CN106744308A - Wave compensating device - Google Patents

Wave compensating device Download PDF

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Publication number
CN106744308A
CN106744308A CN201710109422.6A CN201710109422A CN106744308A CN 106744308 A CN106744308 A CN 106744308A CN 201710109422 A CN201710109422 A CN 201710109422A CN 106744308 A CN106744308 A CN 106744308A
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CN
China
Prior art keywords
oil
valve
hydraulic
active
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710109422.6A
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Chinese (zh)
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CN106744308B (en
Inventor
苏士斌
林洪山
丘秉焱
陈莉
罗兴民
陈世明
张吉
杨元兵
杜巧玲
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Guangzhou Wenchong Shipyard Co Ltd
Original Assignee
Guangzhou Wenchong Shipyard Co Ltd
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Application filed by Guangzhou Wenchong Shipyard Co Ltd filed Critical Guangzhou Wenchong Shipyard Co Ltd
Priority to CN201710109422.6A priority Critical patent/CN106744308B/en
Publication of CN106744308A publication Critical patent/CN106744308A/en
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Publication of CN106744308B publication Critical patent/CN106744308B/en
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Classifications

    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/023—Excess flow valves, e.g. for locking cylinders in case of hose burst
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering

Abstract

The invention discloses a kind of wave compensating device, including control unit, passive compensating unit, Active Compensation unit and sensor unit；The data output end of sensor unit connects the data acquisition end of control unit；First is symmetricly set on the two ends of hook by hydraulic cylinder and second by hydraulic cylinder in passive compensating unit；Active Compensation unit includes being inverted the active hydraulic jack and active oil-feeding control module for being connected to hook, the oil inlet of active oil-feeding control module is used to connect the first oil-out of oil pump, first oil-out connects the active rod chamber hydraulic fluid port of active hydraulic jack, second oil-out connects the active rodless cavity hydraulic fluid port of active hydraulic jack, first controlled end connects the first oil-feeding control end of control unit, and the second controlled end connects the second oil-feeding control end of control unit；The present invention combines passive compensation and Active Compensation, improves compensation precision, reduces the input of power source, can better adapt to sea situation badly and drill string loads big deep sea drilling.

Description

Wave compensating device
Technical field
The present invention relates to compensation of undulation field, more particularly to a kind of wave compensating device.
Background technology
With expanding economy, tellurian petroleum resources is exhausted, and the exploitation of oil gas starts to turn to ocean, particularly Extend to deep sea waters.
When carrying out marine drilling operation, drill ship and hook can produce periodicity heave movement, phase in the presence of wave Answer, drill string can also produce corresponding heave movement, so as to cause the change of the pressure of the drill, this may cause drill bit to depart from shaft bottom, make Obtain drillng operation pause, in some instances it may even be possible to damage drill bit, cause huge economic loss.Therefore, prior art is more in drilling equipment In set up wave compensating device and solve the above problems.
However, the compensation precision of existing wave compensating device is relatively low, only can be suitably used for the preferable well drilling of shallow sea of sea situation and make Industry, when deep sea drilling operation is carried out, sea situation is more severe, and the heave amplitude of drill ship and hook is larger, it would still be possible to occur boring The problems such as well operations suspend or damage drill bit；In addition, deep sea drilling operation needs to use drill string more long, drill string load is big, existing Some wave compensating devices will need to expend substantial amounts of power source, and use cost is high.
The content of the invention
The technical problems to be solved by the invention are, there is provided a kind of wave compensating device, can better adapt to sea situation Severe and drill string loads big deep sea drilling operation.
In order to solve the above-mentioned technical problem, the present invention proposes a kind of wave compensating device, including control unit, passive benefit Repay unit, Active Compensation unit and sensor unit；
Described control unit has data acquisition end, the first oil-feeding control end and the second oil-feeding control end；
The sensor unit has data output end；The data output end connects the data acquisition of described control unit End；
The passive compensating unit includes the first accumulator, the second accumulator, high-pressure work gas cylinder and is symmetricly set on The first of the two ends of hook is by hydraulic cylinder and second by hydraulic cylinder；Described first has the first quilt by hydraulic cylinder Move rodless cavity hydraulic fluid port and for connecting the first of one end of the hook the passive piston rod, described second is had by hydraulic cylinder Second passive rodless cavity hydraulic fluid port and for connecting the second of the other end of the hook the passive piston rod；Described first is passive without bar Chamber hydraulic fluid port connects the gas inlet and outlet of the high-pressure work gas cylinder, the second passive rodless cavity oil by first accumulator Mouth connects the gas inlet and outlet of the high-pressure work gas cylinder by second accumulator；
The Active Compensation unit include being inverted the active hydraulic jack that is connected to the hook and for control oil pump and The connection of the fuel feeding path between the active hydraulic jack and the active oil-feeding control module of cut-off；The active hydraulic jack Active piston bar with active rod chamber hydraulic fluid port, active rodless cavity hydraulic fluid port and for connecting the hook；The active fuel feeding Control module has the first controlled end, the second controlled end, the first oil-out, the second oil-out and for connecting the oil pump The first oil-out oil inlet；The active rod chamber hydraulic fluid port connects first oil-out, the active rodless cavity hydraulic fluid port Second oil-out is connected, first controlled end connects the first oil-feeding control end of described control unit, and described second receives Control end connects the second oil-feeding control end of described control unit.
Preferably, the wave compensating device also includes ventilating control unit；Described control unit also has ventilating control End；
The ventilating control unit includes the first control air valve, the second control air valve, control gas pressure regulating valve, low voltage control Gas cylinder, the 3rd control air valve, the first electrically-controlled valve, the first pneumatic actuator, working gas conducting valve, working gas pressure regulator valve, with And for connecting total air inlet of the gas outlet of air compressor machine；First pneumatic actuator is used to control the working gas to turn on The opening and closing of valve；
Total air inlet connects the air inlet of the working gas conducting valve, total air inlet by the first control air valve Mouth also connects the air inlet of the control gas pressure regulating valve by the described second control air valve；It is described to control the low of gas pressure regulating valve Pressure gas vent connects the gas inlet and outlet of the low voltage control gas cylinder；The gas inlet and outlet of the low voltage control gas cylinder also passes through The 3rd control air valve connects the air inlet of first electrically-controlled valve；The gas outlet of first electrically-controlled valve passes through described first Pneumatic actuator connects the working gas conducting valve, and the gas outlet of the working gas conducting valve is adjusted by the working gas Pressure valve connects the gas inlet and outlet of the high-pressure work gas cylinder；The control signal input of first electrically-controlled valve connects the control The ventilating control end of unit processed.
Preferably, the ventilating control unit also include the 4th control air valve, the second electrically-controlled valve, the second pneumatic actuator and Work air bleeding valve；Described control unit also has first exhaust control end；Second pneumatic actuator is used to control the work Make the opening and closing of air bleeding valve；
The air inlet of the work air bleeding valve connects the air inlet of the working gas conducting valve；The low voltage control gas cylinder Gas inlet and outlet the air inlet of second electrically-controlled valve is also connected by the described 4th control air valve, second electrically-controlled valve Gas outlet connects the work air bleeding valve by second pneumatic actuator；The control signal input of second electrically-controlled valve Connect the first exhaust control end of described control unit.
Preferably, the passive compensating unit also includes the first passive oil-feeding control module；
The first passive oil-feeding control module include the first pressure adjustment relief valve, the second pressure adjustment relief valve, the first filter, Second filter and the first electro-hydraulic reversing valve；Described control unit also has the 3rd oil-feeding control end and the 4th oil-feeding control end；
The oil inlet of first pressure adjustment relief valve is used to connect the second oil-out of the oil pump, and first pressure regulation is overflow The oil-out for flowing valve connects the oil inlet of first filter, the oil return opening connection described second of first pressure adjustment relief valve The oil inlet of filter；The oil-out of second filter is used to connect fuel tank；The oil inlet of second pressure adjustment relief valve The 3rd oil-out for connecting oil pump, the oil-out of second pressure adjustment relief valve connects the oil-feed of first filter Mouthful, the oil return opening of second pressure adjustment relief valve connects the oil inlet of second filter；First filter it is fuel-displaced The oil inlet of mouth connection first electro-hydraulic reversing valve；First oil-out of first electro-hydraulic reversing valve connects first quilt Dynamic rodless cavity hydraulic fluid port, the second oil-out of first electro-hydraulic reversing valve connects the second passive rodless cavity hydraulic fluid port, and described the First control signal input of one electro-hydraulic reversing valve connects the 3rd oil-feeding control end of described control unit, and described first is electro-hydraulic Second control signal input of reversal valve connects the 4th oil-feeding control end of described control unit.
Preferably, described first also has the first passive rod chamber hydraulic fluid port by hydraulic cylinder, and described second by hydrodynamic pressure Oil cylinder also has the second passive rod chamber hydraulic fluid port；
The passive compensating unit also includes the second passive oil-feeding control module；The second passive oil-feeding control module bag Include the 3rd pressure adjustment relief valve, the 4th pressure adjustment relief valve, the 3rd filter, the 4th filter, the second electro-hydraulic reversing valve and the 3rd electricity Liquid reversal valve；Described control unit also has the 5th oil-feeding control end, the 6th oil-feeding control end, the 7th oil-feeding control end and the 8th Oil-feeding control end；
The oil inlet of the 3rd pressure adjustment relief valve is used to connect the second oil-out of oil pump, the 3rd pressure adjustment relief valve Oil-out connect the oil inlet of the 3rd filter, oil return opening connection the 4th filtering of the 3rd pressure adjustment relief valve The oil inlet of device；The oil inlet of the 4th pressure adjustment relief valve is used to connect the 3rd oil-out of oil pump, and the 4th pressure regulation is overflow The oil-out for flowing valve connects the oil inlet of the 3rd filter, the oil return opening connection the described 4th of the 4th pressure adjustment relief valve The oil inlet of filter；The oil-out of the 4th filter is used to connect fuel tank；The oil-out connection of the 3rd filter The oil inlet of the oil inlet of second electro-hydraulic reversing valve and the 3rd electro-hydraulic reversing valve；The of second electro-hydraulic reversing valve One oil-out connects the first passive rodless cavity hydraulic fluid port, the second oil-out connection described first of second electro-hydraulic reversing valve Passive rod chamber hydraulic fluid port, the 5th confession of the first control signal input connection described control unit of second electro-hydraulic reversing valve Oily control end, the second control signal input of second electro-hydraulic reversing valve connects the 6th oil-feeding control of described control unit End；First oil-out of the 3rd electro-hydraulic reversing valve connects the second passive rodless cavity hydraulic fluid port, the 3rd electro-hydraulic commutation Second oil-out of valve connects the second passive rod chamber hydraulic fluid port, the first control signal input of the 3rd electro-hydraulic reversing valve 7th oil-feeding control end of end connection described control unit, the second control signal input connection of the 3rd electro-hydraulic reversing valve 8th oil-feeding control end of described control unit.
Preferably, the passive compensating unit also includes the first safety isolating valve and the second safety isolating valve；The control Unit also has isolated controlling end；
First safety isolating valve is arranged between the described first passive rodless cavity hydraulic fluid port and first accumulator, and The control signal input of first safety isolating valve connects the isolated controlling end of described control unit；It is described second safety every Be arranged between the described second passive rodless cavity hydraulic fluid port and second accumulator from valve, and second safety isolating valve control Signal input part processed connects the isolated controlling end of described control unit.
Preferably, the passive compensating unit also includes work gas cylinder electrically-controlled valve and work gas cylinder air bleeding valve；The control Unit also has second exhaust control end；
The air inlet of the work gas cylinder electrically-controlled valve connects the exhaust outlet of the high-pressure work gas cylinder, the work gas cylinder electricity The gas outlet for controlling valve connects the work gas cylinder air bleeding valve, and the control signal input connection of the work gas cylinder electrically-controlled valve is described The second exhaust control end of control unit.
Preferably, the sensor unit includes first of the piston position information for gathering first accumulator Put sensor, the second place sensor of piston position information for gathering second accumulator, for gathering described One by the 3rd position sensor of the piston position information of hydraulic cylinder, for gathering described second by the work of hydraulic cylinder 4th position sensor of plug positional information, the 5th position of the piston position information for gathering the active hydraulic jack pass Sensor, the motion reference units of heave displacement for gathering drill ship, the hook of heave displacement for gathering the hook Displacement transducer, the passive oil pressure sensor for gathering the oil pressure by hydraulic cylinder, for gathering the active liquid The active oil pressure sensor of the oil pressure of compressing cylinder and the tension sensor for gathering dead line end tension force.
