformer 109 in the present embodiment Can be 12 impulse commutation transformators, for 3 phase power supplies of inlet wire being adjusted to suitable voltage and to be divided into 2 road bands positive and negative The power supply at 7.5 degree of phase angles, so can improve power quality effectively；Rectification unit 110 can be many transmission frequency conversion systems Rectification unit, from diode rectification mode, be DC source 3 cross streams Power convert, provide for inverter unit 108 Energy.24 or 36 pulse transformers are alternatively according to specific design rectifier transformer, rectification unit is alternatively controlled electric power electricity Subcomponent rectifier system.
Further, reel system 10 also includes rectification unit controller 111, for gather rectification unit 110 as electricity The operational factor of the signals such as source, voltage, and these operational factors are transferred to central controller 104 by reel controller 103.
Preferably, reel system 10 also includes reel encoder 112, for calculating rotating speed and the circle of compensation of undulation reel 1 Number, reel encoder 112 is connected to central controller 104 by reel controller 103, and the rotating speed calculating and the number of turns are led to Cross reel controller 103 and be transferred to central controller 104；Specifically, reel encoder 112 is to serve compensation of undulation reel 1 Absolute value encoder, the parameter feedbacks such as the running speed of compensation of undulation reel 1 and the number of turns are returned central controller 104, for Central controller 104 calculates the rope stretching amount of hoisting rope 4 and current hoisting rope 4 external diameter of correspondence to change compensation of undulation reel 1 Angular velocity.
Further, reel system 10 also includes interconnective capacitance module 113 and capacitance module controller 114, electricity Molar block 113 is connected on dc bus, and for compensating or absorbing the power of motor 3, capacitance module controller 114 passes through Reel controller 103 is connected to central controller 104, and by the power signal transmissions of capacitance module 113 to central controller 104.Capacitance module 113 is large bulk capacitance module, and large bulk capacitance module is mainly used to meet moment work(during compensation of undulation Rate demand.Because compensation of undulation reel 1 is reciprocal rotating campaign during compensation of undulation, need power consumption during its rising, this work( Rate can be supplemented by the storage energy of large bulk capacitance module；When it declines, motor 3 becomes electromotor generation power, this work( The namely regenerated energy of rate, now to absorb this by large bulk capacitance module and to regenerate energy.So in deduction mechanical loss with electrically After loss, most energy passes through large bulk capacitance module discharge and recharge and uses, and can greatly reduce the ship for offshore lash ship The energy requirement of oceangoing ship dynamotor.
Preferably, reel system 10 also includes interconnective lithium battery pack module 117 and battery module controller 118, lithium battery pack module 117 is used for the regeneration energy of constant absorption motor 3, and this regeneration energy is under compensation of undulation reel 1 During fall, motor 3 becomes the power of electromotor generation.During battery module controller 118 is connected to by reel controller 103 Centre controller 104, and by the power signal transmissions of lithium battery pack module 117 to central controller 104.Due to large bulk capacitance wink Between charge-discharge performance high, but energy storage density is low, and lithium battery group can the larger regeneration energy of constant absorption, needing Export when energy, capacitance module 113 can be coordinated jointly to reduce the energy resource consumption of a whole set of wave compensating device.Preferably Ground, reel system 10 also includes interconnective braking resistor module 115 and resistive module controller 116, and braking resistor 115 is used In the surplus power consuming motor 3, resistive module controller 116 is connected to central controller by reel controller 103 104, and by the power signal transmissions of braking resistor module 115 to central controller 104.Relatively plus ground, resistive module controller 116 For controlling the brake chopper of braking resistor module 115 braking power, when crane 200 is in decline operating mode for a long time, electronic Machine 3 generate electricity produce power cannot be absorbed by capacitance module 113 or lithium battery pack module 117 in the case of it is necessary to Unlatching 115 energy of braking resistor module become heat consumption and fall.
Further, above-mentioned inverter unit 108, motor 3 and braking resistor module 115 are connected to outside Fresh water cooled equipment is connected to central controller 104 carrying out heat exchange, fresh water cooled equipment, by central controller 104 to light Water temperature in water cooling equipment and flow carry out monitor in real time.When crane 200 builder's tonnage is big, compensation of undulation reel 1 can only When being arranged in cabin, conventional air cooling cannot meet requirement.So inverter unit 108, motor 3 and braking resistor , all using water cooling system, this one cooling system of fresh water of 3 units shareds, by heat exchanger and hull offer for module 115 Sea water carries out heat exchange.Central controller 104 system is monitored to the water temperature of fresh water and flow, if water temperature is higher than warning Value or flow then can limit the operation of wave compensation system less than warning value.
