CN106429931B - The control system and control method of active electronic heave compensation crane - Google Patents

The control system and control method of active electronic heave compensation crane Download PDF

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Publication number
CN106429931B
CN106429931B CN201611111048.5A CN201611111048A CN106429931B CN 106429931 B CN106429931 B CN 106429931B CN 201611111048 A CN201611111048 A CN 201611111048A CN 106429931 B CN106429931 B CN 106429931B
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China
Prior art keywords
reel
compensation
undulation
data
controller
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Active
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CN201611111048.5A
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Chinese (zh)
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CN106429931A (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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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 the control system and control method of a kind of active electronic heave compensation crane, control system includes：Compensation of undulation computing device, in real time acquisition and calculating compensation of undulation data；Manual operation instruction is converted to handle data by handle data conversion device；Reel controller, acquires the raising limit data and driving condition data of compensation of undulation reel in real time, and controls motor operation according to drive command；Central controller reads and synthesis revolving speed is calculated in compensation of undulation data and handle data investigation, if the current motion state of crane system is normal, sends the drive command comprising synthesis revolving speed to reel controller and is operated with drive motor.The present invention substantially increases drive efficiency relative to traditional hydraulic drive control system and reduces energy loss simultaneously, also utilizes lithium battery and super capacitor absorption and regeneration energy, marine generator power is effectively reduced, and has very high practical value.

Description

The control system and control method of active electronic heave compensation crane
Technical field
The present invention relates to offshore crane field more particularly to the control systems and controlling party of a kind of heave compensation crane Method, the crane are suitable for sea lifting and underwater installation.
Background technique
It is various to be installed in the buoyancy body of the oceans such as working ship, drilling platforms with greatly developing for modern marine engineering 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, It further causes relevant raising load and generates corresponding disturbed motion, to injure the peace of entire lifting operation with property With accuracy.
Compensation of undulation refers to the compensation correction carried out because working equipment is caused to generate fluctuation for shifting.Compensation of undulation skill Art is mainly used in seaborne supply, marine drilling, deep-sea detecting etc..Operator can be greatly enhanced by compensation of undulation Safety with hanging device and guarantee the accuracy installed under water, at the same reduce because weather conditions and bring operation stops Work.For example, application No. is the Chinese patent documents of CN201210219968.4 to provide a kind of active heave compensation of undulation control System, including：Hoisting drum, ship attitude motion sensor, absolute value encoder, tension sensor and compensation equipment.Raising Reel is mounted on offshore crane, lifts load by wirerope around the suspension fulcrum of supporting arm front end, 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 sensor real-time detection wirerope.Compensation equipment be connected to ship attitude motion sensor, absolutely To value encoder and tension sensor, compensates ship heave movement of the equipment based on historical data and real-time detection, rises reel The data of the dynamic tension of moving situation and wirerope calculate Prediction Parameters, and apply offset voltage in raising based on Prediction Parameters Reel.Present invention further teaches a kind of active heave compensation of undulation control methods.
Based on the above advantage, it is necessary to design a kind of active heave heave compensation crane.Current international active The control system of formula heave compensation crane mainly uses hydraulic-driven to control, such as application No. is CN200910056001.7's Patent document provides for a kind of heavy load salvage wave compensation system of super large floating crane, including mechanical system, hydraulic system, prison Control system and the control of hydraulic cylinder and accumulator etc., mechanical system by hoisting drum, respectively cover pulley, wirerope, large-tonnage Suspension hook composition；Hydraulic system by oil cylinder, accumulator, hydraulic oil pump, hydraulic valve bank at；Monitoring system is displaced by crane barge ontology and is supervised 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, since weight is bulky, seawater, which forms vortex, makes crane barge hull ship incline and wave not It is fixed, and hoist is also swung along with it, the problem of being unable to control；And when solving offshore lifting large scale structure, wave is to crane barge hull Offshore platform caused by influencing docks difficult problem, guarantees cargo land to boat deck safety or ocean platform installation safety；And And ship is allowed to have certain inclination, adapt to the bad working environments of operation on the sea.
However, above-mentioned hydraulic drive control system and oil cylinder drive system have structure is complicated, efficiency is lower, energy consumption compared with The problems such as big.The present invention is directed to the shortcomings that above-mentioned crane driving control system, proposes a kind of active electronic compensation of undulation The control system and control method of crane.
Summary of the invention
To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of controls of active electronic heave compensation crane System processed, crane are fixed on offshore lash ship, including reel system, boom system and the manual operation hand for controlling boom system Handle, reel system include compensation of undulation reel, multiple motor for driving compensation of undulation spool turns and roll up around compensation of undulation The hoisting rope of cylinder, hoisting rope connection compensation of undulation reel and boom system, length are stretched with the rotation of compensation of undulation reel Contracting, to control the athletic posture of boom system, control system includes：Compensation of undulation computing device, for acquiring offshore in real time The current exercise data of lash ship, and compensation of undulation data are calculated according to exercise data；Handle data conversion device, by manual operation The instruction of handle input is converted to handle data；Reel controller, for acquiring the current ceiling of compensation of undulation reel in real time Position data and driving condition data, and motor operation is controlled according to the drive command received；Central controller, for reading Compensation of undulation data and handle data investigation are calculated synthesis revolving speed, and read volume by compensation of undulation data and handle data Raising in cylinder controller limits data and driving condition data to judge the current motion state of crane, if worked as Preceding motion state is normal, then sends the drive command comprising synthesis revolving speed to reel controller, operated with drive motor；If Current motion state is abnormal, then halt command is issued to reel controller, to terminate motor operation.
Preferably, motor uses 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 are sequentially connected compensation of undulation reel, swing pulley, changed course pulley And suspension hook, length is stretched with the rotation of compensation of undulation reel, to control the athletic posture of boom system.
Further, the cantilever crane encoder that arm rest controller is additionally provided on boom system and is connected with arm rest controller, Cantilever crane encoder is used to record the pitch angle of crane arm support, to calculate the amplitude data of boom system；Cantilever crane control Device reads amplitude data and it is transferred to central controller.
Preferably, crane arm support includes that the lower shell for being fixed on offshore lash ship and lower shell pass through slewing equipment and connect The upper shell connect, the secondary arm frame for being installed on the main boom of upper shell and being connect with main boom；Wherein, revolution is equipped in slewing equipment Driving device and rotary encoder, rotary encoder pass through for recording angle of revolution of the upper shell relative to offshore lash ship Angle of revolution is transferred to central controller by arm rest controller.
Further, device for revolving and driving uses 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, wherein multiple inverters connect one to one with multiple motor respectively, and multiple inverters are common Using a DC bus, DC bus is connected to external power supply.
Further, inverter unit carries out data biography by fieldbus or Industrial Ethernet and reel controller It is defeated.
Preferably, reel system further includes rectifier transformer and the rectification unit for converting alternating current to direct current, rectification Transformer connects rectification unit front end by DC bus, and rectification unit rear end is connect by DC bus with inverter unit.
Further, reel system further includes rectification unit controller, for acquiring the operating parameter of rectification unit, and will Operating parameter is transferred to central controller by reel controller.
Preferably, reel system further includes reel encoder, for calculating the revolving speed and circle number of compensation of undulation reel, reel Encoder is connected to central controller by reel controller, and revolving speed and circle number are transferred to central control by reel controller Device processed.
Further, reel system is additionally provided with capacitance module and capacitance module controller interconnected, and capacitance module connects 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 lithium battery pack module and battery module controller interconnected, lithium battery Group module is used for the regeneration energy of constant absorption motor, and battery module controller is connected to central 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 braking resistor module interconnected and resistive module controller, braking electricity The regeneration energy that resistance module is used to consume the extra of motor and can not be absorbed by capacitance module or lithium battery pack module, resistance Module controller is connected to central controller by reel controller, and by the power signal transmissions of braking resistor module to center Controller.