Preferably, described control unit also has the 9th oil-feeding control end；The active control module also has the 3rd to receive Control end, the 3rd controlled end connects the 9th oil-feeding control end of described control unit；
The active oil-feeding control module also includes that the 5th pressure adjustment relief valve, the 5th filter, the 6th filter, ratio are changed To valve, solenoid directional control valve, the first logic core, the second logic core, the first one-way conduction valve and the second one-way conduction valve；
The oil inlet of the 5th pressure adjustment relief valve connects the oil inlet of the active oil-feeding control module, and the described 5th adjusts The oil-out of pressurized overflow valve connects the oil inlet of the 5th filter, and the oil return opening connection of the 5th pressure adjustment relief valve is described The oil inlet of the 6th filter；
The oil-out of the 5th filter connects first oil inlet and the solenoid directional control valve of the proportional reversing valve The first oil inlet, and the oil-out of the 5th filter also connects the active fuel feeding by the first one-way conduction valve Second oil-out of control module；
Second oil inlet of the proportional reversing valve connects the oil inlet of the 6th filter, the proportional reversing valve First oil-out connects the first oil-out of the active oil-feeding control module, and the second oil-out of the proportional reversing valve passes through The second one-way conduction valve connects the second oil-out of the active oil-feeding control module, the first control of the proportional reversing valve Signal input part processed connects the first controlled end of the active fuel oil supply unit, the second control signal of the proportional reversing valve is defeated Enter the second controlled end of the end connection active fuel oil supply unit；
Second oil inlet of the solenoid directional control valve connects the oil inlet of the 6th filter, the solenoid directional control valve Oil-out connects the control port of first logic core and the control port of second logic core, the solenoid directional control valve Control signal input connects the 3rd controlled end of the active fuel oil supply unit；
First hydraulic fluid port of first logic core connects the first oil-out of the active control fuel oil supply unit, described first Second hydraulic fluid port of logic core connects the oil inlet of the 6th filter；
First hydraulic fluid port of second logic core connects the second oil-out of the active oil-feeding control module, described second Second hydraulic fluid port of logic core connects the oil inlet of the 6th filter；
The oil-out of the 6th filter is used to connect fuel tank.
Preferably, described control unit includes microcontroller, interchanger and PLC；The microcontroller is by existing The mode of field bus connects the interchanger, and the interchanger connects the PLC by way of the fieldbus.
Implement the present invention, have the advantages that：
The present invention provide wave compensating device, by set control unit, passive compensating unit, Active Compensation unit and Sensor unit；The data output end of sensor unit connects the data acquisition end of control unit；In passive compensating unit the One two ends for being symmetricly set on the hook by hydraulic cylinder by hydraulic cylinder and second, first by the of hydraulic cylinder One passive piston rod connects one end of the hook, and second connects the hook by the second of hydraulic cylinder the passive piston rod The other end；Active Compensation unit includes being inverted the active hydraulic jack and active oil-feeding control module for being connected to hook；Actively supply Oily control module includes the first oil-out, the second oil-out, the first controlled end, the second controlled end and for connecting oil pump first The oil inlet of oil-out, the first oil-out connects the active rod chamber hydraulic fluid port of active hydraulic jack, and the connection of the second oil-out is actively The active rodless cavity hydraulic fluid port of hydraulic jack, the first controlled end connects the first oil-feeding control end of control unit, and the second controlled end connects Connect the second oil-feeding control end of control unit.It can be seen that, the present invention combines passive compensation and Active Compensation, improves compensation precision, Reduce the input of power source such that it is able to better adapt to the deep sea drilling operation that sea situation is severe and drill string load is big.
Brief description of the drawings
Fig. 1 is the structural representation of the one embodiment for the wave compensating device that the present invention is provided；
Fig. 2 is the principle schematic of another embodiment of the wave compensating device that the present invention is provided.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.
In actual applications, drilling platforms is provided with drill ship, wave compensating device is installed on the drilling platforms On derrick, and the wave compensating device is by big hook connects drill string；In addition, the wave compensating device need connection oil pump, Fuel tank and air compressor machine, wherein, oil pump is used to provide hydraulic oil for the wave compensating device, and the fuel tank is used to hold hydraulic pressure Oil, it is described used for air compressor in the gas that corresponding pressure is provided for the wave compensating device.
Fig. 1 is referred to, is that the structural representation of the one embodiment for the wave compensating device that the present invention is provided (is connected with big Hook and oil pump).
Wave compensating device provided in an embodiment of the present invention, including control unit 10, passive compensating unit 20, Active Compensation Unit 30 and sensor unit 40；
Described control unit 10 has data acquisition end, the first oil-feeding control end and the second oil-feeding control end；
The sensor unit 40 has data output end；The data output end connects the data of described control unit 10 Collection terminal；
The passive compensating unit 20 include the first accumulator 201, the second accumulator 202, high-pressure work gas cylinder 203, with And be symmetricly set on hook 60 two ends first by hydraulic cylinder 204 and second by hydraulic cylinder 205；First quilt Hydraulic cylinder 204 has the first passive rodless cavity hydraulic fluid port 2041 and is passively lived for connecting the first of one end of the hook 60 Stopper rod 2042, described second has the second passive rodless cavity hydraulic fluid port 2051 and for connecting the hook by hydraulic cylinder 205 Second passive piston rod 2052 of 60 other end；The first passive rodless cavity hydraulic fluid port 2041 passes through first accumulator The gas inlet and outlet of the 201 connection high-pressure work gas cylinders 203, the second passive rodless cavity hydraulic fluid port 2051 passes through described second Accumulator 202 connects the gas inlet and outlet of the high-pressure work gas cylinder 203；
The Active Compensation unit 30 includes that inversion is connected to the active hydraulic jack 301 of the hook and for controlling oil The connection of the fuel feeding path between pump 70 and the active hydraulic jack 301 and the active oil-feeding control module 302 of cut-off；It is described Active hydraulic jack 301 has active rod chamber hydraulic fluid port 3011, active rodless cavity hydraulic fluid port 3012 and for connecting the hook 60 Active piston bar 3013；The active oil-feeding control module 302 have the first controlled end, the second controlled end, the first oil-out, Second oil-out and the oil inlet oil_in for connecting the first oil-out of the oil pump 70；The active rod chamber oil The connection of mouth 3,011 first oil-outs, the active rodless cavity hydraulic fluid port 3012 connects second oil-out, and described first receives Control end connects the first oil-feeding control end of described control unit 10, the second of the second controlled end connection described control unit 10 Oil-feeding control end.
It should be noted that in actual applications, described first by the bottom of the cylinder body of hydraulic cylinder 204 and described Two are mounted on the derrick 80 of drilling platforms by the bottom of the cylinder body of hydraulic cylinder 205, and described first by hydraulic cylinder 204 and described second are be arranged in parallel by hydraulic cylinder 205, and described first by hydraulic cylinder 204 and described second passive Hydraulic jack 205 is symmetricly set on the two ends of the hook 60, and described first by the first of hydraulic cylinder 204 the passive piston rod One end of the 2042 connection hooks 60, described second connects described by the second of hydraulic cylinder 205 the passive piston rod 2052 The other end of hook 60；The cylinder body of the active hydraulic jack 301 is reverse mounted on the derrick 80 of the drilling platforms, and institute The active piston bar 3013 stated in active hydraulic jack 301 connects the hook 60, it is preferable that the active piston bar 3013 connects Connect the middle part of the hook 60.It can be seen that, the first passive piston rod 2042, the second passive piston rod 2052 and described Active piston bar 3013 occurs that corresponding active force can be imposed to the hook 60 during corresponding sports, to drive the hook 60 Corresponding motion is produced, so as to compensate the heave displacement that the hook 60 is produced by wave effect.
In embodiments of the present invention, in the passive compensating unit 20, first accumulator 201 includes air chamber, liquid Pumping cavity, piston, gas inlet and outlet and fluid inlet and outlet；Described first by the first of hydraulic cylinder 204 the passive rodless cavity oil Mouth 2041 is located at described first by the side wall of the rodless cavity of hydraulic cylinder 204；Described first by the nothing of hydraulic cylinder 204 The hydraulic fluid chamber of rod cavity and first accumulator 201 is by the described first passive rodless cavity hydraulic fluid port 2041, first accumulation of energy The fluid inlet and outlet of device 201 and oil pipe between the two are connected；The air chamber and the high pressure of first accumulator 201 Gas inlet and outlet, the gas of the high-pressure work gas cylinder 203 that the air chamber of gas cylinder 203 that works passes through first accumulator 201 Body is imported and exported and tracheae connection between the two.
In addition, being additionally provided with the first work air valve 211 and first exhaust at the gas inlet and outlet of first accumulator 201 Valve 212, the first work air valve 211 is used to control connecting and cut-off for first accumulator 201 and extraneous gas pipeline, The first row air valve 212 is used to when needed discharge the gas in the air chamber of first accumulator 201, such as described During wave compensating device power cut-off, to avoid the gases at high pressure in first accumulator 201 from triggering peril.Also, The fluid inlet and outlet of first accumulator 201 and described first is by the first of hydraulic cylinder 204 the passive rodless cavity hydraulic fluid port The first bleeder valve 213 is additionally provided with 2041 public connecting end, for when needed by the hydraulic pressure of first accumulator 201 Hydraulic oil and described first in oil pocket is by the hydraulic oil discharge in the rodless cavity of hydraulic cylinder 204.
Correspondingly, second accumulator 202 includes the turnover of air chamber, hydraulic fluid chamber, piston, gas inlet and outlet and fluid Mouthful；Described second is located at described second by hydraulic cylinder 205 by the second of hydraulic cylinder 205 the passive rodless cavity hydraulic fluid port 2051 Rodless cavity side wall on；Described second by the rodless cavity of hydraulic cylinder 205 and the hydraulic fluid chamber of second accumulator 202 By the described second passive rodless cavity hydraulic fluid port 2051, the fluid inlet and outlet of second accumulator 202 and oil between the two Pipe is connected；The air chamber of the air chamber of second accumulator 202 and the high-pressure work gas cylinder 203 is by second accumulation of energy The connection of the gas inlet and outlet of device 202, the gas inlet and outlet of the high-pressure work gas cylinder 203 and tracheae between the two.Separately Outward, the second work air valve 214 and second row air valve 215 are additionally provided with the gas inlet and outlet of second accumulator 202, it is described Second work air valve 214 is used to control connecting and cut-off for second accumulator 202 and extraneous gas pipeline, the second row Air valve 215 is used for the gas discharge in the air chamber of second accumulator 202, such as described compensation of undulation dress when needed When putting power cut-off, to avoid the gases at high pressure in second accumulator 202 from triggering peril.Also, described second stores The fluid inlet and outlet and described second of energy device 202 is by the public company of the second of hydraulic cylinder 205 the passive rodless cavity hydraulic fluid port 2051 Connect and be additionally provided with end the second bleeder valve 216, for when needed by the hydraulic pressure in the hydraulic fluid chamber of second accumulator 202 It is oily and described second by the rodless cavity of hydraulic cylinder 205 hydraulic oil discharge.In embodiments of the present invention, the high pressure work The 3rd work air valve 217 is additionally provided with the gas inlet and outlet for making gas cylinder 203, for controlling the He of high-pressure work gas cylinder 203 The connection of extraneous gas pipeline and cut-off.
It should be noted that in embodiments of the present invention, the gas inlet and outlet of first accumulator 201, described second The gas inlet and outlet of the gas inlet and outlet of accumulator 202 and the high-pressure work gas cylinder 203 passes through working gas pressure regulator valve Connection working gas conducting valve, the working gas conducting valve is additionally operable to connect air compressor machine, to obtain high-pressure working gas.
In embodiments of the present invention, in the Active Compensation unit 30, the active rod chamber of the active hydraulic jack 301 The 3rd bleeder valve 303 is additionally provided with hydraulic fluid port 3011, the 4th bleeder valve is additionally provided with the active rodless cavity hydraulic fluid port 3012 304, it is respectively used to the hydraulic oil in the hydraulic oil and rodless cavity in the rod chamber of the active hydraulic jack 301 when needed Discharge.
