CN106744308B - Wave compensating device - Google Patents

Wave compensating device Download PDF

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Publication number
CN106744308B
CN106744308B CN201710109422.6A CN201710109422A CN106744308B CN 106744308 B CN106744308 B CN 106744308B CN 201710109422 A CN201710109422 A CN 201710109422A CN 106744308 B CN106744308 B CN 106744308B
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CN
China
Prior art keywords
oil
valve
active
hydraulic
control
Prior art date
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Active
Application number
CN201710109422.6A
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Chinese (zh)
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CN106744308A (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
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Guangzhou Wenchong Shipyard Co Ltd
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Priority to CN201710109422.6A priority Critical patent/CN106744308B/en
Publication of CN106744308A publication Critical patent/CN106744308A/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 devices, including control unit, passive compensating unit, Active Compensation unit and sensor unit；The data collection terminal of the data output end connection control unit of sensor unit；First both ends for being symmetricly set on hook by hydraulic cylinder by hydraulic cylinder and second in passive compensating unit；Active Compensation unit includes being inverted the active hydraulic cylinder and active oil-feeding control module that are connected to hook, the oil inlet of active oil-feeding control module is used to connect the first oil outlet of oil pump, the active rod chamber hydraulic fluid port of first oil outlet connection active hydraulic cylinder, the active rodless cavity hydraulic fluid port of second oil outlet connection active hydraulic cylinder, 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 investment 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 devices.
Background technique
With the development of economy, tellurian petroleum resources are exhausted, and the exploitation of oil gas starts to turn to ocean, especially Extend to deep sea waters.
When carrying out marine drilling operation, drill ship and hook can generate periodical heave movement, phase under the action of wave It answers, drill string can also generate corresponding heave movement, and so as to cause the variation of bit pressure, this may cause drill bit and be detached from shaft bottom, makes Obtain drillng operation pause, in some instances it may even be possible to damage drill bit, cause huge economic loss.For this purpose, the prior art is mostly in drilling equipment In add wave compensating device to solve the above problems.
However, the compensation precision of existing wave compensating device is lower, it only can be suitably used for the preferable well drilling of shallow sea of sea situation and make Industry, when carrying out deep sea drilling operation, sea situation is more severe, and the heave amplitude of drill ship and hook is larger, it would still be possible to bore The problems such as well operations pause or damage drill bit；In addition, deep sea drilling operation is needed using longer drill string, drill string load is big, existing Some wave compensating devices will need to expend a large amount of power source, and use cost is high.
Summary of the invention
Technical problem to be solved by the present invention lies in provide 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 invention proposes a kind of wave compensating devices, including control unit, passive benefit Repay unit, Active Compensation unit and sensor unit；
Described control unit has data collection terminal, the first oil-feeding control end and the second oil-feeding control end；
The sensor unit has data output end；The data acquisition of the data output end connection 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 both ends of hook is by hydraulic cylinder and second by hydraulic cylinder；Described first has the first quilt by hydraulic cylinder First passive piston rod of dynamic rodless cavity hydraulic fluid port and one end for connecting the hook, described second is had by hydraulic cylinder Second passive piston rod of the second passive rodless cavity hydraulic fluid port and the other end for connecting the hook；Described first passively 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 be inverted the active hydraulic cylinder for being connected to the hook and for control oil pump and The active oil-feeding control module of connection and the partition of fuel feeding access between the active hydraulic cylinder；The active hydraulic cylinder With active rod chamber hydraulic fluid port, active rodless cavity hydraulic fluid port and active piston bar for connecting the hook；The active fuel feeding Control module has the first controlled end, the second controlled end, the first oil outlet, the second oil outlet and for connecting the oil pump The first oil outlet oil inlet；The active rod chamber hydraulic fluid port connects first oil outlet, the active rodless cavity hydraulic fluid port Connect second oil outlet, the first oil-feeding control end of the first controlled end connection described control unit, described second by Control the second oil-feeding control end of end connection described control unit；
The active oil-feeding control module includes the 6th filter, proportional reversing valve, solenoid directional control valve, the first one-way conduction Valve and the second one-way conduction valve；
First oil inlet of the proportional reversing valve connects the oil inlet of the active oil-feeding control module, and the ratio is changed The oil inlet of the 6th filter is connected to the second oil inlet of valve, described in the first oil outlet connection of the proportional reversing valve Second oil outlet of the first oil outlet of active oil-feeding control module, the proportional reversing valve passes through the first one-way conduction valve The second oil outlet of the active oil-feeding control module is connected, the first oil inlet of the proportional reversing valve also passes through described second One-way conduction valve connects the second oil outlet of the active oil-feeding control module, and the first control signal of the proportional reversing valve is defeated Enter the first controlled end that end connects the active oil-feeding control module, the second control signal input terminal of the proportional reversing valve connects Connect the second controlled end of the active oil-feeding control module；
The oil outlet of 6th filter is for connecting fuel tank.