The absorption and the use that are designed with beneficial to regeneration energy of the reel system 10 of the present embodiment.In compensation of undulation reel 1 When being in propradation for a long time, main energy is provided by rectification unit 110, that is, using the energy of hull electromotor；When long Between when being in decline state, now motor 3 can regenerate energy, and electric capacity and lithium battery cannot absorb all of energy, now Braking resistor module 115 is started working, and braking resistor is generated heat, and Regenerated energy quantitative change is become heat.When compensation of undulation reel 1 is in benefit When repaying pattern, the energy required for propradation is supplemented by electric capacity, can also be provided by lithium battery group if any deficiency；It is in decline During state, by capacitive absorption, such as also dump energy is absorbed produced regeneration energy by lithium battery group.Thus farthest Reduce energy loss, be conducive to the recycling of energy.The active electronic compensation of undulation of second embodiment of the invention rises The control system of heavy-duty machine, using super-capacitor module and lithium battery pack module come absorption and regeneration energy, effectively reduces ship and sends out Power of motor, is conducive to energy-conservation, is obtained in that more preferable economic benefit.
Further, control system also includes the motion reference units 119 being connected to compensation of undulation computing device 101, fortune Dynamic reference unit 119 is used for the real-time Heaving Signal measuring offshore lash ship, and Heaving Signal is transferred to compensation of undulation calculating dress Put 101.Specifically, motion reference units 119 are used for detecting the service data of the hull vertical direction of offshore lash ship, and should Data is sent to central controller by Ethernet.
Preferably, compensation of undulation computing device 101 is according to the active compensation algorithm setting and the heave receiving Signal is being calculated compensation of undulation data.Wherein, active compensation algorithm refers to Application No. Computational methods provided in the Chinese patent literature of CN201210219968.4, the method obtains ripple by motion reference units The heave data of wave, on-line identification heave movement model, the short cyclical forecast of heave movement is carried out based on this model, then utilizes ripple Unrestrained compensation calculation device carries out feed-forward and feedback complex control algorithm decision-making, the linear velocity needed for compensation of undulation and direction calculating Go out and be transferred to central controller.Control system provided by the present invention is not limited to using the side providing in above-mentioned patent documentation Method, can also can reach the active compensation algorithm of identical purpose using other.
Further, boom system 20 is also mounted with weight sensor 12, this weight sensor 12 is used for detection lifting Load weight on rope 4；Based on this, the control system in second embodiment of the invention can also include torque limiter 120, for the nominal load capacity gathering this load weight data and calculate predetermined direction, when load weight exceedes preset ratio During nominal load capacity, moment limiting system 120 is reported to the police and is sent restriction run signal to central controller 104, to limit lifting Machine 200 continues to run to predetermined direction.Specifically, the weight sensor 12 that torque limiter 120 passes through to load receives and hangs Load on dress rope 4, and the calculating that curve carries out permission loading capacity is carried according to hanging of being pre-designed, such as when this load weight Exceed and then send alarm signal during nominal load capacity 110%, and it is past predetermined to notify central controller 104 to forbid that crane continues Dangerous direction is run.Wherein, hanging load curve refers to Machine Design according between the loading capacity drawing after force analysis and amplitude Relation, the curve that this relation is depicted as.
Preferably, control system also includes hoist crane management system 121, hoist crane management system 121 and central controller 104 connections, for receiving and storing the data message of central controller 104.Further, hoist crane management system 121 includes Display screen, for showing the data message of central controller 104.Preferably, display screen is provided with manual debugging interface, for defeated Enter manual debugging parameter information.Further, hoist crane management system 121 also includes logging modle, for according to set when Between interval come to record the operation content in crane 200 running, operator, operating time and real time execution parameter etc. letter Breath.
More specifically, the hardware of hoist crane management system 121 be based on touch screen, its display size can 15 inches with On, Computer Graphics Display simultaneously configures at least 1GB memory space.Hoist crane management system 121 passes through EPA and central authorities' control Device 104 connection processed swaps data.The service data of indication mechanism is capable of on its display screen, such as compensation of undulation reel 1 Rotating speed, the height of hoisting rope 4, amplitude, loading capacity；Show spacing situation, such as deceleration stop position；Display motor 3 situation, The situation of such as voltage, electric current, moment；Display fault alarm and its historical record, can occur unacknowledged warning current Emphasis is pointed out, and provides the inquiry of history alarm logging；Its display screen is directed to field adjustable personnel, also has special debugging circle Face is it is allowed to commissioning staff can change the setup parameter of operation after login has modification authority.Additionally, hoist crane management system 121 can also possess data recording function, the data needing sampling is configured, it can be remembered at set time intervals Record file, for inquiring about during crane 200 maintenance management.