The operation principle of wave compensating device provided in an embodiment of the present invention is as follows：
Before compensation of undulation is carried out, the preparation of the wave compensating device need to be first completed, as described first stores Energy device 201, second accumulator 202 and the high-pressure work gas cylinder 203 are inflated, and are first accumulator 201, institute State the second accumulator 202, first oil-filled by hydraulic cylinder 205 and active hydraulic jack 301 by hydraulic cylinder 204, second, And cause piston, the piston of second accumulator 202, described first of first accumulator 201 by hydraulic cylinder 204 Piston, described second stroke is respectively positioned on by the piston of the piston of hydraulic cylinder 205 and the active hydraulic jack 301 Centre position, formed initial oil gas pressure balance.
When drill ship produces heave movement under wave effect, the wave compensating device will be compensated passively, master Dynamic predictive compensation and active second compensation.Wherein, the passive compensation and active predicting compensation can occur simultaneously, that is, exist In actual implementation process, both almost occur simultaneously, but it should be recognized that there are various influence factors in implementation process, Therefore, both are not occur simultaneously at any time.In addition, the active second compensation occurs in active predicting compensation Afterwards.The course of work of the passive compensation, active predicting compensation and the active second compensation will be described below.
Active predicting is compensated：
Motion reference units (MRU, Motion Reference Unit) in the sensor unit 40 gather the brill The current heave displacement of well ship, described control unit 10 is according to the current heave displacement of the drill ship and the history for prestoring heave The heave trend of drill ship described in data acquisition, i.e., described first heave trend, to predict the drill ship in subsequent time Motion conditions, and the work of the active oil-feeding control module 302 is controlled according to the heave trend so that the oil pump 70 is The rodless cavity of the active hydraulic jack 301 is oil-filled or rod chamber is oil-filled, will be produced because wave is acted on compensating the hook 60 Raw heave displacement.
Specifically, if knowing that the drill ship will be moved upwards in subsequent time according to the heave trend, the control Unit processed 10 controls the active fuel oil supply unit to connect between the oil pump 70 and the rodless cavity of the active hydraulic jack 301 Fuel feeding path so that the oil pump 70 injects hydraulic oil to the rodless cavity of the active hydraulic jack 301, so that the master The active piston bar 3013 of hydraulic cylinder 301 is moved downward, and then drives the hook 60 to move downward, described big to compensate The upward displacement that hook 60 will be produced by wave effect；If knowing that the drill ship will in subsequent time according to the heave trend Move downward, then described control unit 10 controls the active oil-feeding control module 302 to connect the oil pump 70 and the active Fuel feeding path between the rod chamber of hydraulic jack 301 so that rod chamber from the oil pump 70 to the active hydraulic jack 301 Injection hydraulic oil, so that the active piston bar 3013 of the active hydraulic jack 301 is moved upwards, and then drives described big Hook 60 is moved upwards, to compensate the downward displacement that the hook 60 will be produced by wave effect.
Passive compensation：
When drill ship motion upwards under wave effect, described first is passive by the first of hydraulic cylinder 204 Piston rod 2042, described second by the second of hydraulic cylinder 205 the passive piston rod 2052 and the hook 60 instantaneously to Upper motion, because the hook 60 is moved upwards, the upward pulling force increase of the drill string that the hook 60 is connected to it, thus it is described The first passive piston rod 2042 of hook 60 pairs and the downward pressure increase of the second passive piston rod 2052, described first Pressure differential, i.e. disequilibrium will be produced by the upper and lower ends of the piston in hydraulic cylinder 204, so that described first by hydrodynamic pressure Piston in oil cylinder 204 is moved downward, i.e., described first passive piston rod 2042 is moved downward, and similarly, described second is passive living Stopper rod 2052 is also moved downward, so as to drive the hook 60 to move downward, is produced because wave is acted on compensating the hook 60 Upward displacement.Also, when the first passive piston rod 2042 and the second passive piston rod 2052 are moved downward, institute First is stated by the hydraulic oil in the rodless cavity of hydraulic cylinder 204 and described second by the rodless cavity of hydraulic cylinder 205 Hydraulic oil is respectively pressed into the hydraulic fluid chamber of first accumulator 201 and the hydraulic fluid chamber of second accumulator 202, described The piston of the piston of one accumulator 201 and first accumulator 201 is moved upwards, first accumulator 201, described The volume compression of the working gas in two accumulators 202 and the high-pressure work gas cylinder 203, pressure increases, passive so as to reach Oil-air pressure balance after compensation.
When the drill ship is moved downward under wave effect, described first is passive by the first of hydraulic cylinder 204 Piston rod 2042, described second by the second of hydraulic cylinder 205 the passive piston rod 2052 and the hook 60 instantaneously to Lower motion, because the hook 60 is moved downward, the upward pulling force of the drill string that the hook 60 is connected to it reduces, thus described The first passive piston rod 2042 of hook 60 pairs and the downward pressure of the second passive piston rod 2052 reduce, and described first Pressure differential, i.e. disequilibrium, first accumulator 201, institute will be produced by the upper and lower ends of the piston in hydraulic cylinder 204 The pressure for stating the working gas in the second accumulator 202 and the high-pressure work gas cylinder 203 reduces, volumetric expansion, described first The piston of accumulator 201 is moved downward, and the hydraulic oil in the hydraulic fluid chamber of first accumulator 201 is pressed into described first By in the rodless cavity of hydraulic cylinder 204, the first passive piston rod 2042 is moved upwards, and similarly, described second is passive living The also motion upwards of stopper rod 2052, so as to drive the hook 60 to move upwards, is produced with compensating the hook 60 because wave is acted on Downward displacement, so as to reach the oil-air pressure balance after passive compensation.
Active second compensation：
When drill ship motion upwards under wave effect, compensated by the passive compensation and the active predicting After process, described control unit 10 obtains the currently upper raise-position of the pressure of the drill and the hook 60 of the collection of the sensor unit 40 Move, and the active fuel oil supply unit according to described the pressure of the drill with the current heave Bit andits control of the hook 60 connects the oil pump 70 And the fuel feeding path between the rodless cavity of the active hydraulic jack 301 so that the oil pump 70 is to the active hydraulic jack 301 rodless cavity injection hydraulic oil, so that the active piston bar 3013 of the active hydraulic jack 301 is moved downward, enters And drive the hook 60 to move downward, to compensate the upward displacement that the hook 60 is produced by wave effect.
When the drill ship is moved downward under wave effect, compensated by the passive compensation and the active predicting After process, described control unit 10 obtains the pressure of the drill of the collection of the sensor unit 40 and the current sinking position of the hook 60 Move, and the active fuel oil supply unit according to described the pressure of the drill with the current heave Bit andits control of the hook 60 connects the oil pump 70 And the fuel feeding path between the rod chamber of the active hydraulic jack 301 so that the oil pump 70 is to the active hydraulic jack 301 rod chamber injection hydraulic oil, so that the active piston bar 3013 of the active hydraulic jack 301 is moved upwards, enters And drive the hook 60 to move upwards, to compensate the downward displacement that the hook 60 is produced by wave effect.
Wave compensating device provided in an embodiment of the present invention, by setting control unit 10, passive compensating unit 20, active Compensating unit 30 and sensor unit 40；In passive compensating unit 20 first by hydraulic cylinder 204 and second by hydrodynamic pressure Oil cylinder 205 is symmetricly set on the two ends of the hook 60, and first is connected by the first of hydraulic cylinder 204 the passive piston rod 2042 One end of the hook 60, second connects the another of the hook 60 by the second of hydraulic cylinder 205 the passive piston rod 2052 End；Active Compensation unit 30 includes being inverted the active hydraulic jack 301 and active oil-feeding control module 302 for being connected to hook 60； Active oil-feeding control module 302 includes the first oil-out, the second oil-out, the first controlled end, the second controlled end and for connecting The oil inlet of the first oil-out of oil pump, the active rod chamber hydraulic fluid port 3011 of the first oil-out connection active hydraulic jack 301, the The active rodless cavity hydraulic fluid port 3012 of two oil-outs connection active hydraulic jack 301, the of the first controlled end connection control unit 10 One oil-feeding control end, the second controlled end connects the second oil-feeding control end of control unit 10.It can be seen that, the present invention combines passive compensation And Active Compensation, compensation precision is improve, reduce the input of power source such that it is able to better adapt to sea situation badly and bore The big deep sea drilling operation of column load.
It is that the principle of another embodiment of the wave compensating device that the present invention is provided is illustrated also referring to Fig. 1 and Fig. 2 Figure (being connected with hook, oil pump, fuel tank and air compressor machine), the wave compensating device that the present embodiment is provided is on the basis of above-described embodiment On made further optimization, it is specific as follows：
Preferably, the wave compensating device also includes ventilating control unit 50；Described control unit 10 also has inflation Control end；
The ventilating control unit 50 includes the first control control of air valve 501, second air valve 502, control gas pressure regulating valve 503rd, the control of low voltage control gas cylinder the 504, the 3rd air valve 505, the first electrically-controlled valve 506, the first pneumatic actuator 507, working gas Conducting valve 508, working gas pressure regulator valve 509 and the total air inlet gas_in for connecting the gas outlet of air compressor machine 90；It is described First pneumatic actuator 507 is used to control the opening and closing of the working gas conducting valve 508；
Total air inlet gas_in connects the air inlet of the working gas conducting valve 508 by the first control air valve 501 Mouthful, total air inlet gas_in also connects the air inlet of the control gas pressure regulating valve 503 by the described second control air valve 502 Mouthful；The low pressure. gas outlet of the control gas pressure regulating valve 503 connects the gas inlet and outlet of the low voltage control gas cylinder 504；Institute The gas inlet and outlet for stating low voltage control gas cylinder 504 also connects first electrically-controlled valve 506 by the described 3rd control air valve 505 Air inlet；The gas outlet of first electrically-controlled valve 506 connects the working gas and turns on by first pneumatic actuator 507 Valve 508, the gas outlet of the working gas conducting valve 508 connects the high-pressure work by the working gas pressure regulator valve 509 The gas inlet and outlet of gas cylinder 203；The control signal input of first electrically-controlled valve 506 connects the inflation of described control unit 10 Control end.
It should be noted that need to be first the first accumulator in the wave compensating device before compensation of undulation is carried out 201st, the second accumulator 202 and high-pressure work gas cylinder 203 are inflated.In other embodiments, the gas of first accumulator 201 The gas inlet and outlet of body import and export, the gas inlet and outlet of second accumulator 202 and the high-pressure work gas cylinder 203 can To connect the gas outlet of working gas conducting valve by working gas pressure regulator valve, the air inlet of the working gas conducting valve is used for The gas outlet of air compressor machine is connected, when inflation is needed, the working gas conducting valve as described in user's manual unlocking.However, high pressure work Belong to the dangerous energy as gas, if careless manipulation, peril may be triggered, directly endanger user.
Therefore, in the embodiment of the present invention, the ventilating control unit 50 is set up in the wave compensating device.In reality In, air compressor machine 90 is accessed at total air inlet gas_in, (the as institute before being inflated for the wave compensating device Before stating the inflation of the first accumulator 201, second accumulator 202 and the high-pressure work gas cylinder 203), open described the Two control air valves 502, the gases at high pressure of the output of the air compressor machine 90 control gas pressure regulating valve 503 to be depressured for satisfaction is pre- by described If pressure threshold low-pressure gas after, be filled with the low voltage control gas cylinder 504, to complete the low voltage control gas cylinder 504 Inflation work.When needing to be inflated for the wave compensating device, the first control air valve 501 and the 3rd control are opened Air valve processed 505, then corresponding control signal to first electrically-controlled valve 506 is exported by the ventilating control end of described control unit 10 Control signal input, first electrically-controlled valve 506 turns on, and the low-pressure gas in the low voltage control gas cylinder 504 passes through institute State the first electrically-controlled valve 506 and reach first pneumatic actuator 507, so as to control first pneumatic actuator 507 to open institute Working gas conducting valve 508 is stated, hereafter, the gases at high pressure of the output of the air compressor machine 90 sequentially pass through the first control air valve 501 and the working gas conducting valve 508 reach the working gas pressure regulator valve 509, by the working gas pressure regulator valve 509 It is depressured after the gases at high pressure for meeting default pressure threshold, to be filled with first accumulator 201, second accumulator 202 And in the high-pressure work gas cylinder 203.In the present embodiment, using low-pressure gas as control gas, to control the wave The gas replenishment process of compensation device, is effectively improved the safety and stability of wave compensating device, also, use gases at high pressure As first accumulator 201 and the working gas of second accumulator 202, the elasticity of working gas is effectively improved Potential energy, so as to be effectively improved the load bearing capacity of the wave compensating device.
