CN106672823A - Advanced-compensation anti-heeling system and method for ship - Google Patents
Advanced-compensation anti-heeling system and method for ship Download PDFInfo
- Publication number
- CN106672823A CN106672823A CN201710059459.2A CN201710059459A CN106672823A CN 106672823 A CN106672823 A CN 106672823A CN 201710059459 A CN201710059459 A CN 201710059459A CN 106672823 A CN106672823 A CN 106672823A
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- Prior art keywords
- sensor
- master controller
- water pump
- ship
- compensated
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
-
- 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
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ship Loading And Unloading (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides an advanced-compensation anti-heeling system for a ship. The system comprises a master controller. The master controller is connected with a water pump controller. The water pump controller is connected with a bidirectional water pump and a pneumatic valve. The master controller is further connected with a balance bunker liquid level sensor and a balance bunker liquid level switch. The bidirectional water pump communicates with a balance bunker through a water pipe and adjusts the water amount of the balance bunker. The master controller is further connected with a crane sensor and a ship heeling angle sensor. The advanced-compensation anti-heeling system for the ship is high in system safety, good in stability and reasonable in logical process design; and the system compensation amount calculation error is controlled within the range of +/-1%. The system is provided with an efficient response mechanism, and the response speed is controlled within five seconds. The advanced-compensation anti-heeling system is applicable to an anti-heeling system of a lifesaving and salvage ship and anti-heeling system equipment of a comprehensive rescue ship.
Description
Technical field
The present invention relates to lifting technical field of ships, is specifically related to a kind of anti-heel system of compensated in advance and side
Method.
Background technology
Ship's crane is a kind of special crane that hauling operation is at sea performed in environment, is mainly used in goods between naval vessel
The vital tasks such as transport transfer, seaborne supply, the input of underwater operation equipment and the recovery of thing.
Marine special applied environment brings very big challenge to the operation of ship's crane.One side crane is consolidated
On the motion platforms such as ship, motion platform itself and weight are in relative motion state in stormy waves；On the other hand rise
Motion at crane loading weight to level point, can produce larger heeling moment to naval vessel, and crane arm is rotated to difference
During position, the heeling moment produced to naval vessel is also different.When the heeling moment that crane job causes reaches certain amount
Level, makes naval vessel produce certain Angle of Heel, in making danger of the ship in toppling.
In prior art, control strategy considers not enough comprehensively in reflection quantity in advance, response speed and accuracy, therefore needs
Want a kind of new anti-heel system with compensated in advance function so as to can in advance compensate while safety work
Operation.
The content of the invention
The technical problem to be solved is to overcome shifting to an earlier date for anti-heel system presence peculiar to vessel of the prior art
A kind of problem present on reacting dose, corresponding speed, there is provided the anti-heel system and method for compensated in advance peculiar to vessel.
The technical scheme is that to solve the above problems such：
The anti-heel system of compensated in advance peculiar to vessel, including a master controller, the master controller connects a water pump controller, water
Pump controller connects two way water pump and pneumatic operated valve；The master controller is also connected with balance bunker liquid level sensor and balance bunker liquid level is opened
Close, two way water pump is connected and the adjustment storehouse water yield by water pipe line；The master controller be also connected with crane sensor and
Ship's heeling angle sensor.
The crane sensor includes：Lifting force arm sensor, hoisting weight sensor, loop wheel machine angle of revolution sensing
Device.
The balance bunker includes left balance bunker and right balance bunker, and liquid level biography is respectively arranged with left balance bunker and right balance bunker
Sensor and liquid-level switch.
The anti-heel method of compensated in advance peculiar to vessel：By the lifting force arm sensor on heavy-duty machine, hoisting weight sensor, loop wheel machine
Angle of revolution sensor Real-time Collection lifting arm position, lifting heavy goods weight and crane arm rotary position information simultaneously send to
Master controller, master controller integrates again ship's heeling angle data left-right balance storehouse liquid level data, calculates its compensated in advance amount；
Compensation rate computer is as follows：
In formula：E (t)-deviation signal, i.e. controller are input into；
The output of u (t)-controller；
Ti- integration time constant；
Kp- proportionality coefficient；
Td- derivative time constant；
Response action is carried out to the water pump that controlled, operated pneumatic valve according to the compensated in advance amount for obtaining, anti-horizontal stroke in advance is made
Incline compensation.
