CN106672823B - The anti-heel method of compensated in advance peculiar to vessel - Google Patents
The anti-heel method of compensated in advance peculiar to vessel Download PDFInfo
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- CN106672823B CN106672823B CN201710059459.2A CN201710059459A CN106672823B CN 106672823 B CN106672823 B CN 106672823B CN 201710059459 A CN201710059459 A CN 201710059459A CN 106672823 B CN106672823 B CN 106672823B
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- Prior art keywords
- sensor
- heel
- master controller
- water pump
- weight
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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 present invention provides a kind of anti-heel system of compensated in advance peculiar to vessel, including a master controller, and the master controller connects a water pump controller, and 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 switch, and two way water pump passes through water pipe line connection and adjustment storehouse water；The master controller is also connected with crane sensor and ship's heeling angle sensor.The anti-heel system of compensated in advance peculiar to vessel of the present invention, high system safety, stability is good, logical process reasonable design, and system balance amount calculates control errors within ± 1%.System is furnished with efficient response mechanism, and response speed controls within 5s.Suitable in the anti-heel system of lifesaving pick-up boat and the anti-heel system equipment of comprehensive salvor.
Description
Technical field
The present invention relates to lifting technical field of ships, are specifically related to a kind of anti-heel method of compensated in advance.
Background technology
Ship's crane is a kind of special crane that hauling operation is at sea executed in environment, is mainly used for goods between naval vessel
The vital tasks such as transport transfer, seaborne supply, the dispensing of underwater operation equipment and the recycling of object.
Marine special application environment brings prodigious challenge to the operation of ship's crane.One side crane is solid
Due on the motion platforms such as ship, motion platform itself and weight are in relative motion state in stormy waves；On the other hand it rises
Movement of the crane loading weight at level point, can generate naval vessel larger heeling moment, and crane arm is rotated to difference
When position, the heeling moment generated to naval vessel is also different.The heeling moment caused by crane job reaches certain amount
Grade, makes naval vessel generate certain Angle of Heel, and ship will be made to be in the danger toppled.
In the prior art, control strategy considers not comprehensive enough in reflection quantity in advance, response speed and accuracy, therefore needs
A kind of novel anti-heel system with compensated in advance function is wanted, can in advance be compensated while safety work
Operation.
Invention content
Technical problem to be solved by the present invention lies in overcome anti-heel system peculiar to vessel in the prior art existing in advance
Problem present on reacting dose, corresponding speed provides a kind of anti-heel method of compensated in advance peculiar to vessel.
It is to solve the above-mentioned problems the technical scheme is that such：
The anti-heel system of compensated in advance peculiar to vessel, including a master controller, the master controller connect 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
It closes, two way water pump passes through water pipe line connection and adjustment storehouse water；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 in left balance bunker and right balance bunker
Sensor and liquid-level switch.
The anti-heel method of compensated in advance peculiar to vessel：Pass through lifting force arm sensor, hoisting weight sensor, the loop wheel machine on heavy-duty machine
Angle of revolution sensor acquires lifting arm position, lifting heavy goods weight and crane arm rotary position information and sends in real time
Master controller, master controller integrate ship's heeling angle data left-right balance storehouse liquid level data, calculate its compensated in advance amount again；
Compensation rate computer is as follows：
In formula：E (t)-deviation signals, i.e. controller input；
The output of u (t)-controllers；
Ti- integration time constant；
Kp- proportionality coefficient；
Td- derivative time constant；
Response action is carried out to the water pump, the operated pneumatic valve that are controlled according to the compensated in advance amount of acquisition, makes anti-cross in advance
Incline compensation.
Advantageous effect：The anti-heel system of compensated in advance peculiar to vessel of the present invention, high system safety, stability is good, patrols
It is reasonable to collect Process Design, system balance amount calculates control errors within ± 1%.System is furnished with efficient response mechanism, response
Speed 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
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
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 implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
Referring to Fig. 1, the anti-heel system of compensated in advance peculiar to vessel, including a master controller, the master controller connect a water pump
Controller, water pump controller connect two way water pump and pneumatic operated valve；The master controller is also connected with balance bunker liquid level sensor peace
Weigh storehouse liquid-level switch, and two way water pump passes through water pipe line connection and adjustment storehouse water；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 in left balance bunker and right balance bunker
Sensor and liquid-level switch.
As shown in Fig. 2, this system by master controller, acquires crane arm position in real time, crane arm rotates position
It sets and the information such as lifting heavy goods weight, by a short time to the control principle of process analysis procedure analysis combination this system of the information,
And its compensated in advance amount can accurately be calculated using PDI algorithms, the discretization PID control formula known to control theory is：
In formula：E (t)-deviation signals, i.e. controller input；
The output of u (t)-controllers；
Ti- integration time constant；
Kp- proportionality coefficient；
Td- derivative time constant；
Its purpose one is to eliminate the deviation of angular transducer, and effect is for proportionally reaction control system in time
Deviation signal, and control rapidly is generated to water pump, operated pneumatic valve, makes deviation to minimum direction change.Second is that 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
Variation increase it is too big before, an effective revise signal is introduced, to accelerate by control water pump, the dynamic response of operated pneumatic valve
Speed reduces the regulating time of system.