Preferably, central controller 104 is entered with the various pieces of crane 200 by fieldbus or EPA Row data transfer, such as, shown in Fig. 2, central controller 104 is connected to compensation of undulation meter by the network switch of Ethernet Calculate device 101, handle DTU 102 etc..Further, reel controller 103 is connected to by photoelectric conversion module Central controller 104.
【3rd embodiment】
As shown in Figure 5, the invention provides a kind of control system of active electronic heave compensation crane, lifting Machine is fixed on offshore lash ship, including reel system 10, boom system 20 and the manual handles controlling boom system 20, volume Cartridge system 10 includes compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and around compensation of undulation reel Hoisting rope, hoisting rope is sequentially connected compensation of undulation reel and boom system 20, its length with compensation of undulation reel rotation and Flexible, thus controlling the athletic posture of boom system 20, as shown in Figure 2, the control system of third embodiment of the invention includes：
Compensation of undulation computing device 101, for the current exercise data of Real-time Collection offshore lash ship, and according to exercise data Calculate compensation of undulation data；
Handle DTU 102, the instruction that manual handles are inputted is converted to handle data；
Reel controller 103, for the current spacing data of raising of Real-time Collection compensation of undulation reel and driving condition number According to, and motor operation is controlled according to the drive command receiving；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtains synthesizing rotating speed, and reads the spacing data of raising in reel controller 103 and driving condition data is come to rising The current motion state of heavy-duty machine is judged, if current motion state is normal, the drive command comprising to synthesize rotating speed is passed Pass reel controller, with drive motor operating；If current motion state is abnormal, send shutdown to reel controller Order, to terminate motor operation.
Wherein, the raising of the compensation of undulation reel that the kinestate of crane can be gathered according to reel controller 103 Spacing data and driving condition data being judged, when the spacing data of raising and driving condition data are in predetermined normal number According to when within scope, it is believed that the kinestate of crane is normal, now, central controller 104 is given out a contract for a project under reel controller 103 Drive command containing synthesis rotating speed, drive motor operates, and motor drives compensation of undulation reel to synthesize rotational speed；When The spacing data of raising and driving condition data exceed during predetermined normal data scope it is believed that the kinestate of crane not just Often it may occur however that the situation such as hypervelocity, emergency shutdown, now, central controller 104 issues halt command to reel controller 103, To terminate motor operation so that compensation of undulation reel stops operating.
Further, compensation of undulation data and handle data investigation are calculated synthesis rotating speed by central controller 104, should Superposition calculation may be referred to the computational methods provided in the Chinese patent literature that application reference number is CN201210219968.4.
It is with the difference of second embodiment, present embodiment discloses a kind of compensation of undulation lifting of man-like shelf form Machine, to be described in detail below in conjunction with the structure carrying out the heave compensation crane to man-like shelf form in Fig. 5：
As shown in figure 5, crane 200 is fixed on offshore lash ship, including reel system 10, boom system 20 and control arm The manual handles of frame system 20, reel system 10 includes compensation of undulation reel 1, multiple driving compensation of undulation reel 1 rotates Motor 3 and the hoisting rope 4 around compensation of undulation reel 1, hoisting rope 4 is sequentially connected compensation of undulation reel 1 and boom system 20, its length is stretched with the rotation of compensation of undulation reel 1, thus controlling the athletic posture of boom system 20.The present embodiment In hoisting rope 4 be steel wire rope.
As shown in Figure 5,6 motor 3 of compensation of undulation reel 1 single-sided arrangement, motor 3 here can adopt permanent magnetism Synchronous motor, it is connected to compensation of undulation reel 1 by reduction box, and unidirectional current is converted to exchange to having by each motor 3 The inverter of electricity.Wherein, reduction box is a kind of machinery reducing rotating speed, increasing torque..Swing pulley 5 and can follow the trail of hoisting rope 4 Position it is ensured that hoisting rope 4 elevation angle be less than 1.5 degree, meet the requirement of broken line reel.The advantage of broken line reel is：Steel During cord multi-lay winding, ensure that between the upper and lower layer steel wire rope of multi-lay winding, ordered phase is embedding, marshalling, smooth transition And not disorder cable, improve the contact performance between steel wire rope, and then abrasion can be reduced, increase the service life.Equally long with being wound around The single layer web of degree steel wire rope is compared, and the length of broken line reel greatly shortens, thus reducing rope stretching angle, simplifying structure, mitigating Weight of equipment.As shown in figure 3-2, rope stretching angle here refers to angle α.Preferably, motor 3 adopts permanent-magnet synchronous high pulling torque Motor.This kind of motor has the characteristics that：1. low-speed big, can reduce the gear ratio of mechanical reduction box；2. structure Compact, its length and volume much smaller compared to the AC asynchronous motor of same power；3. need using water cooling such that it is able to Meet the requirement belowdecks installed.Number of motors can in the light of actual conditions be increased and decreased.