Preferably, it is next to be connected to external fresh water cooled equipment for inverter unit, motor and braking resistor module Heat exchange is carried out, central controller is connected to fresh water cooled equipment, and to the water temperature and flow progress reality in fresh water cooled equipment When monitor.
Further, control system further includes being connected to the motion reference units of compensation of undulation computing device to reel system, Motion reference units are used for the Heaving Signal of real-time measurement offshore lash ship, and Heaving Signal is transferred to compensation of undulation and calculates dress It sets.
Preferably, compensation of undulation computing device is according to the active compensation algorithm of setting and the Heaving Signal received Compensation of undulation data are calculated.
Further, it is also mounted with weight sensor on boom system, for detecting the load weight on hoisting rope；Control System further includes torque limiter, for acquiring load weight data and calculating the nominal load capacity of predetermined direction, when negative When loading capacity is more than the nominal load capacity of preset ratio, torque limiter alarm simultaneously issues limitation operation to central controller Signal continues to run to predetermined direction to limit crane.
Preferably, further include hoist crane management system, hoist crane management system is connect with central controller, for receive and Store the data information of central controller.
Further, hoist crane management system includes display screen, for showing the data information of central controller.
Preferably, display screen is touch screen, and is equipped with manual debugging interface, for inputting manual debugging parameter information.
Further, hoist crane management system further includes logging modle, has been recorded at set time intervals Operation content, operator, operating time and the real time execution parameter information of the operational process of heavy-duty machine.
Preferably, central controller carries out data by fieldbus or Industrial Ethernet and 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 for 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 connect wave Wave compensation reel and boom system, length is stretched with the rotation of compensation of undulation reel, to control the fortune of boom system Dynamic posture, control method include the following steps：Compensation of undulation calculates, and acquires the current exercise data of offshore lash ship, and root in real time Compensation of undulation data are calculated according to exercise data；The instruction that manual handles input is converted to handle number by handle data conversion According to；Synthesis revolving speed is calculated in compensation of undulation data and handle data investigation by superposition calculation；State judgement, acquires wave in real time Wave compensation reel current raising limit data and driving condition data, and the current motion state of crane is judged； Transmitting order to lower levels is issued the drive command comprising synthesis revolving speed and is operated with drive motor if current motion state is normal；Such as Fruit current motion state is abnormal, then issues halt command to terminate motor operation.
Further, compensation of undulation calculating is that compensation of undulation number is calculated according to the active compensation algorithm of setting According to.
Preferably, it is also mounted with weight sensor on boom system, for detecting the load weight on hoisting rope；Controlling party Method further includes：Acquisition load weight data and the nominal load capacity for calculating predetermined direction, when load weight is more than preset ratio Limitation run signal is then issued when nominal load capacity, continues to run to predetermined direction to limit crane.
As above, the control system and control method of active electronic heave compensation crane of the invention, structure letter are utilized It is single, drive efficiency is substantially increased relative to traditional hydraulic drive control system, and reduce energy loss simultaneously, and apply Super capacitor and lithium battery provide energy when compensation of undulation, effectively reduce the installed power of marine generator, have Very high practical value.
For above content of the invention can be clearer and more comprehensible, preferred embodiment is cited below particularly, and in conjunction with attached drawing, make detailed It is described as follows.
Detailed description of the invention
Fig. 1 is that the module of the control system of the 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 of the invention second, third and fourth embodiment System integral module connection figure；
Fig. 3-1 is the structural schematic diagram 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 hoisting rope of the invention；
Fig. 4 is the internal module connection schematic diagram of the reel system 10 in of the invention second, third and fourth embodiment
Fig. 5 is the structural schematic diagram of the heave compensation crane of the herringbone posture of the third embodiment of the present invention；
Fig. 6 is the structural schematic diagram 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
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this specification Revealed content is understood other advantages and efficacy of the present invention easily.Although description of the invention will combine preferred embodiment It introduces together, but this feature for not representing the invention is only limitted to the embodiment.On the contrary, being invented in conjunction with embodiment The purpose of introduction is to be possible to the other selections extended or transformation to cover based on claim of the invention.In order to mention For that will include many concrete details in depth understanding of the invention, being described below.The present invention can also be thin without using these Section is implemented.In addition, in order to avoid confusion or obscuring emphasis of the invention, some details will be omitted in the de-scription.
In addition, "upper", "lower", "left", "right", "top", "bottom" used in the following description, should not be construed as pair Limitation of the invention.
【First embodiment】
As shown in Fig. 1, the present invention provides a kind of control system of active electronic heave compensation crane, liftings Machine is fixed on offshore lash ship, including reel system, boom system and the manual handles for controlling boom system, reel system Including compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and around the hoisting rope of compensation of undulation reel, Hoisting rope is sequentially connected compensation of undulation reel and boom system, and length is stretched with the rotation of compensation of undulation reel, thus The athletic posture of boom system is controlled, the control system of first embodiment of the invention includes：
Compensation of undulation computing device 101, for acquiring the current exercise data of offshore lash ship in real time, and according to exercise data Calculate compensation of undulation data；
The instruction that manual handles input is converted to handle data by handle data conversion device 102；
Reel controller 103, for acquiring the current raising limit data of compensation of undulation reel and driving condition number in real time According to, and motor operation is controlled according to the drive command received；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtain synthesis revolving speed, and read the raising in reel controller 103 limit data and driving condition data come to rise The current motion state of heavy-duty machine is judged, if current motion state is normal, is sent to reel controller and is turned comprising synthesis The drive command of speed, is operated with drive motor；If current motion state is abnormal, is issued to reel controller and shut down life It enables, to terminate motor operation.
Wherein, the motion state of crane can be according to the raising of the compensation of undulation reel collected of reel controller 103 Data and driving condition data are limited to be judged, when raising limit data and driving condition data are in scheduled normal number When according within range, it is believed that the motion state of crane is normal, at this point, central controller 104 is to giving out a contract for a project under reel controller 103 Drive command containing synthesis revolving speed, drive motor operating, motor drive compensation of undulation reel to synthesize rotational speed；When When raising limits data and driving condition data and exceeds scheduled normal data range, it is believed that the motion state of crane is not just Often, it may occur however that the situations such as hypervelocity, emergency shutdown, at this point, central controller 104 issues halt command to reel controller 103, To terminate motor operation, so that compensation of undulation reel stops operating.
Preferably, motor uses permanent-magnet synchronous large-torque electrical machine.Such motor has the characteristics that：1. low speed is big Torque can reduce the transmission ratio of mechanical reduction box；2. compact-sized, the alternating current asynchronous of length and volume compared to same power Motor is much smaller；3. needs make to be water-cooled, so as to meet the requirement belowdecks installed.
Further, the reel system in crane can be arranged in the cabin of offshore lash ship by reel system, and be led to The pulley blocks that overswing movable pulley and changed course pulley are constituted are directed to the hoisting rope of compensation of undulation reel on boom system, to subtract Small crane taking up space above deck.The boom system of crane includes crane arm support, above-mentioned swing pulley, changed course Pulley and suspension hook for lifting weight, hoisting rope are sequentially connected compensation of undulation reel from cabin, swing pulley, changed course pulley And suspension hook, length is stretched with the rotation of compensation of undulation reel, to control the athletic posture of boom system.The present embodiment In hoisting rope be wirerope.The athletic posture of boom system refers to the pitch angle of crane arm support with respect to the horizontal plane, with And the relative positional relationship between the Each part of boom system.