Beneficial effect：The anti-heel system of compensated in advance peculiar to vessel of the present invention, security of system is high, and good stability is patrolled
Collect Process Design rationally, system balance amount calculates control errors within ± 1%.System is furnished with efficient response mechanism, response
Speeds control is within 5s.Suitable in the anti-heel system of lifesaving pick-up boat and the anti-heel system equipment of comprehensive salvor.
Description of the drawings
With reference to the accompanying drawings and detailed description describing the present invention in detail；
Fig. 1 is the principle schematic of the anti-heel system of compensated in advance peculiar to vessel of the present invention.
Fig. 2 is control principle schematic diagram of the present invention.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
Referring to Fig. 1, the anti-heel system of compensated in advance peculiar to vessel, an including master controller, the master controller connects a water pump
Controller, water pump controller connection two way water pump and pneumatic operated valve；The master controller is also connected with balance bunker liquid level sensor peace
Weighing apparatus storehouse liquid-level switch, two way water pump is connected and the adjustment storehouse water yield by water pipe line；The master controller is also connected with lifting
Machine sensor and ship's heeling angle sensor.
The crane sensor includes：Lifting force arm sensor, hoisting weight sensor, loop wheel machine angle of revolution sensing
Device.
The balance bunker includes left balance bunker and right balance bunker, and liquid level biography is respectively arranged with left balance bunker and right balance bunker
Sensor and liquid-level switch.
As shown in Fig. 2 the system is by master controller, Real-time Collection crane arm position, crane arm rotation position
Put and the information such as lifting heavy goods weight, the control principle of the system combined by the process analysis procedure analysis at short notice to the information,
And its compensated in advance amount can accurately be calculated using PDI algorithms, understand that discretization PID control formula is by control theory：
In formula：E (t)-deviation signal, i.e. controller are input into；
The output of u (t)-controller；
Ti- integration time constant；
Kp- proportionality coefficient；
Td- derivative time constant；
Its purpose one is that, in order to eliminate the deviation of angular transducer, effect is for proportionally RCS in time
Deviation signal, and rapidly control is produced to water pump, operated pneumatic valve, make deviation to minimum direction change.Two is in order to excellent
The dynamic responding speed and stability of networked control systems, it can predict the variation tendency in alist angle future, and can be
Before change increase is too big, an effective revise signal is introduced, so as to accelerate to be controlled the dynamic response of water pump, operated pneumatic valve
Speed, reduces the regulating time of system.
Response action is carried out to the water pump that controlled, operated pneumatic valve according to the compensated in advance amount for obtaining.
The system course of work is as follows：
1) in hoisting operation, the displacement on current naval vessel being input into first, then being input into pre- hoisting weight, system is computed sentencing
Break whether in safe operation range.
2) whether system starts to check the states such as balance cabin, ballast tank ready, hoisting operation next step of being allowed for access.
3) crane rotation to plus during loads position, system according to weight sensor and length of boom sensor extremely,
Heeling moment is calculated, judges whether pre- ballast situation meets requirement.
4) when crane adds loads, control system real-time monitoring hoisting weight and lifting the arm of force, it is ensured that safety rise
Beijing South Maxpower Technology Co. Ltd's power wide job.When hoisting moment overload is, system alarm, operating personnel suitably adjust lifting weight or lifting brachium.
5) when crane for hoisting weight is to certain position, anti-heel system corrects naval vessel Angle of Heel automatically, until weight
Completion of discharge, crane rotation is to initial position.