Preferably, the wave compensating device further 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, third control air valve, the first electrically-controlled valve, the first pneumatic actuator, working gas conducting valve, working gas pressure regulator valve, with And total air inlet of the gas outlet for connecting air compressor machine；First pneumatic actuator is for controlling the working gas conducting 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 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 third 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 passes through the working gas tune 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 further include the 4th control air valve, the second electrically-controlled valve, the second pneumatic actuator and Work exhaust valve；Described control unit also has first exhaust control terminal；Second pneumatic actuator is for controlling the work Make the opening and closing of exhaust valve；
The air inlet of the work exhaust 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 4th control air valve, second electrically-controlled valve Gas outlet connects the work exhaust valve by second pneumatic actuator；The control signal input of second electrically-controlled valve Connect the first exhaust control terminal of described control unit.
Preferably, the passive compensating unit further 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, first filter, Second filter and the first electro-hydraulic reversing valve；Described control unit also has third 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 outlet of the oil pump, and first pressure regulation is overflow The oil outlet of stream valve connects the oil inlet of the first filter, the oil return opening connection described second of first pressure adjustment relief valve The oil inlet of filter；The oil outlet of second filter is for connecting fuel tank；The oil inlet of second pressure adjustment relief valve For connecting the third oil outlet of oil pump, the oil outlet of second pressure adjustment relief valve connects the oil inlet of the first filter Mouthful, the oil return opening of second pressure adjustment relief valve connects the oil inlet of second filter；The first filter it is fuel-displaced Mouth connects the oil inlet of first electro-hydraulic reversing valve；First oil outlet of first electro-hydraulic reversing valve connects first quilt Dynamic rodless cavity hydraulic fluid port, the second oil outlet of first electro-hydraulic reversing valve connect the second passive rodless cavity hydraulic fluid port, and described the The third oil-feeding control end of the first control signal input terminal connection described control unit of one electro-hydraulic reversing valve, described first is electro-hydraulic 4th oil-feeding control end of the second control signal input terminal connection described control unit of reversal valve.
Preferably, described first is also had 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 further includes the second passive oil-feeding control module；The second passive oil-feeding control module packet Include third pressure adjustment relief valve, the 4th pressure adjustment relief valve, third filter, the 4th filter, the second electro-hydraulic reversing valve and third 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 third pressure adjustment relief valve is used to connect the second oil outlet of oil pump, the third pressure adjustment relief valve Oil outlet connect the oil inlet of the third filter, the oil return opening connection of the third pressure adjustment relief valve the 4th filtering The oil inlet of device；The oil inlet of 4th pressure adjustment relief valve is used to connect the third oil outlet of oil pump, and the 4th pressure regulation is overflow The oil outlet of stream valve connects the oil inlet of the third filter, the oil return opening connection the described 4th of the 4th pressure adjustment relief valve The oil inlet of filter；The oil outlet of 4th filter is for connecting fuel tank；The oil outlet of the third filter connects The oil inlet of the oil inlet of second electro-hydraulic reversing valve and the third electro-hydraulic reversing valve；The of second electro-hydraulic reversing valve One oil outlet connects the first passive rodless cavity hydraulic fluid port, the second oil outlet connection described first of second electro-hydraulic reversing valve Passive rod chamber hydraulic fluid port, the 5th of the first control signal input terminal connection described control unit of second electro-hydraulic reversing valve supply Oily control terminal, the 6th oil-feeding control of the second control signal input terminal connection described control unit of second electro-hydraulic reversing valve End；First oil outlet of the third electro-hydraulic reversing valve connects the second passive rodless cavity hydraulic fluid port, the electro-hydraulic commutation of third Second oil outlet of valve connects the second passive rod chamber hydraulic fluid port, the first control signal input of the third electro-hydraulic reversing valve 7th oil-feeding control end of end connection described control unit, the second control signal input terminal connection of the third electro-hydraulic reversing valve 8th oil-feeding control end of described control unit.
Preferably, the passive compensating unit further 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 isolated controlling end of the control signal input connection described control unit of first safety isolating valve；It is described second safety every It is arranged between the described second passive rodless cavity hydraulic fluid port and second accumulator from valve, and the control of second safety isolating valve The isolated controlling end of signal input part connection described control unit processed.