More specifically, it is next real to be connected to the absolute position encoder installed on compensation of undulation reel for reel controller 103 When acquisition compensation of undulation reel current raising limit data and driving condition data, setting can be used in reel controller 103 It is realized in one or more PLC (programmable logic controller (PLC)) on compensation of undulation reel, one or more PLC passes through existing Field bus or Ethernet are connected to carry out data communication with central controller 104.Further, reel controller 103 can To be connected to central controller 104 by photoelectric conversion module, i.e. optical fiber can be used by cable-pulling chain in fieldbus signal Connect reel controller 103 and the central controller 104 positioned at crane top.
Further, the control system of first embodiment of the invention further includes being connected to the movement of compensation of undulation computing device Reference unit, motion reference units are used for the Heaving Signal of real-time measurement offshore lash ship, and Heaving Signal is transferred to wave and is mended Repay computing device 101.Specifically, compensation of undulation computing device 101 is the active compensation algorithm according to setting and receives Heaving Signal be calculated compensation of undulation data.Wherein, active compensation algorithm can refer to application No. is Calculation method provided in the Chinese patent literature of CN201210219968.4, this method are obtained by motion reference units The heave data of wave, on-line identification heave movement model carry out the forecast of heave movement short cycle based on this model, then utilize Compensation of undulation computing device carries out feed-forward and feedback complex control algorithm decision, linear velocity and telegoniometer needed for compensation of undulation It calculates and is transferred to central controller.Control system provided by the present invention is not limited to using providing in above patent document Method can also can reach the active compensation algorithm of identical purpose using other.
Wherein, central controller 104 is the core controller of crane, PLC can be used equally to be controlled, receives All outer signals and the input-output unit and other control units that crane various pieces are output to after logical process. While rotary speed data needed for also receiving the compensation of undulation of the output of wave compensation calculation device 101 is as the data of compensation of undulation Input.Preferably, central controller 104 carries out data by fieldbus or Industrial Ethernet and the various pieces of crane Transmission.
Further, it is also mounted with weight sensor on the boom system of above-mentioned crane, the weight sensor is 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, torque limiter are used to acquire the load weight data and calculate the nominal load capacity of predetermined direction, when load weight When amount is more than the nominal load capacity of preset ratio, torque limiter alarm simultaneously issues limitation operation letter to central controller Number, continue to run to predetermined direction to limit crane.Specifically, torque limiter is connect by the weight sensor loaded The load on hoisting rope is received, and hangs the calculating for carrying curve to carry out permission loading capacity according to what is be pre-designed, such as when the load Weight then issues alarm signal when being more than nominal load capacity 110%, and notifies central controller that crane is forbidden to continue toward predetermined Dangerous direction operation.Wherein, hang carry curve refer to Machine Design according to the loading capacity and amplitude obtained after force analysis it Between relationship, the curve that this relationship is depicted as.
It preferably, further include hoist crane management system, hoist crane management system is connect with central controller 104, for connecing Receive and store the data information of central controller 104.Further, hoist crane management system includes display screen, used in showing Entreat the data information of controller 104.Preferably, it can be touch screen on display screen, and be equipped with manual debugging interface, for supplying Operator inputs manual debugging parameter information.Further, hoist crane management system further includes logging modle, for according to setting Time interval record the operation content in crane operational process, 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 display size can be color at 15 inches or more Color graphical display simultaneously configures at least 1GB memory space.Hoist crane management system by Ethernet connect with central controller 104 into Row exchange data.It is capable of the operation data of indication mechanism on its display screen, such as the height of the revolving speed of compensation of undulation reel, hoisting rope Degree, amplitude, loading capacity；Display limit situation, such as deceleration stop position；Show motor situation, such as voltage, electric current, power The case where square；It shows fault alarm and its historical record, can be prompted unacknowledged alarm emphasis currently occurs, and provide and go through The inquiry of history alarm logging；Its display screen is directed to field adjustable personnel, also has dedicated Debugging interface, and commissioning staff is allowed to exist Log in the setup parameter that operation can be modified after there is modification authority.In addition, hoist crane management system can also have data note Recording function, the data that needs are sampled are configured, and file can be recorded at set time intervals, are tieed up for crane Pillar is inquired when managing.
The structure of the control system of the active electronic heave compensation crane of first embodiment of the invention is simple, relative to Traditional hydraulic drive control system can greatly improve drive efficiency, and reduce energy loss simultaneously, have very high reality With value.
【Second embodiment】
As shown in attached drawing 3-1, the present invention provides a kind of control systems of active electronic heave compensation crane, rise Heavy-duty machine is fixed on offshore lash ship, the manual handles including reel system 10, boom system 20 and control boom system 20, Reel system 10 includes compensation of undulation reel, multiple motor for driving compensation of undulation spool turns and surrounds compensation of undulation reel Hoisting rope, hoisting rope is sequentially connected compensation of undulation reel and boom system 20, length with compensation of undulation reel rotation And stretch, so that the athletic posture of boom system 20 is controlled, and as shown in Fig. 2, the control system of second embodiment of the invention Including：
Compensation of undulation computing device 101, for acquiring the current exercise data of offshore lash ship in real time, and according to exercise data Calculate compensation of undulation data；
The instruction that manual handles input is converted to handle data by handle data conversion device 102；
Reel controller 103, for acquiring the current raising limit data of compensation of undulation reel and driving condition number in real time According to, and motor operation is controlled according to the drive command received；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtain synthesis revolving speed, and read the raising in reel controller 103 limit data and driving condition data come to rise The current motion state of heavy-duty machine is judged, if current motion state is normal, will be passed comprising the drive command for synthesizing revolving speed Reel controller is passed, is operated with drive motor；If current motion state is abnormal, issued to reel controller 103 Halt command, to terminate the operating of motor 3.
Wherein, the motion state of crane 200 can be according to the compensation of undulation reel 1 collected of reel controller 103 Raising limit data and driving condition data are judged, when raising limit data and driving condition data be in it is scheduled just When within regular data range, it is believed that the motion state of crane 200 is normal, at this point, central controller 104 is to reel controller 103 issue include synthesize revolving speed drive command, drive motor 3 operate, motor 3 drive compensation of undulation reel 1 with close At rotational speed；When raising limits data and driving condition data exceed scheduled normal data range, it is believed that crane 200 Motion state it is abnormal, it may occur however that the situations such as hypervelocity, emergency shutdown, at this point, central controller 104 is to reel controller 103 issue halt command, to terminate the operating of motor 3, so that compensation of undulation reel 1 stops operating.
Further, synthesis revolving speed is calculated in compensation of undulation data and handle data investigation by central controller 104, should Superposition calculation can the calculation method with reference to provided in the Chinese patent literature that application reference number is CN201210219968.4.
It is described in detail in the present embodiment below in conjunction with the structure of one of Fig. 3-1 folding-jib heave compensation crane 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 include compensation of undulation reel 1,1 turn of driving compensation of undulation reel multiple Dynamic motor 3 and the hoisting rope 4 around compensation of undulation reel 1, hoisting rope 4 are sequentially connected compensation of undulation reel 1 and cantilever crane system System 20, length is stretched with the rotation of compensation of undulation reel 1, to control the athletic posture of boom system 20.This implementation Hoisting rope 4 in example is wirerope.