The anti-heel system of compensated in advance mainly has two key technologies to require, is first ensure its compensated in advance amount accurate
Property.Therefore to the system have been supporting computer three-dimensional analogue system, the analogue system after test for many years, to different operating modes
Data under difference loading have been done and carry out after Multi simulation running significant data record, and its data obtained meets after design requirement to be applied
To in real ship project.Another rapidity for being in response to the time ensures.After compensated in advance amount is obtained, control system will be made in time
Go out reaction.The system master controller has selected high-performance processor, and its disposal ability can control to be instructed in 2.3 μ s/, and two-way water
The actuation time of pump and pneumatic operated valve is within 3s, and is rigid in checking up by the response time to the system each equipment,
Guarantee promptness, the accuracy of its response time.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification this
The principle of invention, of the invention without departing from the spirit and scope of the present invention also to have various changes and modifications, these changes
Change and improvement is both fallen within scope of the claimed invention.The scope of patent requirements protection of the present invention is by appended claim
Book and its equivalent are defined.
Claims (4)
1. the anti-heel system of compensated in advance peculiar to vessel, is characterized in that, including a master controller, and the master controller connects a water pump control
Device processed, water pump controller connection two way water pump and pneumatic operated valve；The master controller is also connected with balance bunker liquid level sensor and balance
Storehouse liquid-level switch, two way water pump is connected and the adjustment storehouse water yield by water pipe line；The master controller is also connected with crane
Sensor and ship's heeling angle sensor.
2. the anti-heel system of compensated in advance peculiar to vessel according to claim 1, is characterized in that, the crane sensor bag
Include：Lifting force arm sensor, hoisting weight sensor, loop wheel machine angle of revolution sensor.
3. the anti-heel system of compensated in advance peculiar to vessel according to claim 1, is characterized in that, the balance bunker includes left balance
Liquid level sensor and liquid-level switch are respectively arranged with storehouse and right balance bunker, left balance bunker and right balance bunker.
4. the anti-heel method of compensated in advance peculiar to vessel, is characterized in that：
By the lifting force arm sensor on heavy-duty machine, hoisting weight sensor, the sensor Real-time Collection lifting of loop wheel machine angle of revolution
Arm position, lifting heavy goods weight and crane arm rotary position information simultaneously send master controller to, and master controller integrates again ship
Oceangoing ship heel angular data left-right balance storehouse liquid level data, calculates its compensated in advance amount；
Compensation rate computer is as follows：
In formula：E (t)-deviation signal, i.e. controller are input into；
The output of u (t)-controller；
Ti- integration time constant；
Kp- proportionality coefficient；
Td- derivative time constant；
Response action is carried out to the water pump that controlled, operated pneumatic valve according to the compensated in advance amount for obtaining, anti-heel in advance is made and is mended
Repay.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710059459.2A CN106672823B (en) | 2017-01-24 | 2017-01-24 | The anti-heel method of compensated in advance peculiar to vessel |
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| CN201710059459.2A CN106672823B (en) | 2017-01-24 | 2017-01-24 | The anti-heel method of compensated in advance peculiar to vessel |
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| CN106672823A true CN106672823A (en) | 2017-05-17 |
| CN106672823B CN106672823B (en) | 2018-07-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114228932A (en) * | 2021-12-07 | 2022-03-25 | 江苏科技大学 | Intelligent control system and method for ship attitude |
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| CN101780921A (en) * | 2009-06-09 | 2010-07-21 | 上海海事大学 | Method for monitoring work attitude and safety of hoisting operation of floating crane |
| CN103318776A (en) * | 2012-06-28 | 2013-09-25 | 上海振华重工(集团)股份有限公司 | Active heave compensation control system and control method thereof |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101780921A (en) * | 2009-06-09 | 2010-07-21 | 上海海事大学 | Method for monitoring work attitude and safety of hoisting operation of floating crane |
| CN103318776A (en) * | 2012-06-28 | 2013-09-25 | 上海振华重工(集团)股份有限公司 | Active heave compensation control system and control method thereof |
| CN103979419A (en) * | 2014-05-30 | 2014-08-13 | 大连海事大学 | Active wave compensation control system and method based on wave trend judgment |
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| CN204714365U (en) * | 2015-05-23 | 2015-10-21 | 河南省矿山起重机有限公司 | A kind of deck crane disappears the expert PID control device of oscillator system |
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Cited By (1)
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|---|---|---|---|---|
| CN114228932A (en) * | 2021-12-07 | 2022-03-25 | 江苏科技大学 | Intelligent control system and method for ship attitude |
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| CN106672823B (en) | 2018-07-31 |
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