It is possible to further compensation of undulation reel 1 is arranged in the cabin of offshore lash ship, and by swinging pulley 5 He The assembly pulley of 6 one-tenth of pulley structure of changed course is directed on boom system 202 hoisting rope 4 of compensation of undulation reel such that it is able to reduce Crane taking up space above deck.Boom system 20 includes crane arm support 9, swings pulley 5, changed course pulley 6 and be used for The suspension hook 7 of lifting weight, hoisting rope 4 is sequentially connected compensation of undulation reel 2 from cabin, swings pulley 5, changed course pulley 6 and hang Hook 7, its length is stretched with the rotation of compensation of undulation reel 1, thus controlling the athletic posture of boom system 20.
The athletic posture of boom system 20 refers to crane arm support 9 luffing angle with respect to the horizontal plane, and arm support system Relative position relation between the Each part of system 20.
Wherein, crane arm support 9 is the main support structure man-like shelf of crane 200, and changed course pulley 6 is crane 200 Man-like shelf hinge it is allowed to man-like shelf reaches outside ship.Hoisting rope 4 on compensation of undulation reel 1 is swung by twice and slides Take turns the lifting that 5 final controls carry the suspension hook 7 of goods.This kind of mode is suitable for the application of ROV underwater robot.
Further, boom system 20 is additionally provided with arm rest controller 105 and the arm support being connected with arm rest controller 105 Encoder 106, arm support encoder 106 is used for recording crane arm support 9 luffing angle with respect to the horizontal plane, thus calculating arm The amplitude data of frame system 20；Arm rest controller 105 reads amplitude data and it is transferred to central controller 103.
【Fourth embodiment】
As shown in Figure 6, the invention provides a kind of control system of active electronic heave compensation crane, lifting Machine is fixed on offshore lash ship, including reel system 10, boom system 20 and the manual handles controlling boom system 20, volume Cartridge system 10 includes compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and around compensation of undulation reel Hoisting rope, hoisting rope is sequentially connected compensation of undulation reel and boom system 20, its length with compensation of undulation reel rotation and Flexible, thus controlling the athletic posture of boom system 20, as shown in Figure 2, the control system of fourth embodiment of the invention includes：
Compensation of undulation computing device 101, for the current exercise data of Real-time Collection offshore lash ship, and according to exercise data Calculate compensation of undulation data；
Handle DTU 102, the instruction that manual handles are inputted is converted to handle data；
Reel controller 103, for the current spacing data of raising of Real-time Collection compensation of undulation reel and driving condition number According to, and motor operation is controlled according to the drive command receiving；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtains synthesizing rotating speed, and reads the spacing data of raising in reel controller 103 and driving condition data is come to rising The current motion state of heavy-duty machine is judged, if current motion state is normal, the drive command comprising to synthesize rotating speed is passed Pass reel controller, with drive motor operating；If current motion state is abnormal, send shutdown to reel controller Order, to terminate motor operation.
Wherein, the raising of the compensation of undulation reel that the kinestate of crane can be gathered according to reel controller 103 Spacing data and driving condition data being judged, when the spacing data of raising and driving condition data are in predetermined normal number According to when within scope, it is believed that the kinestate of crane is normal, now, central controller 104 is given out a contract for a project under reel controller 103 Drive command containing synthesis rotating speed, drive motor operates, and motor drives compensation of undulation reel to synthesize rotational speed；When The spacing data of raising and driving condition data exceed during predetermined normal data scope it is believed that the kinestate of crane not just Often it may occur however that the situation such as hypervelocity, emergency shutdown, now, central controller 104 issues halt command to reel controller 103, To terminate motor operation so that compensation of undulation reel stops operating.
Further, compensation of undulation data and handle data investigation are calculated synthesis rotating speed by central controller 104, should Superposition calculation may be referred to the computational methods provided in the Chinese patent literature that application reference number is CN201210219968.4.
It is with the difference of second embodiment, present embodiment discloses a kind of floating heave compensation crane, below In conjunction with Fig. 6, the structure of the floating heave compensation crane in the present embodiment is described in detail：
As shown in fig. 6, crane 200 is fixed on offshore lash ship, including reel system 10, boom system 20 and control arm The manual handles of frame system 20, reel system 10 includes compensation of undulation reel 1, multiple driving compensation of undulation reel 1 rotates Motor 3 and the hoisting rope 4 around compensation of undulation reel 1, hoisting rope 4 is sequentially connected compensation of undulation reel 1 and boom system 20, its length is stretched with the rotation of compensation of undulation reel 1, thus controlling the athletic posture of boom system 20.The present embodiment In hoisting rope 4 be steel wire rope.