Preferably, the passive compensating unit further includes work gas cylinder electrically-controlled valve and work gas cylinder exhaust valve；The control Unit also has second exhaust control terminal；
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 exhaust valve, described in the control signal input connection of the work gas cylinder electrically-controlled valve The second exhaust control terminal of control unit.
Preferably, the sensor unit includes first for acquiring the piston position information of first accumulator Set sensor, the second position sensor of piston position information for acquiring second accumulator, for acquiring described One by the third place sensor of the piston position information of hydraulic cylinder, for acquiring described second by the work of hydraulic cylinder 5th position of the 4th position sensor, piston position information for acquiring the active hydraulic cylinder of filling in location information passes Sensor, the motion reference units for heaving displacement for acquiring drill ship, the hook being displaced for acquiring the heave of the hook Displacement sensor, for acquiring described first by hydraulic cylinder and described second by the passive oil pressure of the oil pressure of hydraulic cylinder Sensor, the active oil pressure sensor of oil pressure for acquiring the active hydraulic cylinder and for acquiring dead line end tension Tension sensor.
Preferably, described control unit also has the 9th oil-feeding control end；The active oil-feeding control module also has Three controlled ends, the 9th oil-feeding control end of the third controlled end connection described control unit；
The active oil-feeding control module further includes the 5th pressure adjustment relief valve, the 5th filter solenoid directional control valve, first patrols Collect core and the second logic core；
The oil inlet of 5th pressure adjustment relief valve connects the oil inlet of the active oil-feeding control module, and the described 5th adjusts The oil outlet of pressurized overflow valve connects the oil inlet of the 5th filter, described in the oil return opening connection of the 5th pressure adjustment relief valve The oil inlet of 6th filter；
The oil outlet of 5th filter connects the first oil inlet and the solenoid directional control valve of the proportional reversing valve The first oil inlet；
Second oil inlet of the solenoid directional control valve connects the oil inlet of the 6th filter, the solenoid directional control valve Oil outlet 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 third controlled end of the active oil-feeding control module；
First hydraulic fluid port of first logic core connects the first oil outlet of the active oil-feeding control module, and 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 outlet of the active oil-feeding control module, and described second Second hydraulic fluid port of logic core connects the oil inlet of the 6th filter.
Preferably, described control unit includes microcontroller, interchanger and PLC controller；The microcontroller passes through existing The mode of field bus connects the interchanger, and the interchanger connects the PLC controller by way of the fieldbus.
The invention has the following beneficial effects:
Wave compensating device provided by the invention, by setting control unit, passive compensating unit, Active Compensation unit and Sensor unit；The data collection terminal of the data output end connection control unit of sensor unit；The in passive compensating unit One is symmetricly set on the both ends of the hook by hydraulic cylinder and second by hydraulic cylinder, and 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 cylinder and active oil-feeding control module that are connected to hook；Actively supply Oily control module include the first oil outlet, the second oil outlet, the first controlled end, the second controlled end and for connecting oil pump first The oil inlet of oil outlet, the first oil outlet connect the active rod chamber hydraulic fluid port of active hydraulic cylinder, and the connection of the second oil outlet is actively The active rodless cavity hydraulic fluid port of hydraulic cylinder, the first controlled end connect 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.As it can be seen that the present invention combines passive compensation and Active Compensation, compensation precision is improved, Reduce the investment of power source, sea situation is severe and drill string loads big deep sea drilling operation so as to better adapt to.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of wave compensating device provided by the invention；
Fig. 2 is the schematic illustration of another embodiment of wave compensating device provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
In practical applications, drilling platforms is provided on drill ship, wave compensating device is installed on the drilling platforms On derrick, and the wave compensating device passes through big hook connects drill string；In addition, the wave compensating device need to connect 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 hydraulic for holding Oil, it is described used for air compressor in providing the gas of corresponding pressure for the wave compensating device.