Response action is carried out to the water pump, the operated pneumatic valve that are controlled according to the compensated in advance amount of acquisition.
This system course of work is as follows：
1) in hoisting operation, the displacement on current naval vessel is inputted first, then inputs pre- hoisting weight, and system, which is computed, to be sentenced
Break whether in safe operation range.
2) whether system starts to examine the states such as balance cabin, ballast tank ready, and hoisting operation of being allowed for access is in next step.
3) at crane rotation to load weight position, system according to weight sensor and length of boom sensor extremely,
Heeling moment is calculated, judges whether pre- ballast situation meets the requirements.
4) when crane loads weight, control system monitors hoisting weight and the lifting arm of force in real time, ensures to rise in safety
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) in crane for hoisting weight to certain position, anti-heel system automatically corrects naval vessel Angle of Heel, until weight
Completion of discharge, crane rotation to initial position.
The anti-heel system of compensated in advance mainly has the requirement of two key technologies, is ensure its compensated in advance amount accurate first
Property.Therefore to the system have been mating computer three-dimensional analogue systems, the analogue system is after test for many years, to different operating modes
Data under difference loads have done progress significant data record after Multi simulation running, and the data obtained is applied after meeting design requirement
Into real ship project.Another rapidity for being in response to the time ensures.After obtaining compensated in advance amount, control system will be made in time
Go out reaction.This system master controller has selected high-performance processor, and processing capacity can be controlled in 2.3 μ s/ instructions, and two-way water
The actuation time of pump and pneumatic operated valve is rigid in checking up within 3s, and by the response time to each equipment of this system,
Ensure promptness, the accuracy of its response time.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The range of patent requirements protection of the present invention is by the attached claims
Book and its equivalent define.
Claims (1)
1. the anti-heel system of compensated in advance is aboard ship arranged in the anti-heel method of compensated in advance peculiar to vessel, system includes a master controller,
The master controller connects a water pump controller, and water pump controller connects two way water pump and pneumatic operated valve；The master controller also connects
Balance bunker liquid level sensor and balance bunker liquid-level switch are connect, two way water pump passes through water pipe line connection and adjustment storehouse water；
The master controller is 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 sensor；The balance bunker includes left balance bunker and right balance bunker,
It is respectively arranged with liquid level sensor and liquid-level switch in left balance bunker and right balance bunker；
It is characterized in that：
Lifting is acquired in real time by lifting force arm sensor, hoisting weight sensor, the loop wheel machine angle of revolution sensor on heavy-duty machine
Arm position, lifting heavy goods weight and crane arm rotary position information simultaneously send master controller to, and master controller integrates ship again
Oceangoing ship heel angular data left-right balance storehouse liquid level data, calculates its compensated in advance amount；
Compensation rate calculates as follows：
In formula：E (t)-deviation signals, i.e. controller input；
The output of u (t)-controllers；
Ti- integration time constant；
Kp- proportionality coefficient；
Td- derivative time constant；
Response action is carried out to the water pump, the operated pneumatic valve that are controlled according to the compensated in advance amount of acquisition, anti-heel in advance is made and mends
It repays；
The course of work is as follows：
1) in hoisting operation, the displacement on current naval vessel is inputted first, then inputs pre- hoisting weight, and system, which is computed judgement, is
It is no in safe operation range；
2) whether system starts to examine the states such as balance cabin, ballast tank ready, and hoisting operation of being allowed for access is in next step；
3) at crane rotation to load weight position, system extremely, is calculated according to weight sensor and length of boom sensor
Heeling moment, judges whether pre- ballast situation meets the requirements；
4) when crane loads weight, control system monitors hoisting weight and the lifting arm of force in real time, ensures to play Beijing South Maxpower Technology Co. Ltd in safety
Power wide job；When hoisting moment overload is system alarm, operating personnel suitably adjust lifting weight or lifting brachium；
In crane for hoisting weight to certain position, anti-heel system automatically corrects naval vessel Angle of Heel, until weight has unloaded
Finish, crane rotation to initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 CN106672823A (en) | 2017-05-17 |
| CN106672823B true CN106672823B (en) | 2018-07-31 |
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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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101780921B (en) * | 2009-06-09 | 2012-03-28 | 上海海事大学 | Method for monitoring work attitude and safety of hoisting operation of floating crane |
| CN103318776B (en) * | 2012-06-28 | 2016-01-20 | 上海振华重工(集团)股份有限公司 | Active heave heave compensation control system and control method |
| CN103979419B (en) * | 2014-05-30 | 2016-01-20 | 大连海事大学 | Based on active heave compensation control system and the method for wave Trend judgement |
| CN203975171U (en) * | 2014-06-20 | 2014-12-03 | 南通欣通船舶与海洋工程设计有限公司 | The anti-heel system of a kind of revolving derrick barge |
| CN104229092B (en) * | 2014-09-15 | 2017-11-17 | 南通中远船务工程有限公司 | Ship rolling balance automatic control system and method |
| 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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