It should be noted that the exhaust ports of the low voltage control gas cylinder 504 are additionally provided with the 3rd air bleeding valve 514, it is used for The gas in the low voltage control gas cylinder 504 is discharged when needed.
Preferably, the ventilating control unit 50 also includes that the 4th control air valve 510, the second electrically-controlled valve 511, second are pneumatic Actuator 512 and work air bleeding valve 513；Described control unit 10 also has first exhaust control end；The second pneumatic execution Device 512 is used to control the opening and closing of the work air bleeding valve 513；
The air inlet of the work air bleeding valve 513 connects the air inlet of the working gas conducting valve 508；The low pressure control The gas inlet and outlet of gas cylinder processed 504 also connects the air inlet of second electrically-controlled valve 511 by the described 4th control air valve 510, The gas outlet of second electrically-controlled valve 511 connects the work air bleeding valve 513 by second pneumatic actuator 512；It is described The control signal input of the second electrically-controlled valve 511 connects the first exhaust control end of described control unit 10.
In embodiments of the present invention, exhausting loop is additionally provided with the ventilating control unit 50, is the compensation of undulation Device is vented.Specifically, when the wave compensating device needs exhaust, the 4th control air valve 510 is opened, then by described The first exhaust control end of control unit 10 exports corresponding control signal to the control signal of second electrically-controlled valve 511 and is input into End, second electrically-controlled valve 511 is turned on, and the low-pressure gas in the low voltage control gas cylinder 504 is by second electrically-controlled valve 511 Second pneumatic actuator 512 is reached, so that control second pneumatic actuator 512 to open the work air bleeding valve 513, Hereafter, the gases at high pressure in first accumulator 201, second accumulator 202 and the high-pressure work gas cylinder 203 according to It is secondary to be discharged by the working gas pressure regulator valve 509, the working gas conducting valve 508 and the work air bleeding valve 513.This reality Mode is applied using low-pressure gas as control gas, when needed can be by first accumulator 201, second accumulator 202 and the high-pressure work gas cylinder 203 in high-pressure working gas discharge, such as described wave compensating device power cut-off When, the probability having an accident is greatly reduced, improve the security performance of device.
In an optional implementation method, the passive compensating unit 20 also includes the first passive oil-feeding control module；
The first passive oil-feeding control module include the first pressure adjustment relief valve, the second pressure adjustment relief valve, the first filter, Second filter and the first electro-hydraulic reversing valve；Described control unit 10 also has the 3rd oil-feeding control end and the 4th oil-feeding control End；
The oil inlet of first pressure adjustment relief valve is used to connect the second oil-out of the oil pump 70, first pressure regulation The oil-out of overflow valve connects the oil inlet of first filter, the oil return opening connection of first pressure adjustment relief valve described the The oil inlet of tow filtrator；The oil-out of second filter is used to connect fuel tank 100；Second pressure adjustment relief valve enters Hydraulic fluid port is used to connect the 3rd oil-out of oil pump 70, and the oil-out of second pressure adjustment relief valve connects first filter Oil inlet, the oil return opening of second pressure adjustment relief valve connects the oil inlet of second filter；First filter Oil-out connects the oil inlet of first electro-hydraulic reversing valve；The first oil-out connection described the of first electro-hydraulic reversing valve One passive rodless cavity hydraulic fluid port 2041, the second oil-out of first electro-hydraulic reversing valve connects the second passive rodless cavity hydraulic fluid port 2051, the first control signal input of first electro-hydraulic reversing valve connects the 3rd oil-feeding control of described control unit 10 End, the second control signal input of first electro-hydraulic reversing valve connects the 4th oil-feeding control end of described control unit 10. (not shown)
It should be noted that need to be first the first accumulator in the wave compensating device before compensation of undulation is carried out 201st, the second accumulator 202, first is oil-filled by hydraulic cylinder 205 by hydraulic cylinder 204 and second.
It should be noted that the second oil-out of the oil pump 70 is the oil-feed port of the passive compensating unit 20, flow It is larger, for being first accumulator 201, second accumulator 202, described first by hydraulic cylinder 204 and described Second provides hydraulic oil by hydraulic cylinder 205；3rd oil-out of the oil pump 70 is the benefit of the passive compensating unit 20 Hydraulic fluid port, flow is smaller, in first accumulator 201, second accumulator 202, described first by hydraulic cylinder 204 or described second by hydraulic cylinder 205 hydraulic oil occur leakage or be lost when, be its supplement hydraulic oil.
In the present embodiment, described first selected by hydraulic cylinder 205 by hydraulic cylinder 204 and described second Unilateral oil-filled hydraulic jack, i.e. described first by an only hydraulic fluid port on hydraulic cylinder 204 --- first is passive without bar Chamber hydraulic fluid port 2041, the first passive rodless cavity hydraulic fluid port 2041 is located at the side of the described first rodless cavity by hydraulic cylinder 204 On wall.In addition, described second is identical with the described first passive oil cylinder by the structure of hydraulic cylinder 205, it is not added with repeating herein.
In the present embodiment, first pressure adjustment relief valve and second pressure adjustment relief valve are used to limit oil pressure, with The oil pressure of the hydraulic oil for preventing from supplying the passive compensating unit 20 is too high；Specifically, first pressure adjustment relief valve has the One default oil pressure threshold value, when the oil pressure of the hydraulic oil of the oil inlet inflow of first pressure adjustment relief valve is preset higher than described first During oil pressure threshold value, the oil inlet of first pressure adjustment relief valve is connected with oil return opening, and section hydraulic oil is by first pressure regulation The oil return opening of overflow valve and second filter flow back to fuel tank 100；Similarly, second pressure adjustment relief valve is pre- with second If oil pressure threshold value, when the oil pressure of the hydraulic oil of the oil inlet inflow of second pressure adjustment relief valve presets oil pressure higher than described second During threshold value, the oil inlet of second pressure adjustment relief valve is connected with oil return opening, and section hydraulic oil passes through second pressure-regulating overflow The oil return opening of valve and second filter flow back to fuel tank 100.First filter and second filter are used to filter Except the impurity particle in the hydraulic oil.First electro-hydraulic reversing valve is 3-position 4-way electro-hydraulic reversing valve, and described first is electro-hydraulic Reversal valve has the first control signal input, the second control signal input, oil inlet, the first oil-out and second fuel-displaced Mouthful, when first control signal input has corresponding control signal to be input into, first oil-out and the oil inlet Connection, second oil-out separates with the oil inlet, when second control signal input has corresponding control signal During input, second oil-out is connected with the oil inlet, and first oil-out separates with the oil inlet.
The operation principle of the described first passive oil-feeding control module is explained in detail below：
In actual use, the oil inlet of first pressure adjustment relief valve is connected the second oil-out of oil pump 70, by institute The oil inlet for stating the second pressure adjustment relief valve connects the 3rd oil-out of oil pump 70, by the oil inlet of the oil pump 70 and described second The oil-out connection fuel tank 100 of filter.
When needing oil-filled by hydraulic cylinder 204 to first accumulator 201 and described first, described control unit 10 the 3rd oil-feeding control end exports the first control signal input of corresponding control signal to first electro-hydraulic reversing valve, First oil-out of first electro-hydraulic reversing valve is connected with its oil inlet, the hydraulic pressure of the second oil-out outflow of the oil pump 70 Oil is flowed to described by the oil inlet of first pressure adjustment relief valve, first filter and first electro-hydraulic reversing valve First oil-out of the first electro-hydraulic reversing valve, so as to be filled by hydraulic cylinder 204 to first accumulator 201 and described first Oil；When needing oil-filled by hydraulic cylinder 205 to second accumulator 202 and described second, described control unit 10 4th oil-feeding control end exports the second control signal input of corresponding control signal to first electro-hydraulic reversing valve, described Second oil-out of the first electro-hydraulic reversing valve is connected with its oil inlet, and the hydraulic oil of the second oil-out outflow of the oil pump 70 leads to The oil inlet for crossing first pressure adjustment relief valve, first filter and first electro-hydraulic reversing valve flows to described first Second oil-out of electro-hydraulic reversing valve, so that oil-filled by hydraulic cylinder 205 to second accumulator 202 and described second. In the process, if the oil pressure of the hydraulic oil of the second oil-out outflow of the oil pump 70 is higher than first pressure adjustment relief valve First default oil pressure threshold value, then section hydraulic oil passes through first pressure adjustment relief valve oil return opening and the second filter stream Oil return box 100.
It is if desired first accumulator 201 and described first by hydraulic cylinder 204 in addition, in the course of the work Supplement hydraulic oil, then the 3rd oil-feeding control end of described control unit 10 export corresponding control signal and electro-hydraulic change to described first To the first control signal input of valve, the first oil-out of first electro-hydraulic reversing valve is connected with its oil inlet, the oil The hydraulic oil of the 3rd oil-out outflow of pump 70 passes through second pressure adjustment relief valve, first filter and described first The oil inlet of electro-hydraulic reversing valve flows to the first oil-out of first electro-hydraulic reversing valve, so as to give first accumulator 201 Hydraulic oil is supplemented by hydraulic cylinder 204 with described first；If desired for second accumulator 202 and described second by hydrodynamic Compressing cylinder 205 supplements hydraulic oil, then the 4th oil-feeding control end of described control unit 10 exports corresponding control signal to described Second control signal input of the first electro-hydraulic reversing valve, other courses of work are similar to, and are not added with repeating herein.In the process, If the oil pressure of the hydraulic oil of the 3rd oil-out outflow of the oil pump 70 is higher than the second of second pressure adjustment relief valve the default oil Threshold value is pressed, then section hydraulic oil flows back to fuel tank 100 by the oil return opening and second filter of second pressure adjustment relief valve.
Preferably, described first also has the first passive rod chamber hydraulic fluid port 2043, second quilt by hydraulic cylinder 204 Hydraulic cylinder 205 also has the second passive rod chamber hydraulic fluid port 2053；
The passive compensating unit 20 also includes the second passive oil-feeding control module 206；The second passive oil-feeding control Module 206 includes the 3rd pressure adjustment relief valve 2061, the 4th pressure adjustment relief valve 2062, the 3rd filter 2063, the 4th filter 2064th, the second electro-hydraulic reversing valve 2065 and the 3rd electro-hydraulic reversing valve 2066；Described control unit 10 also has the 5th oil-feeding control End, the 6th oil-feeding control end, the 7th oil-feeding control end and the 8th oil-feeding control end；
The oil inlet of the 3rd pressure adjustment relief valve 2061 is used to connect the second oil-out of oil pump 70, the 3rd pressure regulation The oil-out of overflow valve 2061 connects the oil inlet of the 3rd filter 2063, the oil return of the 3rd pressure adjustment relief valve 2061 The oil inlet of mouth connection the 4th filter 2064；The oil inlet of the 4th pressure adjustment relief valve 2062 is used to connect oil pump 70 The 3rd oil-out, the oil-out of the 4th pressure adjustment relief valve 2062 connects the oil inlet of the 3rd filter 2063, institute The oil return opening for stating the 4th pressure adjustment relief valve 2062 connects the oil inlet of the 4th filter 2064；4th filter 2064 Oil-out be used for connect fuel tank 100；The oil-out of the 3rd filter 2063 connects second electro-hydraulic reversing valve 2065 Oil inlet and the 3rd electro-hydraulic reversing valve 2066 oil inlet；First oil-out of second electro-hydraulic reversing valve 2065 connects The described first passive rodless cavity hydraulic fluid port 2041 (in fig. 2, representing the annexation with two D labels) is connect, described second is electro-hydraulic Second oil-out of reversal valve 2065 connects the first passive rod chamber hydraulic fluid port 2043 and (in fig. 2, is represented with two C labels The annexation), the of the first control signal input of second electro-hydraulic reversing valve 2065 connection described control unit 10 Five oil-feeding control ends, the of the second control signal input connection described control unit 10 of second electro-hydraulic reversing valve 2065 Six oil-feeding control ends；First oil-out of the 3rd electro-hydraulic reversing valve 2066 connects the second passive rodless cavity hydraulic fluid port 2051 (in fig. 2, representing the annexation with two F labels), the second oil-out connection institute of the 3rd electro-hydraulic reversing valve 2066 State the second passive rod chamber hydraulic fluid port 2053 (in fig. 2, representing the annexation with two E labels), the 3rd electro-hydraulic commutation First control signal input of valve 2066 connects the 7th oil-feeding control end of described control unit 10, the 3rd electro-hydraulic commutation Second control signal input of valve 2066 connects the 8th oil-feeding control end of described control unit 10.