As shown in Figure 6, compensation of undulation reel 1 single-sided arrangement 6 motor 3, motor 3 here can be same using permanent magnetism Step motor, it is connected to compensation of undulation reel 1 by reduction box, and unidirectional current is converted to alternating current to having by each motor 3 Inverter.Wherein, reduction box is a kind of machinery reducing rotating speed, increasing torque.Swing pulley 5 and can follow the trail of hoisting rope 4 Position, it is ensured that the elevation angle of hoisting rope 4 is less than 1.5 degree, meets the requirement of broken line reel.The advantage of broken line reel is：Steel wire Rope multi-lay winding when, ensure that between the upper and lower layer steel wire rope of multi-lay winding, ordered phase is embedding, marshalling, smooth transition and Not disorder cable, improves the contact performance between steel wire rope, and then can reduce abrasion, increases the service life.With the same length of winding The single layer web of steel wire rope is compared, and the length of broken line reel greatly shortens, thus reducing rope stretching angle, simplifies structure, mitigation sets Standby weight.As shown in figure 3-2, rope stretching angle here refers to angle α.Preferably, motor 3 adopts permanent-magnet synchronous high pulling torque electricity Motivation.
Further, reel system 10 is arranged in the cabin of offshore lash ship, and by swinging pulley 5 and changed course pulley The assembly pulley of 6 one-tenth of structure is directed to the hoisting rope 4 of compensation of undulation reel 1 on boom system 20, thus reducing crane 200 in first Taking up space on plate.The boom system 20 of crane 200 includes crane arm support 9, swings pulley 5, changed course pulley 6 and be used for The suspension hook 7 of lifting weight, hoisting rope 4 is sequentially connected compensation of undulation reel 1 from cabin, swings pulley 5, changed course pulley 6 and hang Hook 7, its length is stretched with the rotation of reel system 101, swings pulley 5 and changed course pulley 6 guides the trend of hoisting rope 4, Hoisting rope 4 finally controls the lifting of suspension hook 7 by several pulley, thus controlling the athletic posture of boom system 20.
The athletic posture of boom system 20 refers to crane arm support 9 luffing angle with respect to the horizontal plane, and arm support system Relative position relation between the Each part of system 20.
Floating heave compensation crane in the present embodiment also includes pedestal 12, upper shell machine room 13 and crane 200 Main support structure man-like shelf 14, pedestal 12 is fixed on offshore ship, and upper shell machine room 13 is used for arranging conventional hoisting function The part such as reel, the main support structure man-like shelf of crane 200 is used for supporting the arm support 9 of crane.Different from folding type The arm support of heave compensation crane is driven by oil cylinder, and the arm support 9 of floating heave compensation crane is by the luffing lifting positioned at machine room Rope reel drives.This kind of floating heave compensation crane increased one on conventional floating crane and carry compensation of undulation function Raising hook, meet the demand installed and used under water at deep-sea.
【5th embodiment】
Fifth embodiment of the invention provides a kind of control method of active electronic heave compensation crane, and crane is fixed On offshore lash ship, including reel system, boom system and the manual handles controlling boom system, reel system includes ripple Wave compensates reel, the motor of multiple driving compensation of undulation spool turns and the hoisting rope around compensation of undulation reel, hoisting rope It is sequentially connected compensation of undulation reel and boom system, its length is stretched with the rotation of compensation of undulation reel, thus control arm The athletic posture of frame system, as shown in fig. 7, control method comprises the following steps：
Step S501, compensation of undulation calculates, the current exercise data of Real-time Collection offshore lash ship, and according to exercise data meter Calculate compensation of undulation data；
Step S502, handle data conversion, the instruction that manual handles are inputted is converted to handle data；
Step S503, superposition calculation, compensation of undulation data and handle data investigation are calculated drive command；
Step S505, condition adjudgement, the spacing data of the current raising of Real-time Collection compensation of undulation reel and driving condition number According to, and the current motion state of crane is judged；
Step S505, transmitting order to lower levels, if current motion state is normal, operated according to drive command drive motor； If current motion state is abnormal, send halt command to terminate motor operation.
Further, compensation of undulation calculates is to be calculated compensation of undulation number according to the active compensation algorithm of setting According to.It is to be counted according to the active compensation algorithm setting and the Heaving Signal receiving that the compensation of undulation of step S501 calculates Calculate and obtain compensation of undulation data.Active compensation algorithm refers to the Chinese patent of Application No. CN201210219968.5 Method provided in document, the method obtains the heave data of wave, on-line identification heave movement by motion reference units Model, carries out the short cyclical forecast of heave movement based on this model, then carries out feed-forward and feedback using compensation of undulation computing device multiple Close control algolithm decision-making, the linear velocity needed for compensation of undulation and telegoniometer are calculated and is transferred to central controller.The present invention's Control method is not limited to the method using providing in above-mentioned patent documentation, can also can reach identical purpose using other Active compensation algorithm.