Referring to Fig. 1, being that the structural schematic diagram of one embodiment of wave compensating device provided by the invention (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 collection terminal, the first oil-feeding control end and the second oil-feeding control end；
The sensor unit 40 has data output end；The data of the data output end connection 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 both ends first by hydraulic cylinder 204 and second by hydraulic cylinder 205；First quilt Hydraulic cylinder 204 has the first of the first passive rodless cavity hydraulic fluid port 2041 and one end for connecting the hook 60 passively to live Stopper rod 2042, described second has the second passive rodless cavity hydraulic fluid port 2051 and for connecting the hook by hydraulic cylinder 205 The passive piston rod 2052 of the second 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 pass 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 being inverted to be connected to the active hydraulic cylinder 301 of the hook and for controlling oil The active oil-feeding control module 302 of connection and the partition of fuel feeding access between pump 70 and the active hydraulic cylinder 301；It is described Active hydraulic cylinder 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 outlet, The oil inlet oil_in of second oil outlet and the first oil outlet for connecting the oil pump 70；The active rod chamber oil Mouthfuls 3011 connection first oil outlets, the active rodless cavity hydraulic fluid port 3012 connect second oil outlet, described first by The first oil-feeding control end of end connection described control unit 10 is controlled, second controlled end connects the second of described control unit 10 Oil-feeding control end；
The active oil-feeding control module 302 includes the 6th filter, proportional reversing valve, solenoid directional control valve, first unidirectional Conducting valve and the second one-way conduction valve；
First oil inlet of the proportional reversing valve connects the oil inlet of the active oil-feeding control module 302, the ratio Second oil inlet of example reversal valve connects the oil inlet of the 6th filter, the first oil outlet connection of the proportional reversing valve Second oil outlet of the first oil outlet of the active oil-feeding control module 302, the proportional reversing valve is single by described first The second oil outlet of the active oil-feeding control module 302 is connected to conducting valve, the first oil inlet of the proportional reversing valve is also The second oil outlet of the active oil-feeding control module 302, the proportional reversing valve are connected by the second one-way conduction valve First control signal input terminal connect the first controlled end of the active oil-feeding control module 302, the proportional reversing valve Second control signal input terminal connects the second controlled end of the active oil-feeding control module 302；
The oil outlet of 6th filter is for connecting fuel tank.
It should be noted that in practical 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 arranged in parallel by hydraulic cylinder 205, and described first by hydraulic cylinder 204 and described second passive Hydraulic cylinder 205 is symmetricly set on the both 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 connected by the second of hydraulic cylinder 205 the passive piston rod 2052 it is described The other end of hook 60；The cylinder body of the active hydraulic cylinder 301 is inversely installed on the derrick 80 of the drilling platforms, and institute It states the active piston bar 3013 in active hydraulic cylinder 301 and connects the hook 60, it is preferable that the active piston bar 3013 connects Connect the middle part of the hook 60.As 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 when corresponding sports, to drive the hook 60 Corresponding movement is generated, to compensate the heave displacement that the hook 60 is generated 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 passes through the described first passive rodless cavity hydraulic fluid port 2041, first accumulation of energy The fluid inlet and outlet of device 201 and between the two oil pipe connection；The air chamber and the high pressure of first accumulator 201 The air chamber of work gas cylinder 203 passes through the gas inlet and outlet of first accumulator 201, the gas of the high-pressure work gas cylinder 203 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 be used to control first accumulator 201 and extraneous gas pipeline be connected to and partition, The first row air valve 212 is used to that the gas in the air chamber of first accumulator 201 to be discharged when needed, such as described When wave compensating device power cut-off, cause peril to avoid the high pressure gas in first accumulator 201.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 at 2041 public connecting end, for when needed by the hydraulic of first accumulator 201 Hydraulic oil and described first in oil pocket are discharged by the hydraulic oil in the rodless cavity of hydraulic cylinder 204.
Correspondingly, second accumulator 202 includes air chamber, hydraulic fluid chamber, piston, gas inlet and outlet and fluid disengaging 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 hydraulic fluid chamber of the rodless cavity of hydraulic cylinder 205 and second accumulator 202 Pass through 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 connection；The air chamber of second accumulator 202 and the air chamber of the high-pressure work gas cylinder 203 pass through second accumulation of energy The gas inlet and outlet of device 202, the gas inlet and outlet of the high-pressure work gas cylinder 203 and between the two tracheae connection.Separately Outside, the second work air valve 214 and second row air valve 215 are additionally provided at the gas inlet and outlet of second accumulator 202, it is described Second work air valve 214 be used to control second accumulator 202 and extraneous gas pipeline be connected to and partition, the second row Air valve 215 is for when needed by the gas discharge in the air chamber of second accumulator 202, such as compensation of undulation dress When setting power cut-off, cause peril to avoid the high pressure gas in second accumulator 202.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 It connects and is additionally provided with the second bleeder valve 216 at end, for when needed will be hydraulic 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 be discharged.In embodiments of the present invention, the high pressure work Make to be additionally provided with third work air valve 217 at the gas inlet and outlet of gas cylinder 203, for controlling 203 He of high-pressure work gas cylinder The connection and partition of extraneous gas pipeline.