In embodiments of the present invention, described first selected by hydraulic cylinder 205 by hydraulic cylinder 204 and described second With the hydraulic jack that bilateral is oil-filled, i.e. described first is had two hydraulic fluid ports on hydraulic cylinder 204 --- first is passive without bar The passive rod chamber hydraulic fluid port 2043 of chamber hydraulic fluid port 2041 and first, it is passive that the first passive rodless cavity hydraulic fluid port 2041 is located at described first On the side wall of the rodless cavity of hydraulic jack 204, the first passive rod chamber hydraulic fluid port 2043 is located at the described first passive hydraulic oil On the side wall of the rod chamber of cylinder 204.In addition, described second by the structure of hydraulic cylinder 205 and the described first passive oil cylinder phase Together, it is not added with repeating herein.It should be noted that compared to the unilateral oil-filled hydraulic jack selected in above-mentioned implementation method, making The job stability of the wave compensating device is enhanced with the oil-filled hydraulic jack of bilateral.
It should be noted that need to be first the first accumulator in the wave compensating device before compensation of undulation is carried out 201st, the second accumulator 202, first is oil-filled by hydraulic cylinder 205 by hydraulic cylinder 204 and second.
It should be noted that the second oil-out of the oil pump 70 is the oil-feed port of the passive compensating unit 20, flow It is larger, for being first accumulator 201, second accumulator 202, described first by hydraulic cylinder 204 and described Second provides work oil by hydraulic cylinder 205, and the 3rd oil-out of the oil pump 70 is the passive compensating unit 20 Repairing mouthful, flow is smaller, in first accumulator 201, second accumulator 202, the first passive hydraulic oil Cylinder 204 or described second by hydraulic cylinder 205 hydraulic oil occur leakage or be lost when, be its supplement hydraulic oil.
In embodiments of the present invention, the 3rd pressure adjustment relief valve 2061 and the 4th pressure adjustment relief valve 2062 are used to limit Liquefaction pressure, the oil pressure of the hydraulic oil to prevent from supplying the passive compensating unit 20 is too high；Specifically, the 3rd pressure-regulating overflow Valve 2061 has the 3rd default oil pressure threshold value, when the oil pressure of the hydraulic oil that the oil inlet of the 3rd pressure adjustment relief valve 2061 is flowed into During higher than the described 3rd default oil pressure threshold value, the oil inlet of the 3rd pressure adjustment relief valve 2061 is connected with oil return opening, part liquid Force feed flows back to fuel tank 100 by the oil return opening and the 4th filter 2064 of the 3rd pressure adjustment relief valve 2061；Similarly, 4th pressure adjustment relief valve 2062 has the 4th default oil pressure threshold value, when the oil inlet stream of the 4th pressure adjustment relief valve 2062 When the oil pressure of the hydraulic oil for entering is higher than the described 4th default oil pressure threshold value, the oil inlet of the 4th pressure adjustment relief valve 2062 and return Hydraulic fluid port is connected, and section hydraulic oil is flowed by the oil return opening and the 4th filter 2064 of the 4th pressure adjustment relief valve 2062 Oil return box 100.3rd filter 2063 and the 4th filter 2064 are used to filter the impurity in the hydraulic oil Grain.Second electro-hydraulic reversing valve 2065 is 3-position 4-way electro-hydraulic reversing valve, and second electro-hydraulic reversing valve 2065 has first Control signal input, the second control signal input, oil inlet, the first oil-out and the second oil-out, when the described first control When signal input part processed has corresponding control signal to be input into, first oil-out is connected with the oil inlet, and described second goes out Hydraulic fluid port separates with the oil inlet, when second control signal input has corresponding control signal to be input into, described second Oil-out is connected with the oil inlet, and first oil-out separates with the oil inlet, the 3rd electro-hydraulic reversing valve 2066 With the structure and working principle all same of second electro-hydraulic reversing valve 2065, it is not added with repeating herein.
It should be noted that also being set at the first of hydraulic cylinder 204 passive rod chamber hydraulic fluid port 2043 described first The 5th bleeder valve 218 is equipped with, is additionally provided with the second of hydraulic cylinder 205 passive rod chamber hydraulic fluid port 2053 described second 6th bleeder valve 219, is respectively used to when needed by described first by the hydraulic oil in the rod chamber of hydraulic cylinder 204 and institute Second is stated by the hydraulic oil discharge in the rod chamber of hydraulic cylinder 205.
The operation principle of the described second passive oil-feeding control module 206 is explained in detail below：
In actual use, the oil inlet of the 3rd pressure adjustment relief valve 2061 is connected the second oil-out of oil pump 70, The oil inlet of the 4th pressure adjustment relief valve 2062 is connected the 3rd oil-out of oil pump 70, by the oil inlet of the oil pump 70 and The oil-out of the 4th filter 2064 is used to connect fuel tank 100.
It is oil-filled by the rodless cavity of hydraulic cylinder 204 and first accumulator 201 to described first when needing, then it is described 5th oil-feeding control end of control unit 10 exports the first control of corresponding control signal to second electro-hydraulic reversing valve 2065 Signal input part processed, the first oil-out of first electro-hydraulic reversing valve is connected with its oil inlet, and the second of the oil pump 70 goes out The hydraulic oil of hydraulic fluid port outflow is by the 3rd pressure adjustment relief valve 2061, the 3rd filter 2063 and described second electro-hydraulic The oil inlet of reversal valve 2065 flows to the first oil-out of second electro-hydraulic reversing valve 2065, so as to described first by hydrodynamic The rodless cavity of compressing cylinder 204 and first accumulator 201 are oil-filled；When needing to second accumulator 202 and described second By the rodless cavity of hydraulic cylinder 205 it is oil-filled when, the corresponding control letter of the 7th oil-feeding control end output of described control unit 10 Number to the 3rd electro-hydraulic reversing valve 2066 the first control signal input, other courses of work be similar to, be not added with repeating herein. In above process, if the oil pressure of the hydraulic oil of the second oil-out outflow of the oil pump 70 is higher than the 3rd pressure adjustment relief valve 2061 the 3rd default oil pressure threshold value, then section hydraulic oil is by the oil return opening of the 3rd pressure adjustment relief valve 2061 and described the Four filters 2064 flow back to fuel tank 100.
When needing oil-filled by the rod chamber of hydraulic cylinder 204 to described first, the 6th confession of described control unit 10 Oily control end exports the second control signal input of corresponding control signal to second electro-hydraulic reversing valve 2065, and described the Second oil-out of two electro-hydraulic reversing valves 2065 is connected with its oil inlet, the hydraulic oil of the second oil-out outflow of the oil pump 70 By the oil-feed of the 3rd pressure adjustment relief valve 2061, the 3rd filter 2063 and second electro-hydraulic reversing valve 2065 Mouth flows to the second oil-out of second electro-hydraulic reversing valve 2065, so as to have bar by hydraulic cylinder 204 to described first Chamber is oil-filled；When needing the rod chamber to the described second passive oil cylinder oil-filled, the 8th oil-feeding control end of described control unit 10 Export corresponding control signal to the second control signal input of volume of the 3rd electro-hydraulic reversing valve 2066, other course of work classes Seemingly, it is not added with repeating herein.In above process, if the oil pressure of the hydraulic oil of the second oil-out outflow of the oil pump 70 is higher than institute The 3rd default oil pressure threshold value of the 3rd pressure adjustment relief valve 2061 is stated, then section hydraulic oil passes through the 3rd pressure adjustment relief valve 2061 Oil return opening and the 4th filter 2064 flow back to fuel tank 100.
It is if desired first accumulator 201 and described first by hydraulic cylinder 204 in addition, in the course of the work Rodless cavity supplement hydraulic oil, then the 5th oil-feeding control end of described control unit 10 export corresponding control signal to described the First control signal input of two electro-hydraulic reversing valves 2065, the first oil-out of second electro-hydraulic reversing valve 2065 enters with it Hydraulic fluid port is connected, and the hydraulic oil of the 3rd oil-out of the oil pump 70 outflow is by the 3rd pressure adjustment relief valve 2061, described the The oil inlet of three filters 2063 and second electro-hydraulic reversing valve 2065 flows to the of second electro-hydraulic reversing valve 2065 One oil-out, so as to supplement hydraulic oil by the rodless cavity of hydraulic cylinder 204 to first accumulator 201 and described first； When need for second accumulator 202 and described second by hydraulic cylinder 205 rodless cavity supplement hydraulic oil when, the control 7th oil-feeding control end of unit processed 10 exports the first control of corresponding control signal to the 3rd electro-hydraulic reversing valve 2066 Signal input part, other courses of work are similar to, and are not added with repeating herein.In above process, if the oil pump 70 it is the 3rd fuel-displaced Higher than the 4th of the 4th pressure adjustment relief valve 2062 the default oil pressure threshold value, then section hydraulic is oily for the oil pressure of the hydraulic oil of mouth outflow Fuel tank 100 is flowed back to by the oil return opening and the 4th filter 2064 of the 4th pressure adjustment relief valve 2062.
If desired hydraulic oil is supplemented by the rod chamber of hydraulic cylinder 204 for described first, then described control unit 10 6th oil-feeding control end exports the second control signal input of corresponding control signal to second electro-hydraulic reversing valve 2065, Second oil-out of second electro-hydraulic reversing valve 2065 is connected with its oil inlet, the 3rd oil-out outflow of the oil pump 70 Hydraulic oil passes through the 3rd pressure adjustment relief valve 2061, the 3rd filter 2063 and second electro-hydraulic reversing valve 2065 Oil inlet flow to the second oil-out of second electro-hydraulic reversing valve 2065 so as to first accumulator 201 and described First supplements hydraulic oil by the rodless cavity of hydraulic cylinder 204；When needing for described second by the rod chamber of hydraulic cylinder 205 Supplement hydraulic oil, the 8th oil-feeding control end of described control unit 10 exports corresponding control signal to the 3rd electro-hydraulic commutation Second control signal input of valve 2066, other courses of work are similar to, and are not added with repeating herein.In above process, if described The oil pressure of the hydraulic oil of the 3rd oil-out outflow of oil pump 70 is higher than the 4th of the 4th pressure adjustment relief valve 2062 the default oil pressure Threshold value, then section hydraulic oil oil is flowed back to by the oil return opening of the 4th pressure adjustment relief valve 2062 and the 4th filter 2064 Case 100.
Preferably, the passive compensating unit 20 also includes the first safety isolating valve 207 and the second safety isolating valve 208； Described control unit 10 also has isolated controlling end；
First safety isolating valve 207 is arranged on the described first passive rodless cavity hydraulic fluid port 2041 and first accumulator Between 201, and the isolation of the control signal input connection described control unit 10 of first safety isolating valve 207 is controlled End；Second safety isolating valve 208 be arranged on the described second passive rodless cavity hydraulic fluid port 2051 and second accumulator 202 it Between, and second safety isolating valve 208 control signal input connect described control unit 10 isolated controlling end.
In embodiments of the present invention, first safety isolating valve 207 and second safety isolating valve 208 are set up, when When the first passive piston rod 2042 and the second passive piston rod 2052 lose load suddenly, described control unit 10 Isolated controlling end exports corresponding control signal to first safety isolating valve 207 and second safety isolating valve 208, institute State the first safety isolating valve 207 and second safety isolating valve 208 is closed, separate first accumulator 201 and described the One by the oil circuit between hydraulic cylinder 204, and second accumulator 202 and described second by hydraulic cylinder 205 it Between oil circuit, i.e., described first accumulator 201 cannot be pressed into hydraulic oil, described to described first by hydraulic cylinder 204 again Two accumulators 202 cannot be pressed into hydraulic oil to described second by hydraulic cylinder 205 again, can effectively prevent first quilt Piston bar 2042 is flown out in hydraulic cylinder 204 from described first, and the second passive piston rod 2052 is from described Second is flown out in hydraulic cylinder 205, enhances the security and reliability of the wave compensating device.