As shown in Fig. 3-1, compensation of undulation reel 1 single-sided arrangement, 6 motor 3, motor 3 can use permanent-magnet synchronous Motor is connected to compensation of undulation reel 1 by reduction gearbox, and each motor 3, which is corresponding with, is converted to alternating current for direct current Inverter.Wherein, reduction gearbox is a kind of reduction revolving speed, increases the machinery of torque.The position of hoisting rope 4 can be tracked by swinging pulley 5 It sets, guarantees that the elevation angle of hoisting rope 4 less than 1.5 degree, meets the requirement of broken line reel.The advantages of broken line reel, is：Wirerope When multi-lay winding, can guarantee that ordered phase is embedding between the upper and lower layer wirerope of multi-lay winding, marshalling, smooth transition without Disorder cable improves the contact performance between wirerope, and then can reduce abrasion, prolongs 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, to reduce rope stretching angle, is simplified structure, is mitigated equipment Weight.As shown in figure 3-2, rope stretching angle here refers to angle α.Preferably, motor 3 uses permanent-magnet synchronous large-torque electrical Machine.Such motor has the characteristics that：1. low-speed big can reduce the transmission ratio of mechanical reduction box；2. it is compact-sized, Its length and volume are much smaller compared to the AC asynchronous motor of same power；3. needs make to be water-cooled, so as to meet The requirement belowdecks installed.Number of motors can be in the light of actual conditions increased and decreased.
Further, reel system 10 can be arranged in the cabin of offshore lash ship by reel system 10, and pass through swing Pulley 5 and changed course pulley structure 6 at pulley blocks the hoisting rope 4 of compensation of undulation reel 1 is directed on boom system 20, to subtract Small crane 200 taking up space above deck.The boom system 20 of crane 200 include crane arm support 9, swing pulley 5, Alter course pulley 6 and the suspension hook 7 for lifting weight, and hoisting rope 4 is sequentially connected compensation of undulation reel 1 from cabin, swings pulley 5, alter course pulley 6 and suspension hook 7, and length is stretched with the rotation of reel system 101, to control the movement of boom system 20 Posture.
The athletic posture of boom system 20 refers to the pitch angle with respect to the horizontal plane of crane arm support 9 and cantilever crane system Relative positional relationship between the Each part of system 20.
Further, crane arm support 9 includes the lower shell 8a for being fixed on offshore lash ship, passes through revolution dress with lower shell 8a The secondary arm frame 9b for setting the upper shell 8b of connection, being installed on the main boom 9a of upper shell 8b and being connect with main boom 9a；Wherein, it turns round Be equipped with device for revolving and driving 11 and rotary encoder 107 in device, rotary encoder 107 for record upper shell 8b relative to from The angle of revolution of bank lash ship；The junction of main boom 9a and upper shell 8b, the junction of main boom 9a and secondary arm frame 9b are set respectively There are luffing driving device and cantilever crane encoder 106, cantilever crane encoder 106 is used to record the pitch angle of main boom 9a and secondary arm frame 9b Degree, to calculate the amplitude data of boom system 20.
Preferably, arm rest controller 105 is additionally provided on boom system 20, arm rest controller 105 is connected to rotary encoder 107 and cantilever crane encoder 106, for reading above-mentioned angle of revolution and amplitude data and it being transferred to central controller 104.
Preferably, for lower shell 8a together with Hull Welding, upper shell 8b is the crane portion that can be rotated.Upper shell The raising hoisting rope 4 to come up from the guidance of the swing pulley 5 of lower shell 8a, is directed to cantilever crane system by the upper end 8b installation changed course pulley 6a Unite 20 main boom 9a and secondary arm frame 9b, and 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 device of machine.The junction of main boom 9a and upper shell 8b, the junction of secondary arm frame 9b and main boom 9a are set respectively There are changed course pulley 6a and 6b.As shown in Figure 2, main boom 9a and secondary arm frame 9b can risen by being designed to articulated boom Space hold, the convenient arrangement on ship or platform is greatly decreased in heavy-duty machine 200 when not working.
Wherein, cantilever crane encoder 106 may 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；Similarly, secondary arm frame encoder is the absolute value encoder for serving secondary arm frame 9b, is used The angle of revolution between secondary arm frame 9b and main boom 9a is calculated, this angle is also used to calculate the amplitude data of boom system 20.
Further, the device for revolving and driving 11 being arranged in slewing equipment is rotary motor, device for revolving and driving and luffing Driving device is all made of hydraulic-driven.Specifically, the revolution of the crane in the present embodiment and jib lubbing mechanism are hydraulically operated.It returns Rotation mechanism is not needed high response and required, it is only necessary to be met conventional func, in order to save upper due to unrelated with compensation of undulation The space layout of cylinder, therefore use hydraulic-driven.And luffing uses oil cylinder form, it is same compared to rope luffing scheme in this way Save space, overload protection function easy to accomplish.It can be increased and decreased according to project is practical with upper motor quantity.
As shown in Figure 4, reel system 10 includes the inverter unit 108 being made of multiple inverters, inverter unit 108 are used to control the motor unit that multiple motor 3 are constituted.Multiple inverters are corresponded with multiple motor 3 respectively to be connected It connects, and multiple inverters are used in conjunction with a DC bus, which is connected to external power supply power supply.
Further, inverter unit 108 is connected with reel controller 103, and passes through fieldbus or industry Ethernet carries out data transmission with reel controller 103.Relatively add ground, the electric-controlled inside compensation of undulation reel in the present embodiment System can be all made of using field bus technique (such as Profibus-DP) or industrial Ethernet technology (such as Profinet) It is communicated.
Preferably, as shown in Figure 4, reel system 10 further includes rectifier transformer 109 and converts alternating current to direct current The rectification unit 110 of electricity, rectifier transformer 109 connect 110 front end of rectification unit, rectification unit by above-mentioned DC bus 110 rear ends are connect by DC bus with inverter unit 108, i.e., 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 It can be 12 impulse commutation transformers, 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, can effectively improve power quality in this way；Rectification unit 110 can be more transmission frequency conversion systems Rectification unit, select diode rectification mode, 3 phase AC power sources are converted to DC power supply, be inverter unit 108 provide Energy.It can also be 24 or 36 pulse transformers according to specific design rectifier transformer, rectification unit can also be controllable electric power electricity Subcomponent rectifier system.
Further, reel system 10 further includes rectification unit controller 111, for acquire rectification unit 110 such as electricity The operating parameter of the signals such as source, voltage, and these operating parameters are transferred to central controller 104 by reel controller 103.
Preferably, reel system 10 further includes reel encoder 112, for calculating the revolving speed and circle of compensation of undulation reel 1 Number, reel encoder 112 is connected to central controller 104 by reel controller 103, and calculated revolving speed and circle number are led to It crosses reel controller 103 and is 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 circle number are returned central controller 104, for Central controller 104 calculates the rope stretching amount of hoisting rope 4 and corresponds to current 4 outer diameter of hoisting rope to change compensation of undulation reel 1 Angular speed.
Further, reel system 10 further includes capacitance module 113 and capacitance module controller 114 interconnected, 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 function when compensation of undulation Rate demand.Compensation of undulation reel 1 is reciprocal positive and negative rotation campaign when due to compensation of undulation, needs to consume power when rising, this function Rate can be supplemented by the storage energy of large bulk capacitance module；Motor 3 becomes generator generation power, this function when it declines The namely regenerated energy of rate is absorbed this regeneration energy by large bulk capacitance module at this time.In this way in deduction mechanical loss and electrically After loss, most energy is used by the charge and discharge of large bulk capacitance module, can greatly reduce the ship for offshore lash ship The energy requirement of oceangoing ship dynamotor.