Specifically, in the control method of the present embodiment, the compensation of undulation reel of employing has 2 rotating speed inputs, first Input uses for compensation of undulation, measures hull Heaving Signal by the motion reference units of setting in crane, according to hull Heaving Signal and aforesaid compensation of undulation control algolithm, look-ahead goes out the variation tendency of wave, then according to whole system Response time, is sent to central controller the rotating speed of the compensation of undulation reel being currently needed for；Meanwhile, operator controls Manual handles also can produce the compensation of undulation drum speed order of requirement, this two rotating speed command are overlapped calculating and are Can get the drive command of the rotating speed of currently practical needs.
Further, in the condition adjudgement of step S505, central controller also needs to judge the limit of compensation of undulation reel Position state, judge its whether reach deceleration or halted state in addition it is also necessary to read when front drive system running status, more than In the case of condition is all normal, then drive command is transported to the control unit of motor, then motor is according to receiving Command signal is implemented quickly corresponding, thus driving compensation of undulation movable reel rotating speed desirably to be operated.
Preferably, boom system 20 is also mounted with weight sensor, for detecting the load weight on hoisting rope；Control Method also includes：
Gather load weight data and calculate the nominal load capacity of predetermined direction, when load weight exceedes the volume of preset ratio Determine then to send restriction run signal during loading capacity, continue to run to predetermined direction to limit crane.
Specifically, this weight sensor is used for detecting the load weight on hoisting rope；Based on this, fifth embodiment of the invention In crane also include torque limiter, for gather this load weight data and calculate predetermined direction payload ratings Amount, when load weight exceedes the nominal load capacity of preset ratio, moment limiting system is reported to the police and is sent limit to central controller Run signal processed, continues to run to predetermined direction to limit crane.Torque limiter passes through the weight sensor loading Receive the load on hoisting rope, and the calculating that curve carries out permission loading capacity is carried according to hanging of being pre-designed, such as when this is negative Loading capacity exceedes and then sends alarm signal during nominal load capacity 110%, and notifies central controller to forbid that crane continues toward pre- Fixed dangerous direction is run.Wherein, hanging load curve refers to Machine Design according to the loading capacity drawing after force analysis and amplitude Between relation, the curve that this relation is depicted as.
To sum up, using control system and the control method of the active electronic heave compensation crane of the present invention, with respect to Traditional hydraulic drive control system substantially increases drive efficiency, and reduces energy loss simultaneously, applies super capacitor To there is provided energy during compensation of undulation with lithium battery, to effectively reduce the installed power of marine generator, there is very high practicality It is worth.Above-described embodiment only principle of the illustrative present invention and its effect, not for the restriction present invention.Any it is familiar with this The personage of technology all can carry out modifications and changes without prejudice under the spirit and the scope of the present invention to above-described embodiment.Therefore, lift All those of ordinary skill in the art are completed under without departing from disclosed spirit and technological thought All equivalent modifications or change, must be covered by the claim of the present invention.

Claims (28)

1. a kind of control system of active electronic heave compensation crane, described crane is fixed on offshore lash ship, including Reel system, boom system and the manual handles controlling described boom system, described reel system includes compensation of undulation volume Cylinder, multiple driving motor of the described compensation of undulation spool turns and hoisting rope around described compensation of undulation reel, described hang Dress rope connects described compensation of undulation reel and described boom system, and its length is stretched with the rotation of described compensation of undulation reel Contracting, thus control the athletic posture of described boom system it is characterised in that described control system includes：
Compensation of undulation computing device, for the current exercise data of offshore lash ship described in Real-time Collection, and according to described motion number According to calculating compensation of undulation data；
Handle DTU, the instruction for inputting described manual handles is converted to handle data；
Reel controller, for the spacing data of the current raising of compensation of undulation reel described in Real-time Collection and driving condition data, And described motor operation is controlled according to the drive command receiving；
Central controller, for reading described compensation of undulation data and described handle data, by described compensation of undulation data and institute State handle data investigation and be calculated synthesis rotating speed, and read the spacing data of described raising in described reel controller and described Driving condition data the current motion state of described crane is judged, if current motion state is normal, to institute State reel controller and send the described drive command comprising described synthesis rotating speed, to drive described motor operation；If current Kinestate is abnormal, then send halt command to described reel controller, to terminate described motor operation.
2. control system as claimed in claim 1 is it is characterised in that described motor adopts permanent-magnet synchronous high torque motor.
3. control system as claimed in claim 1 is it is characterised in that described reel system is located at the cabin of described offshore lash ship Interior, described boom system includes crane arm support, swings pulley, changed course pulley and the suspension hook for lifting weight, described lifting Rope is sequentially connected described compensation of undulation reel, described swing pulley, described changed course pulley and described suspension hook, and its length is with described The rotation of compensation of undulation reel and stretch, thus controlling the athletic posture of described boom system.