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 Working gas conducting valve is connected, the working gas conducting valve is also used 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 cylinder 301 It is additionally provided with third bleeder valve 303 at hydraulic fluid port 3011, is additionally provided with the 4th bleeder valve at 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 cylinder 301 when needed Discharge.
The working principle of wave compensating device provided in an embodiment of the present invention is as follows:
Before carrying out compensation of undulation, 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 inflation, and be first accumulator 201, institute It is oil-filled by hydraulic cylinder 205 and active hydraulic cylinder 301 by hydraulic cylinder 204, second to state the second accumulator 202, first, And make the piston of first accumulator 201, the piston of second accumulator 202, described first 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 cylinder 301 Middle position, formed initial oil gas pressure balance.
When drill ship generates heave movement under wave effect, the wave compensating device will be compensated passively, be led Dynamic predictive compensation and active second compensation.Wherein, the passive compensation and active predicting compensation can occur simultaneously, that is, exist During actual implementation, the two almost occurs simultaneously, but it should be recognized that there are various influence factors in implementation process, Therefore, the two is not all while to occur at any time.In addition, the active second compensation occurs to compensate in the active predicting Later.The course of work of the passive compensation, the active predicting compensation and the active second compensation will be described below.
Active predicting compensation:
Motion reference units (MRU, Motion Reference Unit) in the sensor unit 40 acquire the brill The current heave of well ship is displaced, and described control unit 10 is heaved according to the history that the current heave of the drill ship is displaced and prestores The heave trend of drill ship described in data acquisition, i.e., the 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 cylinder 301 is oil-filled or rod chamber is oil-filled, will be produced because wave acts 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 10 processed control the active oil-feeding control module be connected to the oil pump 70 and the active hydraulic cylinder 301 rodless cavity it Between fuel feeding access so that the oil pump 70 to the rodless cavity of the active hydraulic cylinder 301 inject hydraulic oil so that institute The active piston bar 3013 for stating active hydraulic cylinder 301 moves downward, and then the hook 60 is driven to move downward, to compensate State the upward displacement that hook 60 will be generated by wave effect；If knowing the drill ship in lower a period of time according to the heave trend Quarter will move downward, then described control unit 10 controls the active oil-feeding control module 302 and is connected to the oil pump 70 and described Fuel feeding access between the rod chamber of active hydraulic cylinder 301, so that the having to the active hydraulic cylinder 301 of the oil pump 70 Rod cavity injects hydraulic oil, so that the active piston bar 3013 of the active hydraulic cylinder 301 moves upwards, and then drives institute It states hook 60 to move upwards, to compensate the downward displacement that the hook 60 will be generated by wave effect.
Passive compensation:
When the drill ship moves 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 movement, since the hook 60 moves upwards, the upward pulling force of the drill string that the hook 60 connects it increases, thus described The pressure downward to the described first passive piston rod 2042 and the second passive piston rod 2052 of hook 60 increases, and described first Pressure difference, i.e. disequilibrium will be generated by the upper and lower ends of the piston in hydraulic cylinder 204, so that described first by hydrodynamic pressure Piston moves downward in oil cylinder 204, i.e., the described first passive piston rod 2042 moves downward, and similarly, described second is passive living Stopper rod 2052 also moves downward, so that the hook 60 be driven to move downward, is generated with compensating the hook 60 because wave acts on Upward displacement.Also, when the first passive piston rod 2042 and the second passive piston rod 2052 move downward, institute First is stated by the hydraulic oil and described second in the rodless cavity of hydraulic cylinder 204 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, and described The piston of the piston of one accumulator 201 and first accumulator 201 moves upwards, first accumulator 201, described The volume compression of two accumulators 202 and the working gas in the high-pressure work gas cylinder 203, pressure increases, to reach passive Compensated oil-air pressure balance.
When the drill ship moves 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 movement, since the hook 60 moves downward, the upward pulling force of the drill string that the hook 60 connects it reduces, thus described The pressure downward to the described first passive piston rod 2042 and the second passive piston rod 2052 of hook 60 reduces, and described first Pressure difference, i.e. disequilibrium, first accumulator 201, institute will be generated by the upper and lower ends of the piston in hydraulic cylinder 204 The pressure for stating the second accumulator 202 and the working gas in the high-pressure work gas cylinder 203 reduces, volume expansion, and described first Piston moves downward for accumulator 201, 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 Stopper rod 2052 also moves upwards, so that the hook 60 be driven to move upwards, is generated with compensating the hook 60 because wave acts on Downward displacement, to reach passive compensated oil-air pressure balance.