Preferably, reel system 10 further includes lithium battery pack module 117 and battery module controller interconnected 118, lithium battery pack module 117 is used for the regeneration energy of constant absorption motor 3, this regeneration energy is under compensation of undulation reel 1 Motor 3 becomes the power of generator generation when drop.During battery module controller 118 is connected to by reel controller 103 Controller 104 is entreated, 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 it is high, but energy storage density is low, and lithium battery group can the biggish regeneration energy of constant absorption, needing It is exported when energy, capacitance module 113 can be cooperated to reduce the energy consumption of a whole set of wave compensating device jointly.It is preferred that Ground, reel system 10 further include braking resistor module 115 interconnected and resistive module controller 116, braking resistor module 115 for consuming the surplus power of motor 3, and resistive module controller 116 is connected to central control by reel controller 103 Device 104, and by the power signal transmissions of braking resistor module 115 to central controller 104.Relatively add ground, resistive module controller 116 be the brake chopper for controlling 115 braking power of braking resistor module, when 200 long-time of crane is in decline operating condition, electricity In the case that the power that the power generation of motivation 3 generates can not be absorbed by capacitance module 113 or lithium battery pack module 117, just need It opens braking resistor module 115 energy is become heat consumption.
Further, above-mentioned inverter unit 108, motor 3 and braking resistor module 115 are connected to outside Fresh water cooled equipment carries out heat exchange, and fresh water cooled equipment is connected to central controller 104, by central controller 104 to light Water temperature and flow in water cooling equipment are monitored in real time.When 200 builder's tonnage of crane is big, compensation of undulation reel 1 can only When being arranged into cabin, conventional air cooling is unable to satisfy requirement.So inverter unit 108, motor 3 and braking resistor Module 115 uses water cooling system, this 3 units shareds, one cooling system of fresh water is provided by heat exchanger and hull Seawater carries out heat exchange.104 system of central controller is monitored the water temperature and flow of fresh water, if water temperature is higher than warning Value or flow then will limit the operation of wave compensation system lower than warning value.
The design of the reel system 10 of the present embodiment is conducive to regenerate the absorption and use of energy.In compensation of undulation reel 1 When being in propradation for a long time, main energy is provided by rectification unit 110, that is, uses the energy of hull generator；When long Between be in decline state when, motor 3 can regenerate energy at this time, and capacitor and lithium battery can not absorb all energy, at this time Braking resistor module 115 is started to work, braking resistor fever, Regenerated energy quantitative change at heat.It is mended when compensation of undulation reel 1 is in When repaying mode, energy required for propradation is supplemented by capacitor, can also be provided by lithium battery group if any deficiency；In decline When state, generated regeneration energy is such as absorbed there are also dump energy by lithium battery group by capacitive absorption.To farthest Energy loss is reduced, the recycling of energy is conducive to.The active electronic compensation of undulation of second embodiment of the invention rises The control system of heavy-duty machine effectively reduces ship hair using super-capacitor module and lithium battery pack module come absorption and regeneration energy Power of motor is beneficial to energy conservation, and can obtain better economic benefit.
Further, control system further includes being connected to the motion reference units 119 of compensation of undulation computing device 101, fortune Dynamic reference unit 119 is used for the Heaving Signal of real-time measurement offshore lash ship, and Heaving Signal is transferred to compensation of undulation and calculates dress Set 101.Specifically, motion reference units 119 are used to detect the operation data of the hull vertical direction of offshore lash ship, and should Data are sent to central controller by Ethernet.
Preferably, compensation of undulation computing device 101 is according to the active compensation algorithm of setting and the heave received Signal is calculated compensation of undulation data.Wherein, active compensation algorithm can refer to application No. is Calculation method provided in the Chinese patent literature of CN201210219968.4, this method obtain wave by motion reference units The heave data of wave, on-line identification heave movement model carry out the forecast of heave movement short cycle based on this model, then utilize wave Unrestrained compensation calculation device carries out feed-forward and feedback complex control algorithm decision, linear velocity and direction calculating needed for compensation of undulation Out and it is transferred to central controller.Control system provided by the present invention is not limited to using the side provided in above patent document Method can also can reach the active compensation algorithm of identical purpose using other.
Further, it is also mounted with weight sensor 12 on boom system 20, the weight sensor 12 is for detecting 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 acquiring the load weight data and calculating the nominal load capacity of predetermined direction, when load weight is more than preset ratio When nominal load capacity, the alarm of torque limiter 120 simultaneously issues limitation run signal to central controller 104, to limit Heavy-duty machine 200 continues to run to predetermined direction.Specifically, torque limiter 120 is received by the weight sensor 12 loaded Load on hoisting rope 4, and the calculating for carrying curve to carry out permission loading capacity is hung according to what is be pre-designed, such as when the load weight Amount then issues alarm signal when being more than nominal load capacity 110%, and notifies central controller 104 that crane is forbidden to continue toward predetermined Dangerous direction operation.Wherein, hang carry curve refer to Machine Design according to the loading capacity and amplitude obtained after force analysis it Between relationship, the curve that this relationship is depicted as.
Preferably, control system further includes hoist crane management system 121, hoist crane management system 121 and central controller 104 connections, for receiving and storing the data information of central controller 104.Further, hoist crane management system 121 includes Display screen, for showing the data information of central controller 104.Preferably, display screen is equipped with manual debugging interface, for defeated Enter manual debugging parameter information.Further, hoist crane management system 121 further includes logging modle, for according to setting when Between interval come record operation content, operator, operating time and real time execution parameter in 200 operational process of crane etc. letter Breath.
More specifically, the hardware of hoist crane management system 121 be based on touch screen, display size can 15 inches with On, Computer Graphics Display simultaneously configures at least 1GB memory space.Hoist crane management system 121 is controlled by Industrial Ethernet and center The connection of device 104 processed swaps data.It is capable of the operation data of indication mechanism on its display screen, such as compensation of undulation reel 1 Revolving speed, the height of hoisting rope 4, amplitude, loading capacity；Display limit situation, such as deceleration stop position；Show 3 situation of motor, Such as the case where voltage, electric current, torque；Show fault alarm and its historical record, it can be unacknowledged alarm currently occurs Emphasis prompt, and the inquiry of history alarm logging is provided；Its display screen is directed to field adjustable personnel, also has dedicated debugging circle Face allows commissioning staff that can modify the setup parameter of operation after logging in modification authority.In addition, hoist crane management system 121 can also have data recording function, and the data that needs are sampled are configured, and can remember at set time intervals File is recorded, for inquiring when 200 maintenance management of crane.
Preferably, central controller 104 by fieldbus or Industrial Ethernet and the various pieces of crane 200 into The transmission of row data, 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 data conversion device 102 etc..Further, reel controller 103 is connected to by photoelectric conversion module Central controller 104.
【3rd embodiment】
As shown in Fig. 5, the present invention provides a kind of control system of active electronic heave compensation crane, liftings Machine is fixed on offshore lash ship, including reel system 10, boom system 20 and the manual handles for controlling boom system 20, volume Cartridge system 10 is including compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and around compensation of undulation reel Hoisting rope, hoisting rope are sequentially connected compensation of undulation reel and boom system 20, length with the rotation of compensation of undulation reel and Flexible, to control 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 acquiring the current exercise data of offshore lash ship in real time, and according to exercise data Calculate compensation of undulation data；
The instruction that manual handles input is converted to handle data by handle data conversion device 102；
Reel controller 103, for acquiring the current raising limit data of compensation of undulation reel and driving condition number in real time According to, and motor operation is controlled according to the drive command received；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtain synthesis revolving speed, and read the raising in reel controller 103 limit data and driving condition data come to rise The current motion state of heavy-duty machine is judged, if current motion state is normal, will be passed comprising the drive command for synthesizing revolving speed Reel controller is passed, is operated with drive motor；If current motion state is abnormal, issues and shut down to reel controller Order, to terminate motor operation.