4. control system as claimed in claim 3 it is characterised in that be additionally provided with described boom system arm rest controller and with The arm support encoder that described arm rest controller is connected, described arm support encoder is used for recording the angle of pitch of described crane arm support Degree, thus calculate the amplitude data of described boom system；Described arm rest controller read described amplitude data and by transmission To described central controller.
5. control system as claimed in claim 4 it is characterised in that
Described crane arm support include being fixed on described offshore lash ship lower shell and described lower shell by slewing equipment even The upper shell connecing, the main boom being installed on described upper shell and the secondary arm frame being connected with described main boom；
Wherein, it is provided with device for revolving and driving and rotary encoder in described slewing equipment, described rotary encoder is used for recording institute State the angle of revolution that upper shell is with respect to described offshore lash ship, and by described arm rest controller, described angle of revolution is transferred to Described central controller.
6. control system as claimed in claim 5 is it is characterised in that described device for revolving and driving adopts hydraulic-driven.
7. control system as claimed in claim 1 it is characterised in that the described motor of described reel system be connected to multiple The inverter unit that inverter is constituted, described inverter unit is connected with described reel controller, wherein, the plurality of inversion Device is connected one to one with multiple described motor respectively, and the plurality of inverter is used in conjunction with a dc bus, described Dc bus is connected to external power source.
8. control system as claimed in claim 7 is it is characterised in that described inverter unit passes through fieldbus or industry Ethernet is connected to fetch with described reel controller and carries out data transmission.
9. control system as claimed in claim 7 is it is characterised in that described reel system also includes rectifier transformer and will hand over Stream electricity is converted to galvanic rectification unit, before described rectifier transformer passes through the described dc bus described rectification unit of connection End, described rectification unit rear end is connected with described inverter unit by described dc bus.
10. control system as claimed in claim 9 is it is characterised in that described reel system also includes rectification unit controller, For gathering the operational factor of described rectification unit, and by described operational factor by described reel controller be transferred to described in Centre controller.
11. control systems as claimed in claim 9 are it is characterised in that described rectification unit, described inverter unit and described Motor is connected to outside fresh water cooled equipment to carry out heat exchange, and it is cold that described central controller is connected to described fresh water But equipment, and monitor in real time is carried out to the water temperature in described fresh water cooled equipment and flow.
12. control systems as claimed in claim 7, it is characterised in that described reel system also includes reel encoder, are used for Calculate rotating speed and the number of turns of described compensation of undulation reel, described reel encoder by described reel controller be connected to described in Centre controller, and described rotating speed and the number of turns are transferred to described central controller by described reel controller.
13. control systems as claimed in claim 7 are it is characterised in that described reel system is additionally provided with interconnective electric capacity Module and capacitance module controller, described capacitance module is connected on described dc bus, for compensating or absorbing described electricity The power of motivation, described capacitance module controller is connected to described central controller by described reel controller, and will be described The power signal transmissions of capacitance module give described central controller.
14. require the control system as described in 7 it is characterised in that described reel system is additionally provided with interconnective lithium battery as profit Group module and battery module controller, described lithium battery pack module is used for the regeneration energy of motor described in constant absorption, institute State battery module controller and described central controller is connected to by described reel controller, and by described lithium battery pack module Power signal transmissions give described central controller.
15. control systems as claimed in claim 7 are it is characterised in that described reel system is additionally provided with interconnective braking Resistive module and resistive module controller, described braking resistor is used for consuming the unnecessary of described motor and cannot be by described electricity Molar block or the power of described lithium battery pack module absorption, described resistive module controller is connected to by described reel controller Described central controller, and the power signal transmissions of described braking resistor module are given described central controller.
16. control systems as claimed in claim 15 are it is characterised in that described braking resistor module is connected to the fresh water of outside Carrying out heat exchange, described central controller is connected to described fresh water cooled equipment to cooling device, and described fresh water cooled is set Water temperature in standby and flow carry out monitor in real time.
17. control systems as claimed in claim 1 are it is characterised in that described compensation of undulation computing device connects motion reference Unit, described motion reference units are used for the real-time Heaving Signal measuring described offshore lash ship, and described Heaving Signal is transmitted To described compensation of undulation computing device.
18. control systems as claimed in claim 17 are it is characterised in that described compensation of undulation computing device is according to setting Active compensation algorithm to be calculated described compensation of undulation data with the described Heaving Signal receiving.
19. control systems as claimed in claim 1 it is characterised in that being also mounted with weight sensor on described boom system, For detecting the load weight on described hoisting rope；Described control system also includes torque limiter, described for gathering Load weight data and the nominal load capacity calculating predetermined direction, when described load weight exceedes the described specified load of preset ratio During weight, described moment limiting system is reported to the police and is sent restriction run signal to described central controller, to limit described lifting Machine continues to run to described predetermined direction.