Active second compensation:
When the drill ship moves upwards under wave effect, compensated by the passive compensation and the active predicting After process, described control unit 10 obtains the current upper raise-position of the bit pressure that the sensor unit 40 acquires and the hook 60 It moves, and is connected to the oil according to the bit pressure with active oil-feeding control module described in the current heave Bit andits control of the hook 60 Fuel feeding access between pump 70 and the rodless cavity of the active hydraulic cylinder 301, so that the oil pump 70 is hydraulic to the active The rodless cavity of oil cylinder 301 injects hydraulic oil, so that the active piston bar 3013 of the active hydraulic cylinder 301 is transported downwards It is dynamic, and then the hook 60 is driven to move downward, to compensate the upward displacement that the hook 60 is generated by wave effect.
When the drill ship moves downward under wave effect, compensated by the passive compensation and the active predicting After process, described control unit 10 obtains the current sinking position of the bit pressure that the sensor unit 40 acquires and the hook 60 It moves, and is connected to the oil according to the bit pressure with active oil-feeding control module described in the current heave Bit andits control of the hook 60 Fuel feeding access between pump 70 and the rod chamber of the active hydraulic cylinder 301, so that the oil pump 70 is hydraulic to the active The rod chamber of oil cylinder 301 injects hydraulic oil, so that the active piston bar 3013 of the active hydraulic cylinder 301 is transported upwards It is dynamic, and then the hook 60 is driven to move upwards, to compensate the downward displacement that the hook 60 is generated by wave effect.
Wave compensating device provided in an embodiment of the present invention passes through setting control unit 10, passive compensating unit 20, active Compensating unit 30 and sensor unit 40；Passively first in compensating unit 20 is by hydraulic cylinder 204 and second by hydrodynamic pressure Oil cylinder 205 is symmetricly set on the both 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 cylinder 301 and active oil-feeding control module 302 that are connected to hook 60； Active oil-feeding control module 302 includes the first oil outlet, the second oil outlet, the first controlled end, the second controlled end and for connecting The oil inlet of first oil outlet of oil pump, the first oil outlet connect the active rod chamber hydraulic fluid port 3011 of active hydraulic cylinder 301, the Two oil outlets connect the active rodless cavity hydraulic fluid port 3012 of active hydraulic cylinder 301, and the first controlled end connects the of control unit 10 One oil-feeding control end, the second controlled end connect the second oil-feeding control end of control unit 10.As it can be seen that the present invention combines passive compensation And Active Compensation, compensation precision is improved, the investment of power source is reduced, so as to better adapt to sea situation badly and bore The big deep sea drilling operation of column load.
It is the principle signal of another embodiment of wave compensating device provided by the invention also referring to Fig. 1 and Fig. 2 Scheme (being connected with hook, oil pump, fuel tank and air compressor machine), wave compensating device provided in this embodiment is on the basis of above-described embodiment On advanced optimize, it is specific as follows:
Preferably, the wave compensating device further includes ventilating control unit 50；Described control unit 10 also has inflation Control terminal；
The ventilating control unit 50 includes that the first control air valve 501, second controls air valve 502, control gas pressure regulating valve 503, low voltage control gas cylinder 504, third control 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 total air inlet gas_in of the gas outlet for connecting 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 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 controls air valve 505 by the third and connects first electrically-controlled valve 506 Air inlet；The gas outlet of first electrically-controlled valve 506 connects the working gas conducting by first pneumatic actuator 507 The gas outlet of valve 508, 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 inflation of the control signal input connection described control unit 10 of first electrically-controlled valve 506 Control terminal.
It should be noted that need to be first the first accumulator in the wave compensating device before carrying out compensation of undulation 201, 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 inlet and outlet, 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 working gas conducting valve is opened manually by user when needing to inflate in the gas outlet of connection air compressor machine.However, high pressure work Belong to the dangerous energy as gas, if careless manipulation, peril may be caused, directly endanger user.