Wherein, the motion state of crane can be according to the raising of the compensation of undulation reel collected of reel controller 103 Data and driving condition data are limited to be judged, when raising limit data and driving condition data are in scheduled normal number When according within range, it is believed that the motion state of crane is normal, at this point, central controller 104 is to giving out a contract for a project under reel controller 103 Drive command containing synthesis revolving speed, drive motor operating, motor drive compensation of undulation reel to synthesize rotational speed；When When raising limits data and driving condition data and exceeds scheduled normal data range, it is believed that the motion state of crane is not just Often, it may occur however that the situations such as hypervelocity, emergency shutdown, at this point, central controller 104 issues halt command to reel controller 103, To terminate motor operation, so that compensation of undulation reel stops operating.
Further, synthesis revolving speed is calculated in compensation of undulation data and handle data investigation by central controller 104, should Superposition calculation can the calculation method with reference to provided in the Chinese patent literature that application reference number is CN201210219968.4.
The difference is that, present embodiment discloses a kind of compensation of undulation liftings of A-frame form with second embodiment Machine is described in detail below in conjunction in Fig. 5 come the structure of the heave compensation crane to A-frame form：
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 include compensation of undulation reel 1, the rotation of multiple driving compensation of undulation reels 1 Motor 3 and hoisting rope 4 around compensation of undulation reel 1, hoisting rope 4 be sequentially connected compensation of undulation reel 1 and boom system 20, length is stretched with the rotation of compensation of undulation reel 1, to control the athletic posture of boom system 20.The present embodiment In hoisting rope 4 be wirerope.
As shown in Figure 5,1 single-sided arrangement of compensation of undulation reel, 6 motor 3, motor 3 here can use permanent magnetism Synchronous motor is connected to compensation of undulation reel 1 by reduction gearbox, and each motor 3, which is corresponding with, is converted to exchange for direct current The inverter of electricity.Wherein, reduction gearbox is a kind of reduction revolving speed, increases the machinery of torque.Hoisting rope 4 can be tracked by swinging pulley 5 Position, guarantee hoisting rope 4 elevation angle less than 1.5 degree, meet the requirement of broken line reel.The advantages of broken line reel, is：Steel When cord multi-lay winding, it can guarantee that ordered phase is embedding between the upper and lower layer wirerope of multi-lay winding, marshalling, smooth transition Without disorder cable, improve the contact performance between wirerope, and then abrasion can be reduced, prolongs the service life.It is same long with winding The single layer web of degree wirerope is compared, and the length of broken line reel greatly shortens, to reduce rope stretching angle, is simplified structure, is mitigated Weight of equipment.As shown in figure 3-2, rope stretching angle here refers to angle α.Preferably, motor 3 uses permanent-magnet synchronous large torque Motor.Such motor has the characteristics that：1. low-speed big can reduce the transmission ratio of mechanical reduction box；2. structure Compact, length and volume are much smaller compared to the AC asynchronous motor of same power；3. needs make to be water-cooled, so as to Meet the requirement belowdecks installed.Number of motors can be in the light of actual conditions increased and decreased.
It is possible to further which compensation of undulation reel 1 is arranged in the cabin of offshore lash ship, and by swinging 5 He of pulley Changed course pulley structure 6 at pulley blocks the hoisting rope 4 of compensation of undulation reel is directed on boom system 202, so as 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 weight is lifted, hoisting rope 4 is sequentially connected compensation of undulation reel 2 from cabin, swings pulley 5, changed course pulley 6 and hang Hook 7, length is stretched with the rotation of compensation of undulation reel 1, to control the athletic posture of boom system 20.
The athletic posture of boom system 20 refers to the pitch angle with respect to the horizontal plane of crane arm support 9 and cantilever crane system Relative positional relationship between the Each part of system 20.
Wherein, crane arm support 9 is the main support structure A-frame of crane 200, and changed course pulley 6 is crane 200 A-frame hinge, allow A-frame to reach outside ship.Hoisting rope 4 on compensation of undulation reel 1 is swung by twice to be slided Wheel 5 finally controls the lifting for carrying the suspension hook 7 of cargo.Such mode is suitable for ROV underwater robot application.
Further, the cantilever crane for being additionally provided with arm rest controller 105 on boom system 20 and being connected with arm rest controller 105 Encoder 106, cantilever crane encoder 106 is for recording the pitch angle of crane arm support 9 with respect to the horizontal plane, to calculate 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 Fig. 6, the present invention provides a kind of control system of active electronic heave compensation crane, liftings Machine is fixed on offshore lash ship, including reel system 10, boom system 20 and the manual handles for controlling boom system 20, volume Cartridge system 10 is including compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and around compensation of undulation reel Hoisting rope, hoisting rope are sequentially connected compensation of undulation reel and boom system 20, length with the rotation of compensation of undulation reel and Flexible, to control 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 acquiring the current exercise data of offshore lash ship in real time, and according to exercise data Calculate compensation of undulation data；
The instruction that manual handles input is converted to handle data by handle data conversion device 102；
Reel controller 103, for acquiring the current raising limit data of compensation of undulation reel and driving condition number in real time According to, and motor operation is controlled according to the drive command received；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtain synthesis revolving speed, and read the raising in reel controller 103 limit data and driving condition data come to rise The current motion state of heavy-duty machine is judged, if current motion state is normal, will be passed comprising the drive command for synthesizing revolving speed Reel controller is passed, is operated with drive motor；If current motion state is abnormal, issues and shut down to reel controller Order, to terminate motor operation.
Wherein, the motion state of crane can be according to the raising of the compensation of undulation reel collected of reel controller 103 Data and driving condition data are limited to be judged, when raising limit data and driving condition data are in scheduled normal number When according within range, it is believed that the motion state of crane is normal, at this point, central controller 104 is to giving out a contract for a project under reel controller 103 Drive command containing synthesis revolving speed, drive motor operating, motor drive compensation of undulation reel to synthesize rotational speed；When When raising limits data and driving condition data and exceeds scheduled normal data range, it is believed that the motion state of crane is not just Often, it may occur however that the situations such as hypervelocity, emergency shutdown, at this point, central controller 104 issues halt command to reel controller 103, To terminate motor operation, so that compensation of undulation reel stops operating.
Further, synthesis revolving speed is calculated in compensation of undulation data and handle data investigation by central controller 104, should Superposition calculation can the calculation method with reference to provided in the Chinese patent literature that application reference number is CN201210219968.4.
The difference is that, present embodiment discloses a kind of floating heave compensation cranes, below with second embodiment It is described in detail in conjunction with structure of the Fig. 6 to the floating heave compensation crane in the present embodiment：
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 include compensation of undulation reel 1, the rotation of multiple driving compensation of undulation reels 1 Motor 3 and hoisting rope 4 around compensation of undulation reel 1, hoisting rope 4 be sequentially connected compensation of undulation reel 1 and boom system 20, length is stretched with the rotation of compensation of undulation reel 1, to control the athletic posture of boom system 20.The present embodiment In hoisting rope 4 be wirerope.