Preferably, the passive compensating unit 20 also includes work gas cylinder electrically-controlled valve 209 and work gas cylinder air bleeding valve 210； Described control unit 10 also has second exhaust control end；
The air inlet of the work gas cylinder electrically-controlled valve 209 connects the exhaust outlet of the high-pressure work gas cylinder 203, the work The gas outlet of gas cylinder electrically-controlled valve 209 connects the work gas cylinder air bleeding valve 210, the control letter of the work gas cylinder electrically-controlled valve 209 Number input connects the second exhaust control end of described control unit 10.
In embodiments of the present invention, the work gas cylinder electrically-controlled valve 209 and work gas cylinder air bleeding valve 210 are used for when needed By the gas discharge in the high-pressure work gas cylinder 203, such as during the wave compensating device power cut-off, to avoid the height Gases at high pressure in pressure work gas cylinder 203 trigger peril.Specifically, when needs are by the high-pressure work gas cylinder 203 When gas is discharged, the second exhaust control end corresponding control signal of output of described control unit 10 is automatically controlled to the work gas cylinder The control signal input of valve 209, the work gas cylinder electrically-controlled valve 209 controls the work gas cylinder air bleeding valve 210 to open, so that By the gas discharge in the high-pressure work gas cylinder 203.
It should be noted that by the work gas cylinder electrically-controlled valve 209 and work gas cylinder air bleeding valve 210 and above by filling Exhausting loop in gas control unit 50 can be vented, but their difference is, by the He of work gas cylinder electrically-controlled valve 209 The work gas cylinder air bleeding valve 210 is vented more precisely, and it is more thick to pass through the exhaust of the exhausting loop in ventilating control unit 50 Slightly.
Preferably, the sensor unit 40 includes the piston position information for gathering first accumulator 201 First position sensor 401, the second place sensor 402 of piston position information for gathering second accumulator 202, For gathering described first by the 3rd position sensor 403 of the piston position information of hydraulic cylinder 204, described for gathering Second by the 4th position sensor 404 of the piston position information of hydraulic cylinder 205, for gathering the active hydraulic jack 5th position sensor 405 of 301 piston position information, the motion reference units for heaving displacement for gathering drill ship The hook displacement transducer (not shown) of (not shown), heave displacement for gathering the hook 60, for gathering the quilt The active oil of the passive oil pressure sensor 406 of the oil pressure of hydraulic cylinder, oil pressure for gathering the active hydraulic jack 301 The air pressure sensor of pressure sensor 407, pressure for gathering working gas in the passive compensating unit 20 408, and for gathering the tension sensor (not shown) of dead line end tension force.
In embodiments of the present invention, the first position sensor 401 is arranged on the piston of first accumulator 201 On；The second place sensor 402 is arranged on the piston of second accumulator 202；3rd position sensor 403 Described first is arranged on by the piston of hydraulic cylinder 204；It is passive that 4th position sensor 404 is arranged on described second On the piston of hydraulic jack 205；5th position sensor 405 is arranged on the piston of the active hydraulic jack 301；Institute State motion reference units to be arranged on the hull of the drill ship, the heave displacement for gathering the drill ship, i.e., described brill Absolute displacement of the relevant position of well ship relative to seabed；The hook displacement transducer is arranged on the hook 60, is used for Gather the heave displacement of the hook 60, i.e., the absolute displacement of described relevant position of the hook 60 relative to the drill ship；Institute State passive oil pressure sensor 406 for gather by the oil pressure of the hydraulic oil in hydraulic cylinder, it can be arranged on described first By hydraulic cylinder 204 or described second by the oil port of hydraulic cylinder 205, (rodless cavity hydraulic fluid port and rod chamber hydraulic fluid port are equal Can), be illustrate only in figure and be arranged on described first by the feelings at the first of hydraulic cylinder 204 the passive rodless cavity hydraulic fluid port 2041 Condition；The active oil pressure sensor 407 is used to gather the oil pressure of the hydraulic oil in the active hydraulic jack 301, and it can set The oil port (rod chamber hydraulic fluid port or rodless cavity hydraulic fluid port) in the active hydraulic jack 301 is put, be illustrate only in figure and set Put the situation at the first active rodless cavity hydraulic fluid port 3012；The air pressure sensor 408 is used to gather described The pressure of working gas in passive compensating unit 20, it can be arranged at the gas inlet and outlet of the high-pressure work gas cylinder 203； The tension sensor is arranged at the dead line end, the tension force for gathering the dead line end.Above-mentioned each sensor is real-time Corresponding data are gathered, and feeds back to described control unit 10.
It should be noted that the data that described control unit 10 can be gathered according to the first position sensor 401 are certainly It is dynamic and accurately adjust to the centre position of stroke the piston of first accumulator 201, it is similar, can respectively according to institute Second place sensor 402, the 3rd position sensor 403, the 4th position sensor 404, the 5th position sensor 405 is stated to gather Data it is automatic and accurately by second accumulator 202, described first by hydraulic cylinder 204, described second by hydrodynamic Compressing cylinder 205, the piston of the active hydraulic jack 301 are adjusted to the centre position of stroke, and adjustment process is without user's meat Eye observation, and manually adjusted without user, adjustment process is simplified, the accuracy of adjustment is increased, user can be better met Demand.
It should be noted that described control unit 10 can be according to the drill ship of motion reference units collection Heave displacement obtains the heave velocity of the drill ship, and heaves data acquisition with reference to the heave displacement and the history for prestoring The heave trend of the drill ship, so it is actively pre- according to the heave displacement, heave velocity and heave trend generation Thermal compensation signal is surveyed, to control the work of the active oil-feeding control module 302 so that the oil pump 70 is the active hydraulic oil The rodless cavity of cylinder 301 is oil-filled or for the rod chamber of the active hydraulic jack 301 is oil-filled, so compensate the hook 60 by because The heave displacement that wave effect is produced.
In addition, the heave of the hook 60 that described control unit 10 can also be gathered according to the hook displacement transducer Displacement obtains the heave velocity of the hook 60 and the heave trend of the hook 60, also, is sensed according to the passive oil pressure The active hydraulic jack 301 that the oil pressure by hydraulic cylinder of the collection of device 406, the active oil pressure sensor 407 are gathered Oil pressure and the dead line end tension force of tension sensor collection obtain the pressure of the drill, and become according to the heave of the hook 60 Gesture obtains the pressure of the drill variation tendency, so heave displacement according to the hook 60, heave velocity and heave trend, described the pressure of the drill and The pressure of the drill variation tendency generates active second compensation signal, to control the work of the active oil-feeding control module 302 so that The oil pump 70 is oil-filled for the rodless cavity or rod chamber of the active hydraulic jack 301, and then is further compensate for the hook The 60 heave displacements produced by wave effect.
Preferably, described control unit 10 also has the 9th oil-feeding control end；The active control module also has the 3rd Controlled end, the 3rd controlled end connects the 9th oil-feeding control end of described control unit 10；
The active oil-feeding control module 302 also includes the 5th pressure adjustment relief valve 3021, the 5th filter 3022, the 6th mistake Filter 3023, proportional reversing valve 3024, solenoid directional control valve 3025, the first logic core 3026, the second logic core 3027, first are unidirectional The one-way conduction valve 3029 of conducting valve 3028 and second；
The oil inlet of the 5th pressure adjustment relief valve 3021 connects the oil inlet of the active oil-feeding control module 302, institute The oil-out for stating the 5th pressure adjustment relief valve 3021 connects the oil inlet of the 5th filter 3022, the 5th pressure adjustment relief valve 3021 oil return opening connects the oil inlet of the 6th filter 3023；
The oil-out of the 5th filter 3022 connects first oil inlet and the electricity of the proportional reversing valve 3024 First oil inlet of magnetic reversal valve 3025, and the oil-out of the 5th filter 3022 also passes through the first one-way conduction valve Second oil-out of the 3028 connection active oil-feeding control modules 302；
Second oil inlet of the proportional reversing valve 3024 connects the oil inlet of the 6th filter 3023, the ratio First oil-out of reversal valve 3024 connects the first oil-out of the active oil-feeding control module 302, the proportional reversing valve 3024 the second oil-out second is gone out by what the second one-way conduction valve 3029 connected the active oil-feeding control module 302 Hydraulic fluid port, the first control signal input of the proportional reversing valve 3024 connects the first controlled end of the active fuel oil supply unit, Second control signal input of the proportional reversing valve 3024 connects the second controlled end of the active fuel oil supply unit；
Second oil inlet of the solenoid directional control valve 3025 connects the oil inlet of the 6th filter 3023, the electromagnetism The oil-out of reversal valve 3025 connects the control port of first logic core 3026 and the control of second logic core 3027 Hydraulic fluid port, the control signal input of the solenoid directional control valve 3025 connects the 3rd controlled end of the active fuel oil supply unit；
First hydraulic fluid port of first logic core 3026 connects the first oil-out of the active control fuel oil supply unit, described Second hydraulic fluid port of the first logic core 3026 connects the oil inlet of the 6th filter 3023；
First hydraulic fluid port of second logic core 3027 connects the second oil-out of the active oil-feeding control module 302, Second hydraulic fluid port of second logic core 3027 connects the oil inlet of the 6th filter 3023；
The oil-out of the 6th filter 3023 is used to connect fuel tank 100.
It should be noted that in fig. 2, the first fuel-displaced of the active oil-feeding control module 302 is represented with two A labels The active rod chamber hydraulic fluid port of mouth and the active hydraulic jack 301 is connected, and the active oil-feeding control mould is represented with two B labels The active rodless cavity hydraulic fluid port connection of the second oil-out of block 302 and the active hydraulic jack 301.
It should be noted that the active oil-feeding control module 302 is used for control oil pump 70 and the active hydraulic jack The connection of the fuel feeding path between 301 and cut-off, it can have various structures, for example, shape the first passive oil-feeding control as described above Module, the first oil-out of electro-hydraulic reversing valve connects the first oil-out of the active oil-feeding control module 302, that is, connect described The rod chamber hydraulic fluid port of active hydraulic jack 301, the second oil-out of the electro-hydraulic reversing valve connects the active oil-feeding control mould Second oil-out of block 302, that is, connect the rodless cavity hydraulic fluid port of the active hydraulic jack 301, and other annexations are with reference to described The structure of the first passive oil-feeding control module, is not added with repeating herein, but in said structure, it is described under wave effect Active hydraulic jack 301 has compensation function all the time, however, sometimes user is not intended to the active hydraulic jack 301 and enters Row Active Compensation is operated.
Therefore, in embodiments of the present invention, the active oil-feeding control module 302 has the/compensation handoff functionality that suspends, That is, the control letter that described active oil-feeding control module 302 can be exported according to the 9th oil-feeding control end of described control unit 10 Whether whether the active piston bar 3013 of number control active hydraulic jack 301 follows the hook 60 to move, i.e., can enter Row Active Compensation is operated.Present embodiment can control the working condition of the Active Compensation unit 30 according to user's request, rich The rich function of wave compensating device, can better meet user's request.