20. control systems as claimed in claim 1 it is characterised in that also including hoist crane management system, described crane pipe Reason system is connected with described central controller, for receiving and storing the data message of described central controller.
21. control systems as claimed in claim 20, it is characterised in that described hoist crane management system includes display screen, are used In the data message showing described central controller.
22. control systems as claimed in claim 21 are it is characterised in that described display screen is touch screen, and are provided with artificial Debugging interface, for inputting manual debugging parameter information.
23. control systems as claimed in claim 20 are it is characterised in that described hoist crane management system also includes recording mould Block, for record at set time intervals the operation content of the running of crane, operator, the operating time and Real time execution parameter information.
Arbitrary described control system in 24. such as claim 1-23 is it is characterised in that described central controller always passes through scene Line or EPA are carried out data transmission with the various pieces of described crane.
25. control systems as claimed in claim 24 are it is characterised in that described reel controller is connected by photoelectric conversion module It is connected to described central controller.
A kind of 26. control methods of active electronic heave compensation crane, described crane is fixed on offshore lash ship, including Reel system, boom system and the manual handles controlling described boom system, described reel system includes compensation of undulation volume Cylinder, multiple driving motor of the described compensation of undulation spool turns and hoisting rope around described compensation of undulation reel, described hang Dress rope connects described compensation of undulation reel and described boom system, and its length is stretched with the rotation of described compensation of undulation reel Contracting, thus control the athletic posture of described boom system it is characterised in that described control method comprises the following steps：
Compensation of undulation calculates, the current exercise data of offshore lash ship described in Real-time Collection, and calculates ripple according to described exercise data Unrestrained offset data；
Handle data conversion, the instruction of described manual handles input is converted to handle data；
Superposition calculation, described compensation of undulation data and described handle data investigation are calculated synthesis rotating speed；
Condition adjudgement, the spacing data of the current raising of compensation of undulation reel and driving condition data described in Real-time Collection, and to institute The current motion state stating crane is judged；
Transmitting order to lower levels, if current motion state is normal, sends the drive command comprising described synthesis rotating speed described to drive Motor operation；If current motion state is abnormal, send halt command to terminate described motor operation.
27. control methods as claimed in claim 26 are it is characterised in that the calculating of described compensation of undulation is according to the active setting Heave compensation algorithm is being calculated described compensation of undulation data.
28. control methods as claimed in claim 26 are it is characterised in that be also mounted with weight sensing on described boom system Device, for detecting the load weight on described hoisting rope；Described control method also includes：
Gather described load weight data and calculate the nominal load capacity of predetermined direction, when described load weight exceedes preset ratio Described nominal load capacity when then send restriction run signal, with limit described crane continue to described predetermined direction run.
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CN108116623A (en) * 2017-10-30 2018-06-05 武汉船用机械有限责任公司 Mining vehicle lays the control method and device of recovery system
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CN106875815A (en) * 2017-03-23 2017-06-20 上海海事大学 A kind of active heave compensation experimental system for simulating platform
CN107160400A (en) * 2017-03-28 2017-09-15 江苏科技大学 A kind of robot system with active compensation of undulation function
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CN113998599A (en) * 2020-07-28 2022-02-01 丰田自动车株式会社 Hoisting device
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CN113706453A (en) * 2021-07-09 2021-11-26 武汉船用机械有限责任公司 Semi-physical training method and device for deck crane and server
CN113867273A (en) * 2021-10-25 2021-12-31 上海维宏电子科技股份有限公司 Control method, device, processor and storage medium for improving abnormal sudden change of speed of controlled equipment for motion control system
CN113867273B (en) * 2021-10-25 2024-03-19 上海维宏电子科技股份有限公司 Control method, device, processor and storage medium for improving abnormal speed mutation of controlled equipment aiming at motion control system
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CN115353005B (en) * 2022-08-16 2023-09-29 江苏苏港智能装备产业创新中心有限公司 Crane constant power lifting speed control method and system based on lifting weight
CN116750647B (en) * 2023-08-14 2023-12-05 河南科技学院 Anti-swing system for steel wire rope of permanent magnet direct-drive crane
CN116750647A (en) * 2023-08-14 2023-09-15 河南科技学院 Anti-swing system for steel wire rope of permanent magnet direct-drive crane
CN117446670A (en) * 2023-12-25 2024-01-26 泰安市特种设备检验研究院 Automatic control method and system for tower crane based on man-machine co-fusion
CN117446670B (en) * 2023-12-25 2024-04-26 泰安市特种设备检验研究院 Automatic control method and system for tower crane based on man-machine co-fusion

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