Therefore, in the embodiment of the present invention, the ventilating control unit 50 is added in the wave compensating device.In reality In, air compressor machine 90 is accessed at total air inlet gas_in, (the as institute before for wave compensating device inflation Before stating the first accumulator 201, second accumulator 202 and the high-pressure work gas cylinder 203 inflation), open described the Two control air valves 502, the high pressure gas that the air compressor machine 90 exports meet pre- by the control gas pressure regulating valve 503 decompression If pressure threshold low-pressure gas after, be filled in the low voltage control gas cylinder 504, to complete the low voltage control gas cylinder 504 Inflation work.When needing to inflate for the wave compensating device, the first control air valve 501 and the third control are opened Air valve 505 processed, then signal is controlled to first electrically-controlled valve 506 by the ventilating control end output of described control unit 10 accordingly Control signal input, first electrically-controlled valve 506 is connected, and the low-pressure gas in the low voltage control gas cylinder 504 passes through institute It states the first electrically-controlled valve 506 and reaches first pneumatic actuator 507, so that controlling first pneumatic actuator 507 opens institute Working gas conducting valve 508 is stated, hereafter, the high pressure gas that the air compressor machine 90 exports is successively by 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 After decompression is meets the high pressure gas of preset pressure threshold, it is 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 effectively improves the safety and stability of wave compensating device, also, uses high pressure gas As the working gas of first accumulator 201 and second accumulator 202, the elasticity of working gas is effectively improved Potential energy, to effectively improve 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 third exhaust 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 further includes that the 4th control air valve 510, the second electrically-controlled valve 511, second are pneumatic Actuator 512 and work exhaust valve 513；Described control unit 10 also has first exhaust control terminal；Described second pneumatic execution Device 512 is used to control the opening and closing of the work exhaust valve 513；
The air inlet of the work exhaust 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 504 processed also connects the air inlet of second electrically-controlled valve 511 by the 4th control air valve 510, The gas outlet of second electrically-controlled valve 511 connects the work exhaust valve 513 by second pneumatic actuator 512；It is described The first exhaust control terminal of the control signal input connection described control unit 10 of second electrically-controlled valve 511.
In embodiments of the present invention, it is additionally provided with exhausting loop in the ventilating control unit 50, is the compensation of undulation Device exhaust.Specifically, when the wave compensating device needs to be vented, the 4th control air valve 510 is opened, then by described The control signal of the output of first exhaust control terminal corresponding control signal to second electrically-controlled valve 511 of control unit 10 inputs End, second electrically-controlled valve 511 are connected, and the low-pressure gas in the low voltage control gas cylinder 504 passes through second electrically-controlled valve 511 Second pneumatic actuator 512 is reached, so that controlling second pneumatic actuator 512 opens the work exhaust valve 513, Hereafter, the high pressure gas 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 exhaust valve 513.This reality It applies mode and control gas is used as using low-pressure gas, it 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 the wave compensating device power cut-off When, the probability having an accident is greatly reduced, the security performance of device is improved.
In an optional embodiment, the passive compensating unit 20 further 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, first filter, Second filter and the first electro-hydraulic reversing valve；Described control unit 10 also has third 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 outlet of the oil pump 70, first pressure regulation The oil outlet of overflow valve connects the oil inlet of the first filter, the oil return opening connection of first pressure adjustment relief valve described the The oil inlet of tow filtrator；The oil outlet of second filter is for connecting fuel tank 100；Second pressure adjustment relief valve into Hydraulic fluid port is used to connect the third oil outlet of oil pump 70, and the oil outlet of second pressure adjustment relief valve connects the first filter Oil inlet, the oil return opening of second pressure adjustment relief valve connect the oil inlet of second filter；The first filter Oil outlet connects the oil inlet of first electro-hydraulic reversing valve；The first oil outlet connection described the of first electro-hydraulic reversing valve Second oil outlet of one passive rodless cavity hydraulic fluid port 2041, first electro-hydraulic reversing valve connects the second passive rodless cavity hydraulic fluid port 2051, the third oil-feeding control of the first control signal input terminal connection described control unit 10 of first electro-hydraulic reversing valve End, the 4th oil-feeding control end of the second control signal input terminal connection described control unit 10 of first electro-hydraulic reversing valve. (not shown)
It should be noted that need to be first the first accumulator in the wave compensating device before carrying out compensation of undulation 201, 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 outlet 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；The third oil outlet of the oil pump 70 is the benefit of the passive compensating unit 20 Hydraulic fluid port, flow is smaller, is used in first accumulator 201, second accumulator 202, described first by hydraulic cylinder 204 or described second by the hydraulic oil in hydraulic cylinder 205 when being occurred revealing or being lost, and supplements hydraulic oil for it.
In the present embodiment, it described first is selected by hydraulic cylinder 204 and described second by hydraulic cylinder 205 Unilateral oil-filled hydraulic cylinder, that is, described first by only a hydraulic fluid port --- first passively without bar on hydraulic cylinder 204 Chamber hydraulic fluid port 2041, the first passive rodless cavity hydraulic fluid port 2041 are located at described first by the side of the rodless cavity of hydraulic cylinder 204 On wall.In addition, described second is identical as the described first passive oil cylinder by the structure of hydraulic cylinder 205, it is not added and repeats herein.