In embodiments of the present invention, the 5th pressure adjustment relief valve 3021 is used to limit oil pressure, to prevent from supplying the master The oil pressure of the hydraulic oil of dynamic compensating unit 30 is too high；Specifically, the 5th pressure adjustment relief valve 3021 has the 5th default oil pressure Threshold value, when the oil pressure of the hydraulic oil of the oil inlet inflow of the 5th pressure adjustment relief valve 3021 presets oil pressure threshold higher than the described 5th During value, the oil inlet of the 5th pressure adjustment relief valve 3021 is connected with oil return opening, and section hydraulic oil is overflow by the 5th pressure regulation The oil return opening and the 6th filter 3023 for flowing valve 3021 flow back to fuel tank 100.5th filter 3022 and described Six filters 3023 are used to filter the impurity particle in the hydraulic oil.The proportional reversing valve 3024 is changed for 3-position 4-way is electro-hydraulic To valve, the proportional reversing valve 3024 have the first control signal input, the second control signal input, the first oil inlet, Second oil inlet, the first oil-out and the second oil-out, when first control signal input has corresponding control signal defeated Fashionable, first oil-out is connected with second oil inlet, and second oil-out is connected with first oil inlet, when When second control signal input has corresponding control signal to be input into, first oil-out connects with first oil inlet Logical, second oil-out connect with second oil inlet, and the solenoid directional control valve 3025 is with control signal input, the One oil inlet, the second oil inlet and oil-out, when the control signal input of the solenoid directional control valve 3025 has corresponding control During signal input, first oil inlet is connected with the oil-out, when the control signal of the solenoid directional control valve 3025 is input into When end is input into without corresponding control signal, second oil inlet is connected with the oil-out.First logic core 3026 With the first hydraulic fluid port, the second hydraulic fluid port and control port, when the control port does not have the hydraulic pressure that hydraulic oil is input into or it is input into When the oil pressure of oil is less than default oil pressure, first hydraulic fluid port is connected with second hydraulic fluid port, when control port input When the oil pressure of hydraulic oil is higher than the default oil pressure, first hydraulic fluid port and second hydraulic fluid port separate, i.e., equivalent to one Snap switch, second logic core 3027 and the structure and function all same of first logic core 3026, are not added with going to live in the household of one's in-laws on getting married herein State.
The operation principle of the active oil-feeding control module 302 in the present embodiment will be described below：
When the 9th oil-feeding control end of described control unit 10 exports corresponding control signal to the solenoid directional control valve 3025 control signal input, the high pressure liquid force feed of the output of the oil pump 70 cannot reach first logic core 3026 and institute The control port of the second logic core 3027 is stated, therefore, the first hydraulic fluid port of first logic core 3026 and the second hydraulic fluid port are connected, institute The first hydraulic fluid port and the second hydraulic fluid port connection of the second logic core 3027 are stated, that is, the active for being equivalent to the active hydraulic jack 301 has Rod cavity hydraulic fluid port 3011 is connected with active rodless cavity hydraulic fluid port 3012, and the two ends of the piston of the active hydraulic jack 301 all the time will not Pressure differential is produced, therefore, the active piston bar 3013 will be followed and moved with the hook 60, i.e. the active piston bar 3013 cannot apply active force to the hook 60, without active compensating operation；When the 9th oil-feeding control of described control unit 10 When holding the control signal input without the corresponding control signal of output to the solenoid directional control valve 3025, the oil pump 70 is exported High pressure liquid force feed can reach the control port of first logic core 3026 and second logic core 3027, therefore, institute State the first hydraulic fluid port and the second hydraulic fluid port cut-off of the first logic core 3026, the first hydraulic fluid port of second logic core 3027 and the second oil Mouth cut-off, i.e., the active rod chamber hydraulic fluid port 3011 of described active hydraulic jack 301 is not connected with active rodless cavity hydraulic fluid port 3012, institute Stating the two ends of the piston of active hydraulic jack 301 can in the respective cases produce corresponding pressure differential, therefore, described big When hook 60 produces heave movement, i.e. the active piston bar 3013 can apply corresponding active force to the hook 60, exist Active Compensation is operated.
Specifically, the working condition of the Active Compensation unit 30 is divided into four kinds, respectively：The active piston bar 3013 Follow the hook 60 upwards motion, the active piston bar 3013 follow the hook 60 to move downward, the active piston Bar 3013 is moved upwards under the control of described control unit 10, so as to drive the hook 60 motion and the master upwards Piston bar 3013 is moved downward under the control of described control unit 10, so as to drive the hook 60 to move downward.Below Their course of work will be respectively described in detail in detail.
First, the active piston bar 3013 follows the hook 60 to move upwards.
When the 9th oil-feeding control end of described control unit 10 does not export corresponding control signal to the electromagnetic switch The control signal input of valve 3025, and the active piston bar 3013 follow the hook 60 upwards move when, the active Hydraulic oil in the rodless cavity of hydraulic jack 301 is forced out, and the hydraulic oil being forced out is by the of first logic core 3026 One hydraulic fluid port, is flowed out from the second hydraulic fluid port of first logic core 3026, and a part is filtered down through the 6th filter 3023 After flow back to fuel tank 100, the second hydraulic fluid port and the first hydraulic fluid port flow direction that another part sequentially passes through second logic core 3027 are described In the rod chamber of active hydraulic jack 301, in the process, in the rod chamber and rodless cavity of the active hydraulic jack 301 Hydraulic oil is lubrication.
2nd, the active piston bar 3013 follows the hook 60 to move downward.
When the 9th oil-feeding control end of described control unit 10 does not export corresponding control signal to the electromagnetic switch The control signal input of valve 3025, and the active piston bar 3013 is when following the hook 60 to move downward, the active Hydraulic oil in the rod chamber of hydraulic jack 301 is forced out, and the hydraulic oil being forced out is by the of second logic core 3027 One hydraulic fluid port, the second hydraulic fluid port of first logic core 3026, Jin Ercong are flowed to from the second hydraulic fluid port of second logic core 3027 First hydraulic fluid port of first logic core 3026 is flowed out in the rodless cavity of the active hydraulic jack 301, in addition, fuel tank 100 Interior hydraulic oil flows to the second oil of first logic core 3026 by the 6th filter 3023 under siphonage Mouthful, and then flowed out in the rodless cavity of the active hydraulic jack 301 from the first hydraulic fluid port of first logic core 3026, herein During, the hydraulic oil in the rod chamber and rodless cavity of the active hydraulic jack 301 is also lubrication.
3rd, the active piston bar 3013 is moved downward under the control of described control unit 10, so as to drive described big Hook 60 is moved downward.
When described control unit 10 detects the hook 60 moves upwards, the 9th fuel feeding control of described control unit 10 End processed exports the control signal input of corresponding control signal to the solenoid directional control valve 3025, and its second oil-feeding control end The second control signal input of corresponding control signal to the proportional reversing valve 3024 is exported, the first of the oil pump 70 goes out Hydraulic fluid port outflow high pressure liquid force feed, by after the 5th pressure adjustment relief valve 3021 and the 5th filter 3022, a part of high pressure liquid Force feed flow to first logic core 3026 and described by second oil inlet and oil-out of the solenoid directional control valve 3025 again The control port of the second logic core 3027 so that the first hydraulic fluid port of first logic core 3026 and the second hydraulic fluid port separate, described First hydraulic fluid port of the second logic core 3027 and the second hydraulic fluid port separate, i.e., the active rod chamber hydraulic fluid port of described active hydraulic jack 301 3011 do not connect with active rodless cavity hydraulic fluid port 3012.Another part again by the first oil inlet of the proportional reversing valve 3024, It is the master from the rodless cavity that the first oil-out of the proportional reversing valve 3024 flows out to the active hydraulic jack 301 The rodless cavity of hydraulic cylinder 301 is oil-filled, and the active piston bar 3013 of the active hydraulic jack 301 is moved downward, so that band The dynamic hook 60 is moved downward, to compensate the rising displacement that the hook 60 is produced by wave effect.Also, when the active When piston rod 3013 is moved downward, the hydraulic oil in the rod chamber of the active hydraulic jack 301 is forced out, the hydraulic pressure being forced out Oil is flowed into by after the second one-way conduction valve 3029 from the first oil inlet of the proportional reversing valve 3024, and then from institute The first oil-out for stating proportional reversing valve 3024 is flowed out in the rodless cavity of the active hydraulic jack 301, thinks the active The rodless cavity supplement hydraulic oil of hydraulic jack 301, because the hydraulic oil that the rod chamber of the active hydraulic oil flows out is directly height Hydraulic fluid is pressed oil, and the hydraulic oil that therefore, it can be flowed out with the rod chamber of the active hydraulic oil is the active hydraulic jack 301 Rodless cavity supplement section hydraulic oil, can so reduce the oil pump 70 needs to be the rod chamber of the active hydraulic jack 301 The high pressure liquid force feed of offer, that is, reduce the workload of oil pump 70, has effectively saved the energy.
4th, the active piston bar 3013 is moved upwards under the control of described control unit 10, so as to drive described big Hook 60 is moved upwards.
When described control unit 10 detects the hook 60 to be moved downward, the 9th fuel feeding control of described control unit 10 End processed exports the control signal input of corresponding control signal to the solenoid directional control valve 3025, and its first oil-feeding control end The first control signal input of corresponding control signal to the proportional reversing valve 3024 is exported, the first of the oil pump 70 goes out The high pressure liquid force feed of hydraulic fluid port outflow, by after the 5th pressure adjustment relief valve 3021 and the 5th filter 3022, a part of high pressure Hydraulic oil flow to first logic core 3026 and described by second oil inlet and oil-out of the solenoid directional control valve 3025 The control port of the second logic core 3027 so that the first hydraulic fluid port of first logic core 3026 and the second hydraulic fluid port separate, described First hydraulic fluid port of the second logic core 3027 and the second hydraulic fluid port separate, i.e., the active rod chamber hydraulic fluid port of described active hydraulic jack 301 3011 do not connect with active rodless cavity hydraulic fluid port 3012.Another part high pressure liquid force feed is again by the of the proportional reversing valve 3024 One oil inlet, flows out from the second oil-out of the proportional reversing valve 3024, and then by the first one-way conduction valve 3028 Flow to afterwards in the rod chamber of the active hydraulic jack 301, be that the rod chamber of the active hydraulic jack 301 is oil-filled, the master The active piston bar 3013 of hydraulic cylinder 301 is moved upwards, so that drive the hook 60 to move upwards, it is described big to compensate The sinking displacement that hook 60 is produced by wave effect, also, when the active piston bar 3013 is moved upwards, the active hydraulic pressure Hydraulic oil in the rodless cavity of oil cylinder 301 is forced out, and the hydraulic oil being forced out is fuel-displaced from the first of the proportional reversing valve 3024 Mouth is flowed into, and then is flowed out from the second oil inlet of the proportional reversing valve 3024, is flowed back to by after the 6th filter 3023 Fuel tank 100.
Preferably, described control unit 10 includes microcontroller 101, interchanger 102 and PLC 103；The micro-control Device processed 101 connects the interchanger 102, the side that the interchanger 102 passes through the fieldbus by way of fieldbus Formula connects the PLC 103.
In embodiments of the present invention, the microcontroller 101 be used for parse the sensor unit 40 collection data with And corresponding control instruction is generated, the interchanger 102 is used to realize the forwarding of data and control instruction, the PLC 103 conversions for being used to realize data form.It is understood that during specific implementation, in physical form, by described control unit PLC in 10 is electrically connected with respective valves and respective sensor in device.
Wave compensating device provided in an embodiment of the present invention, by setting control unit 10, passive compensating unit 20, active Compensating unit 30 and sensor unit 40；In passive compensating unit 20 first by hydraulic cylinder 204 and second by hydrodynamic pressure Oil cylinder 205 is symmetricly set on the two ends of the hook 60, and first is connected by the first of hydraulic cylinder 204 the passive piston rod 2042 One end of the hook 60, second connects the another of the hook 60 by the second of hydraulic cylinder 205 the passive piston rod 2052 End；Active Compensation unit 30 includes being inverted the active hydraulic jack 301 and active oil-feeding control module 302 for being connected to hook 60； Active oil-feeding control module 302 includes the first oil-out, the second oil-out, the first controlled end, the second controlled end and for connecting The oil inlet of the first oil-out of oil pump, the active rod chamber hydraulic fluid port 3011 of the first oil-out connection active hydraulic jack 301, the The active rodless cavity hydraulic fluid port 3012 of two oil-outs connection active hydraulic jack 301, the of the first controlled end connection control unit 10 One oil-feeding control end, the second controlled end connects the second oil-feeding control end of control unit 10.It can be seen that, the present invention combines passive compensation And Active Compensation, compensation precision is improve, reduce the input of power source such that it is able to better adapt to sea situation badly and bore The big deep sea drilling operation of column load.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art For, under the premise without departing from the principles of the invention, some improvement and deformation can also be made, these are improved and deformation is also considered as Protection scope of the present invention.