As shown in Figure 6,1 single-sided arrangement of compensation of undulation reel, 6 motor 3, motor 3 here can be same using permanent magnetism Motor is walked, compensation of undulation reel 1 is connected to by reduction gearbox, each motor 3, which is corresponding with, is converted to alternating current for direct current Inverter.Wherein, reduction gearbox is a kind of reduction revolving speed, increases the machinery of torque.Hoisting rope 4 can be tracked by swinging pulley 5 Position guarantees that the elevation angle of hoisting rope 4 less than 1.5 degree, meets the requirement of broken line reel.The advantages of broken line reel, is：Steel wire Restrict multi-lay winding when, can guarantee that ordered phase is embedding between the upper and lower layer wirerope of multi-lay winding, marshalling, smooth transition and Not disorder cable improves the contact performance between wirerope, and then can reduce abrasion, prolongs the service life.With the same length of winding The single layer web of wirerope is compared, and the length of broken line reel greatly shortens, to reduce rope stretching angle, simplifies structure, mitigation is set Standby weight.As shown in figure 3-2, rope stretching angle here refers to angle α.Preferably, motor 3 is using permanent-magnet synchronous large 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 Structure 6 at pulley blocks the hoisting rope 4 of compensation of undulation reel 1 is directed on boom system 20, to reduce 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 weight is lifted, hoisting rope 4 is sequentially connected compensation of undulation reel 1 from cabin, swings pulley 5, changed course pulley 6 and hang Hook 7, length are stretched with the rotation of reel system 101, swing pulley 5 and the trend for the guidance hoisting rope 4 of pulley 6 that alters course, Hoisting rope 4 finally controls the lifting of suspension hook 7 by several pulley, to control the athletic posture of boom system 20.
The athletic posture of boom system 20 refers to the pitch angle with respect to the horizontal plane of crane arm support 9 and cantilever crane system Relative positional relationship between the Each part of system 20.
Floating heave compensation crane in the present embodiment further includes pedestal 12, upper shell computer room 13 and crane 200 Main support structure A-frame 14, pedestal 12 are fixed on offshore ship, and upper shell computer room 13 is used to arrange conventional hoisting function The components such as reel, the main support structure A-frame of crane 200 is used to support the cantilever crane 9 of crane.Different from folding type The cantilever crane of heave compensation crane is driven by oil cylinder, and the cantilever crane 9 of floating heave compensation crane is lifted by the luffing for being located at computer room Rope reel drives.This kind of floating heave compensation crane increases one with compensation of undulation function on conventional floating crane Raising hook, meet the needs of deep-sea is installed and used under water.
【5th embodiment】
Fifth embodiment of the invention provides a kind of control method of active electronic heave compensation crane, and crane is fixed In on offshore lash ship, including reel system, boom system and the manual handles for controlling boom system, reel system includes wave Wave compensation 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, 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 includes the following steps：
Step S501, compensation of undulation calculate, and acquire the current exercise data of offshore lash ship in real time, and according to exercise data meter Calculate compensation of undulation data；
The instruction that manual handles input is converted to handle data by step S502, handle data conversion；
Drive command is calculated in compensation of undulation data and handle data investigation by step S503, superposition calculation；
Step S505, state judgement acquire the current raising limit data of compensation of undulation reel and driving condition number in real time According to, and the current motion state of crane is judged；
Step S505, transmitting order to lower levels operate if current motion state is normal according to drive command drive motor； If current motion state is abnormal, halt command is issued to terminate motor operation.
Further, compensation of undulation calculating is that compensation of undulation number is calculated according to the active compensation algorithm of setting According to.The compensation of undulation of step S501, which calculates, to be counted according to the active compensation algorithm of setting and the Heaving Signal received Calculation obtains compensation of undulation data.Active compensation algorithm can refer to the Chinese patent application No. is CN201210219968.5 Method provided in document, this method obtain the heave data of wave, on-line identification heave movement by motion reference units Model carries out the forecast of heave movement short cycle based on this model, and it is multiple then to carry out feed-forward and feedback using compensation of undulation computing device Control algolithm decision is closed, linear velocity and telegoniometer needed for compensation of undulation are calculated and are transferred to central controller.Of the invention Control method is not limited to using the method provided in above patent document, 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 use has 2 revolving speed input terminals, and first Input terminal is compensation of undulation use, hull Heaving Signal is measured by the motion reference units being arranged in crane, according to hull Heaving Signal and compensation of undulation control algolithm above-mentioned, look-ahead goes out the variation tendency of wave, then according to whole system The revolving speed of the compensation of undulation reel currently needed is sent to central controller by the response time；At the same time, operator controls Manual handles can also generate the compensation of undulation drum speed order of requirement, the two rotating speed commands are overlapped calculating i.e. The drive command of the revolving speed of currently practical needs can be obtained.
Further, in the state judgement of step S505, central controller also needs to judge the limit of compensation of undulation reel Position state, judges whether it reaches deceleration or halted state, it is also necessary to the operating status for working as front drive system is read, above In all normal situation of condition, then drive command is transported to the control unit of motor, then motor is according to receiving Command signal implementation is quickly corresponding, so that the revolving speed of compensation of undulation movable reel desirably be driven to be operated.
Preferably, it is also mounted with weight sensor on boom system 20, for detecting the load weight on hoisting rope；Control Method further includes：
Acquisition load weight data and the nominal load capacity for calculating predetermined direction, when load weight is more than the volume of preset ratio Limitation run signal is then issued when determining loading capacity, continues to run to predetermined direction to limit crane.
Specifically, which is used to detect the load weight on hoisting rope；Based on this, fifth embodiment of the invention In crane further include torque limiter, for acquire the load weight data and calculate predetermined direction payload ratings Amount, when load weight is more than the nominal load capacity of preset ratio, torque limiter alarm is simultaneously issued to central controller Run signal is limited, continues to run to predetermined direction to limit crane.Torque limiter is sensed by the weight loaded Device receives the load on hoisting rope, and hangs the calculating for carrying curve to carry out permission loading capacity according to what is be pre-designed, such as when this Load weight then issues alarm signal when being more than nominal load capacity 110%, and it is past to notify that central controller forbids crane to continue The operation of scheduled danger direction.Wherein, hanging load curve refers to Machine Design according to the loading capacity and width obtained after force analysis Relationship between degree, the curve that this relationship is depicted as.
To sum up, using the control system and control method of active electronic heave compensation crane of the invention, relative to Traditional hydraulic drive control system substantially increases drive efficiency, and reduces energy loss simultaneously, applies super capacitor Energy when compensation of undulation is provided with lithium battery, effectively reduces the installed power of marine generator, is had very high practical Value.The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any to be familiar with this The personage of technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Therefore, it lifts What all those of ordinary skill in the art were completed without departing from the spirit and technical ideas disclosed in the present invention All equivalent modifications or change should be covered by the claims of the present invention.

Claims (28)

1. a kind of control system of active electronic heave compensation crane, the crane are fixed on offshore lash ship, including The manual handles of reel system, boom system and the control boom system, the reel system include compensation of undulation volume Cylinder, the motor of multiple driving compensation of undulation spool turns and the hoisting rope around the compensation of undulation reel, it is described to hang Dress rope connects the compensation of undulation reel and the boom system, length are stretched with the rotation of the compensation of undulation reel Contracting, to control the athletic posture of the boom system, which is characterized in that the control system includes：
Compensation of undulation computing device, for acquiring the current exercise data of the offshore lash ship in real time, and according to the movement number According to calculating compensation of undulation data；
Handle data conversion device, the instruction for inputting the manual handles are converted to handle data；
Reel controller, for acquiring the compensation of undulation reel current raising limit data and driving condition data in real time, And the motor operation is controlled according to the drive command received；
Central controller, for reading the compensation of undulation data and the handle data, by the compensation of undulation data and institute It states handle data investigation and synthesis revolving speed is calculated, and read the limit data and described of the raising in the reel controller Driving condition data judge the current motion state of the crane, if current motion state is normal, to institute It states reel controller and sends the drive command comprising the synthesis revolving speed, to drive the motor operation；If current Motion state is abnormal, then halt command is issued to the reel controller, to terminate the motor operation.
2. control system as described in claim 1, which is characterized in that the motor uses permanent-magnet synchronous high torque motor.
3. control system as described in claim 1, which is characterized in that the reel system is located at the cabin of the offshore lash ship Interior, the boom system includes crane arm support, swings pulley, changed course pulley and the suspension hook for lifting weight, the lifting Rope is sequentially connected the compensation of undulation reel, the swing pulley, the changed course pulley and the suspension hook, and length is with described The rotation of compensation of undulation reel and stretch, to control the athletic posture of the boom system.
4. control system as claimed in claim 3, which is characterized in that be additionally provided on the boom system arm rest controller and with The cantilever crane encoder that the arm rest controller is connected, the cantilever crane encoder are used to record the pitch angle of the crane arm support Degree, to calculate the amplitude data of the boom system；The arm rest controller reads the amplitude data and transmits it To the central controller.
5. control system as claimed in claim 4, which is characterized in that
The crane arm support includes that the lower shell for being fixed on the offshore lash ship and the lower shell pass through slewing equipment and connect The upper shell connect, the secondary arm frame for being installed on the main boom of the upper shell and being connect with the main boom；
Wherein, device for revolving and driving and rotary encoder are equipped in the slewing equipment, the rotary encoder is for recording institute Angle of revolution of the upper shell relative to the offshore lash ship is stated, and is transferred to the angle of revolution by the arm rest controller The central controller.
6. control system as claimed in claim 5, which is characterized in that the device for revolving and driving uses hydraulic-driven.
7. control system as described in claim 1, which is characterized in that the motor of the reel system is connected to multiple The inverter unit that inverter is constituted, the inverter unit are connected with the reel controller, wherein the multiple inversion Device connects one to one with multiple motor respectively, and the multiple inverter is used in conjunction with a DC bus, described DC bus is connected to external power supply.
8. control system as claimed in claim 7, which is characterized in that the inverter unit passes through fieldbus or industry Ethernet is connected to carry out data transmission with the reel controller.
9. control system as claimed in claim 7, which is characterized in that the reel system further includes rectifier transformer and will hand over Galvanic electricity is converted to the rectification unit of direct current, before the rectifier transformer connects the rectification unit by the DC bus End, the rectification unit rear end are connect by the DC bus with the inverter unit.
10. control system as claimed in claim 9, which is characterized in that the reel system further includes rectification unit controller, It is transferred in described for acquiring the operating parameter of the rectification unit, and by the operating parameter by the reel controller Entreat controller.
11. control system as claimed in claim 9, which is characterized in that the rectification unit, the inverter unit and described Motor is connected to external fresh water cooled equipment to carry out heat exchange, and it is cold that the central controller is connected to the fresh water But equipment, and in the fresh water cooled equipment water temperature and flow monitor in real time.
12. control system as claimed in claim 7, which is characterized in that the reel system further includes reel encoder, is used for The revolving speed and circle number, the reel encoder for calculating the compensation of undulation reel are connected in described by the reel controller Controller is entreated, and the revolving speed and circle number are transferred to the central controller by the reel controller.
13. control system as claimed in claim 7, which is characterized in that the reel system is additionally provided with capacitor interconnected Module and capacitance module controller, the capacitance module are connected on the DC bus, for compensating or absorbing the electricity The power of motivation, the capacitance module controller are connected to the central controller by the reel controller, and will be described The power signal transmissions of capacitance module give the central controller.
14. control system as claimed in claim 13, which is characterized in that the reel system is additionally provided with lithium electricity interconnected Pond group module and battery module controller, regeneration energy of the lithium battery pack module for motor described in constant absorption, The battery module controller is connected to the central controller by the reel controller, and by the lithium battery group mould The power signal transmissions of block give the central controller.
15. control system as claimed in claim 14, which is characterized in that the reel system is additionally provided with braking interconnected Resistive module and resistive module controller, the braking resistor module are used to consume the extra of the motor and can not be by institutes The power that capacitance module or the lithium battery pack module absorb is stated, the resistive module controller is connected by the reel controller It is connected to the central controller, and gives the power signal transmissions of the braking resistor module to the central controller.
16. control system as claimed in claim 15, which is characterized in that the braking resistor module is connected to external fresh water Equipment is cooled down to carry out heat exchange, the central controller is connected to the fresh water cooled equipment, and sets to the fresh water cooled Water temperature and flow in standby are monitored in real time.
17. control system as described in claim 1, which is characterized in that the compensation of undulation computing device connects motion reference Unit, Heaving Signal of the motion reference units for offshore lash ship described in real-time measurement, and the Heaving Signal is transmitted To the compensation of undulation computing device.
18. control system as claimed in claim 17, which is characterized in that the compensation of undulation computing device is according to setting The compensation of undulation data are calculated in active compensation algorithm and the Heaving Signal received.
19. control system as described in claim 1, which is characterized in that it is also mounted with weight sensor on the boom system, For detecting the load weight on the hoisting rope；The control system further includes torque limiter, described for acquiring Load weight data and the nominal load capacity for calculating predetermined direction, when the load weight is more than the specified load of preset ratio When weight, the torque limiter alarm simultaneously issues limitation run signal to the central controller, to limit described rise Heavy-duty machine continues to run to the predetermined direction.
20. control system as described in claim 1, which is characterized in that it further include hoist crane management system, the crane pipe Reason system is connect with the central controller, for receiving and storing the data information of the central controller.
21. control system as claimed in claim 20, which is characterized in that the hoist crane management system includes display screen, is used In the data information for showing the central controller.
22. control system as claimed in claim 21, which is characterized in that the display screen is touch screen, and is equipped with artificial Debugging interface, for inputting manual debugging parameter information.
23. control system as claimed in claim 20, which is characterized in that the hoist crane management system further includes record mould Block, recorded at set time intervals the operation content of the operational process of crane, operator, the operating time and Real time execution parameter information.
24. the control system as described in any in claim 1-23, which is characterized in that the central controller is total by scene Line or Industrial Ethernet and the various pieces of the crane carry out data transmission.
25. control system as claimed in claim 24, which is characterized in that the reel controller is connected by photoelectric conversion module It is connected to the central controller.
26. a kind of control method of active electronic heave compensation crane, the crane are fixed on offshore lash ship, including The manual handles of reel system, boom system and the control boom system, the reel system include compensation of undulation volume Cylinder, the motor of multiple driving compensation of undulation spool turns and the hoisting rope around the compensation of undulation reel, it is described to hang Dress rope connects the compensation of undulation reel and the boom system, length are stretched with the rotation of the compensation of undulation reel Contracting, to control the athletic posture of the boom system, which is characterized in that the control method includes the following steps：
Compensation of undulation calculates, and acquires the current exercise data of the offshore lash ship in real time, and calculate wave according to the exercise data Unrestrained offset data；
The instruction that the manual handles input is converted to handle data by handle data conversion；
Synthesis revolving speed is calculated in the compensation of undulation data and the handle data investigation by superposition calculation；
State judgement acquires the compensation of undulation reel current raising limit data and driving condition data in real time, and to institute The current motion state for stating crane is judged；
It is described to drive to issue the drive command comprising the synthesis revolving speed if current motion state is normal for transmitting order to lower levels Motor operation；If current motion state is abnormal, halt command is issued to terminate the motor operation.
27. control method as claimed in claim 26, which is characterized in that the compensation of undulation calculating is the active according to setting Heave compensation algorithm is calculated the compensation of undulation data.
28. control method as claimed in claim 26, which is characterized in that be also mounted with weight sensing on the boom system Device, for detecting the load weight on the hoisting rope；The control method further includes：
It acquires the load weight data and calculates the nominal load capacity of predetermined direction, when the load weight is more than preset ratio The nominal load capacity when then issue limitation run signal, with limit the crane continue to the predetermined direction run.
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CN108116623B (en) * 2017-10-30 2019-08-30 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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