Claims (10)

1. a kind of wave compensating device, it is characterised in that including control unit, passive compensating unit, Active Compensation unit and biography Sensor cell；
Described control unit has data acquisition end, the first oil-feeding control end and the second oil-feeding control end；
The sensor unit has data output end；The data output end connects the data acquisition end of described control unit；
The passive compensating unit includes the first accumulator, the second accumulator, high-pressure work gas cylinder and is symmetricly set on hook Two ends first by hydraulic cylinder and second by hydraulic cylinder；Described first has the first passive nothing by hydraulic cylinder Rod cavity hydraulic fluid port and for connecting the first of one end of the hook the passive piston rod, described second has second by hydraulic cylinder Passive rodless cavity hydraulic fluid port and for connecting the second of the other end of the hook the passive piston rod；The first passive rodless cavity oil Mouth connects the gas inlet and outlet of the high-pressure work gas cylinder by first accumulator, and the second passive rodless cavity hydraulic fluid port leads to Cross the gas inlet and outlet that second accumulator connects the high-pressure work gas cylinder；
The Active Compensation unit includes being inverted the active hydraulic jack that is connected to the hook and for control oil pump and described The connection of the fuel feeding path between active hydraulic jack and the active oil-feeding control module of cut-off；The active hydraulic jack has Active rod chamber hydraulic fluid port, active rodless cavity hydraulic fluid port and the active piston bar for connecting the hook；The active oil-feeding control Module has the first controlled end, the second controlled end, the first oil-out, the second oil-out and for connecting the oil pump the The oil inlet of one oil-out；The active rod chamber hydraulic fluid port connects first oil-out, the active rodless cavity hydraulic fluid port connection Second oil-out, first controlled end connects the first oil-feeding control end of described control unit, second controlled end Connect the second oil-feeding control end of described control unit.
2. wave compensating device as claimed in claim 1, it is characterised in that the wave compensating device also includes ventilating control Unit；Described control unit also has ventilating control end；
The ventilating control unit includes the first control air valve, the second control air valve, control gas pressure regulating valve, low voltage control gas Bottle, the 3rd control air valve, the first electrically-controlled valve, the first pneumatic actuator, working gas conducting valve, working gas pressure regulator valve and Total air inlet for connecting the gas outlet of air compressor machine；First pneumatic actuator is used to control the working gas conducting valve Opening and closing；
Total air inlet connects the air inlet of the working gas conducting valve by the first control air valve, and total air inlet is also The air inlet of the control gas pressure regulating valve is connected by the described second control air valve；The low pressure gas of the control gas pressure regulating valve The gas inlet and outlet of the body outlet connection low voltage control gas cylinder；The gas inlet and outlet of the low voltage control gas cylinder is also by described 3rd control air valve connects the air inlet of first electrically-controlled valve；The gas outlet of first electrically-controlled valve is pneumatic by described first Actuator connects the working gas conducting valve, and the gas outlet of the working gas conducting valve passes through the working gas pressure regulator valve Connect the gas inlet and outlet of the high-pressure work gas cylinder；The control signal input connection control of first electrically-controlled valve is single The ventilating control end of unit.
3. wave compensating device as claimed in claim 2, it is characterised in that the ventilating control unit also includes the 4th control Air valve, the second electrically-controlled valve, the second pneumatic actuator and work air bleeding valve；Described control unit also has first exhaust control end； Second pneumatic actuator is used to control the opening and closing of the work air bleeding valve；
The air inlet of the work air bleeding valve connects the air inlet of the working gas conducting valve；The gas of the low voltage control gas cylinder Body imports and exports the air inlet that second electrically-controlled valve is also connected by the described 4th control air valve, the outlet of second electrically-controlled valve Mouth connects the work air bleeding valve by second pneumatic actuator；The control signal input connection of second electrically-controlled valve The first exhaust control end of described control unit.
4. wave compensating device as claimed in claim 1, it is characterised in that the passive compensating unit also includes that first is passive Oil-feeding control module；
The first passive oil-feeding control module includes the first pressure adjustment relief valve, the second pressure adjustment relief valve, the first filter, second Filter and the first electro-hydraulic reversing valve；Described control unit also has the 3rd oil-feeding control end and the 4th oil-feeding control end；
The oil inlet of first pressure adjustment relief valve is used to connect the second oil-out of the oil pump, first pressure adjustment relief valve Oil-out connect the oil inlet of first filter, oil return opening connection second filtering of first pressure adjustment relief valve The oil inlet of device；The oil-out of second filter is used to connect fuel tank；The oil inlet of second pressure adjustment relief valve is used for The 3rd oil-out of oil pump is connected, the oil-out of second pressure adjustment relief valve connects the oil inlet of first filter, institute The oil return opening for stating the second pressure adjustment relief valve connects the oil inlet of second filter；The oil-out connection of first filter The oil inlet of first electro-hydraulic reversing valve；The first oil-out connection described first of first electro-hydraulic reversing valve is passive without bar Chamber hydraulic fluid port, the second oil-out of first electro-hydraulic reversing valve connects the second passive rodless cavity hydraulic fluid port, and described first is electro-hydraulic First control signal input of reversal valve connects the 3rd oil-feeding control end of described control unit, first electro-hydraulic reversing valve The second control signal input connect described control unit the 4th oil-feeding control end.
5. wave compensating device as claimed in claim 1, it is characterised in that described first also has first by hydraulic cylinder Passive rod chamber hydraulic fluid port, described second also has the second passive rod chamber hydraulic fluid port by hydraulic cylinder；
The passive compensating unit also includes the second passive oil-feeding control module；The second passive oil-feeding control module includes the Three pressure adjustment relief valves, the 4th pressure adjustment relief valve, the 3rd filter, the 4th filter, the second electro-hydraulic reversing valve and the 3rd electro-hydraulic change To valve；Described control unit also has the 5th oil-feeding control end, the 6th oil-feeding control end, the 7th oil-feeding control end and the 8th fuel feeding Control end；
The oil inlet of the 3rd pressure adjustment relief valve is used to connecting the second oil-out of oil pump, and the 3rd pressure adjustment relief valve goes out Hydraulic fluid port connects the oil inlet of the 3rd filter, and the oil return opening of the 3rd pressure adjustment relief valve connects the 4th filter Oil inlet；The oil inlet of the 4th pressure adjustment relief valve is used to connect the 3rd oil-out of oil pump, the 4th pressure adjustment relief valve Oil-out connect the oil inlet of the 3rd filter, oil return opening connection the 4th filtering of the 4th pressure adjustment relief valve The oil inlet of device；The oil-out of the 4th filter is used to connect fuel tank；The oil-out connection of the 3rd filter is described The oil inlet of the oil inlet of the second electro-hydraulic reversing valve and the 3rd electro-hydraulic reversing valve；The first of second electro-hydraulic reversing valve goes out Hydraulic fluid port connects the first passive rodless cavity hydraulic fluid port, and the second oil-out connection described first of second electro-hydraulic reversing valve is passive Rod chamber hydraulic fluid port, the first control signal input of second electro-hydraulic reversing valve connects the 5th fuel feeding control of described control unit End processed, the second control signal input of second electro-hydraulic reversing valve connects the 6th oil-feeding control end of described control unit； First oil-out of the 3rd electro-hydraulic reversing valve connects the second passive rodless cavity hydraulic fluid port, the 3rd electro-hydraulic reversing valve Second oil-out connects the second passive rod chamber hydraulic fluid port, and the first control signal input of the 3rd electro-hydraulic reversing valve connects The 7th oil-feeding control end of described control unit is connect, the second control signal input connection of the 3rd electro-hydraulic reversing valve is described 8th oil-feeding control end of control unit.
6. wave compensating device as claimed in claim 1, it is characterised in that the passive compensating unit also includes the first safety Isolating valve and the second safety isolating valve；Described control unit also has isolated controlling end；
First safety isolating valve is arranged between the described first passive rodless cavity hydraulic fluid port and first accumulator, and described The control signal input of the first safety isolating valve connects the isolated controlling end of described control unit；Second safety isolating valve It is arranged between the described second passive rodless cavity hydraulic fluid port and second accumulator, and the control of second safety isolating valve is believed Number input connects the isolated controlling end of described control unit.
7. wave compensating device as claimed in claim 1, it is characterised in that the passive compensating unit also includes work gas cylinder Electrically-controlled valve and work gas cylinder air bleeding valve；Described control unit also has second exhaust control end；
The air inlet of the work gas cylinder electrically-controlled valve connects the exhaust outlet of the high-pressure work gas cylinder, the work gas cylinder electrically-controlled valve Gas outlet connect the work gas cylinder air bleeding valve, the control signal input of the work gas cylinder electrically-controlled valve connects the control The second exhaust control end of unit.
8. wave compensating device as claimed in claim 1, it is characterised in that the sensor unit includes described for gathering The first position sensor of the piston position information of the first accumulator, the piston position information for gathering second accumulator Second place sensor, for gather described first by the 3rd position sensor of the piston position information of hydraulic cylinder, For gathering described second by the 4th position sensor of the piston position information of hydraulic cylinder, for gathering the active liquid 5th position sensor of the piston position information of compressing cylinder, for gather drill ship heave displacement motion reference units, For gathering the hook displacement transducer of the heave displacement of the hook, the quilt for gathering the oil pressure by hydraulic cylinder Dynamic oil pressure sensor, the active oil pressure sensor of oil pressure for gathering the active hydraulic jack and for gathering dead line Hold the tension sensor of tension force.
9. wave compensating device as claimed in claim 1, it is characterised in that described control unit also has the 9th oil-feeding control End；The active control module also has the 3rd controlled end, and the 3rd controlled end connects the 9th fuel feeding of described control unit Control end；
The active oil-feeding control module also includes the 5th pressure adjustment relief valve, the 5th filter, the 6th filter, ratio commutation Valve, solenoid directional control valve, the first logic core, the second logic core, the first one-way conduction valve and the second one-way conduction valve；
The oil inlet of the 5th pressure adjustment relief valve connects the oil inlet of the active oil-feeding control module, and the 5th pressure regulation is overflow The oil-out for flowing valve connects the oil inlet of the 5th filter, the oil return opening connection the described 6th of the 5th pressure adjustment relief valve The oil inlet of filter；
The oil-out of the 5th filter connect the proportional reversing valve the first oil inlet and the solenoid directional control valve the One oil inlet, and the oil-out of the 5th filter also connects the active oil-feeding control by the first one-way conduction valve Second oil-out of module；
Second oil inlet of the proportional reversing valve connects the oil inlet of the 6th filter, the first of the proportional reversing valve Oil-out connects the first oil-out of the active oil-feeding control module, and the second oil-out of the proportional reversing valve is by described Second one-way conduction valve connects the second oil-out of the active oil-feeding control module, the first control letter of the proportional reversing valve Number input connects the first controlled end of the active fuel oil supply unit, the second control signal input of the proportional reversing valve Connect the second controlled end of the active fuel oil supply unit；
Second oil inlet of the solenoid directional control valve connects the oil inlet of the 6th filter, the solenoid directional control valve it is fuel-displaced The control port of mouth connection first logic core and the control port of second logic core, the control of the solenoid directional control valve Signal input part connects the 3rd controlled end of the active fuel oil supply unit；
First hydraulic fluid port of first logic core connects the first oil-out of the active control fuel oil supply unit, first logic Second hydraulic fluid port of core connects the oil inlet of the 6th filter；
First hydraulic fluid port of second logic core connects the second oil-out of the active oil-feeding control module, second logic Second hydraulic fluid port of core connects the oil inlet of the 6th filter；
The oil-out of the 6th filter is used to connect fuel tank.
10. the wave compensating device as described in any one of claim 1 to 9, it is characterised in that described control unit includes micro-control Device processed, interchanger and PLC；The microcontroller connects the interchanger, the exchange by way of fieldbus Machine connects the PLC by way of the fieldbus.
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CN108716371A (en) * 2018-04-13 2018-10-30 宝鸡石油机械有限责任公司 The reverse experimental rig of compensation function and its control method of drill string heave compensation system
CN108820154A (en) * 2018-06-29 2018-11-16 山东大学 A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder
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CN112572714A (en) * 2020-12-29 2021-03-30 广东精铟海洋工程股份有限公司 Semi-active compensation clamp holder for operation and maintenance ship
CN112722184A (en) * 2020-12-29 2021-04-30 广东精铟海洋工程股份有限公司 Compensation clamp holder for operation and maintenance ship
CN112943121A (en) * 2021-03-09 2021-06-11 中国地质科学院勘探技术研究所 Linkage pressure regulating device of passive heave compensation system and regulating method thereof
CN114499317A (en) * 2022-01-11 2022-05-13 浪潮云信息技术股份公司 Predictive control method and system applied to active winch heave compensation

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