In the present embodiment, first pressure adjustment relief valve and second pressure adjustment relief valve are used to limit oil pressure, with Prevent the oil pressure for supplying the hydraulic oil of the passive compensating unit 20 excessively high；Specifically, first pressure adjustment relief valve has the One default oil pressure threshold value is preset when the oil pressure for the hydraulic oil that the oil inlet of first pressure adjustment relief valve flows into is higher than described first When oil pressure threshold value, the oil inlet of first pressure adjustment relief valve is connected to oil return opening, and section hydraulic oil passes through 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 for the hydraulic oil that the oil inlet of second pressure adjustment relief valve flows into is higher than the described second default oil pressure When threshold value, the oil inlet of second pressure adjustment relief valve is connected to 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.The first filter and second filter are for filtering 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 first control signal input terminal, second control signal input terminal, oil inlet, the first oil outlet and second fuel-displaced Mouthful, when the first control signal input terminal has corresponding control signal input, first oil outlet and the oil inlet Connection, second oil outlet and the oil inlet separate, when the second control signal input terminal has corresponding control signal When input, second oil outlet is connected to the oil inlet, and first oil outlet and the oil inlet separate.
The working principle of the described first passive oil-feeding control module is explained in detail below:
In actual use, by the second oil outlet of the oil inlet connection oil pump 70 of first pressure adjustment relief valve, by institute The third oil outlet for stating the oil inlet connection oil pump 70 of the second pressure adjustment relief valve, by the oil inlet of the oil pump 70 and described second The oil outlet of filter connects fuel tank 100.
When needing oil-filled by hydraulic cylinder 204 to first accumulator 201 and described first, described control unit The 10 corresponding first control signal input terminal for controlling signal to first electro-hydraulic reversing valve of third oil-feeding control end output, First oil outlet of first electro-hydraulic reversing valve is connected to its oil inlet, and the second oil outlet of the oil pump 70 flows out hydraulic Described in oil inlet flow direction of the oil by first pressure adjustment relief valve, the first filter and first electro-hydraulic reversing valve First oil outlet of the first electro-hydraulic reversing valve, to be filled to first accumulator 201 and described first by hydraulic cylinder 204 Oil；When needing oil-filled by hydraulic cylinder 205 to second accumulator 202 and described second, described control unit 10 The corresponding second control signal input terminal for controlling signal to first electro-hydraulic reversing valve of 4th oil-feeding control end output, it is described Second oil outlet of the first electro-hydraulic reversing valve is connected to its oil inlet, and the hydraulic oil of the second oil outlet outflow of the oil pump 70 is logical The oil inlet for crossing first pressure adjustment relief valve, the first filter and first electro-hydraulic reversing valve flows to described first Second oil outlet of electro-hydraulic reversing valve, thus oil-filled by hydraulic cylinder 205 to second accumulator 202 and described second. In the process, if the oil pressure for the hydraulic oil that the second oil outlet of the oil pump 70 flows out is higher than first pressure adjustment relief valve First default oil pressure threshold value, then section hydraulic oil passes through the oil return opening and the second filter stream of first pressure adjustment relief valve Oil return box 100.
In addition, being if desired first accumulator 201 and described first by hydraulic cylinder 204 during the work time Hydraulic oil is supplemented, then the corresponding control signal of third oil-feeding control end output of described control unit 10 to described first electro-hydraulic changes To the first control signal input terminal of valve, the first oil outlet of first electro-hydraulic reversing valve is connected to its oil inlet, the oil The hydraulic oil of the third oil outlet outflow of pump 70 passes through second pressure adjustment relief valve, the first filter and described first The oil inlet of electro-hydraulic reversing valve flows to the first oil outlet of first electro-hydraulic reversing valve, to give first accumulator 201 Hydraulic oil is supplemented by hydraulic cylinder 204 with described first；It if desired is second accumulator 202 and described second by hydrodynamic Compressing cylinder 205 supplements hydraulic oil, then the corresponding control signal of the 4th oil-feeding control end output of described control unit 10 is to described The second control signal input terminal of first electro-hydraulic reversing valve, other courses of work are similar, are not added and repeat herein.In the process, If the oil pressure for the hydraulic oil that the third oil outlet of the oil pump 70 flows out is higher than the second default oil of second pressure adjustment relief valve 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 further includes the second passive oil-feeding control module 206；The second passive oil-feeding control Module 206 includes third pressure adjustment relief valve 2061, the 4th pressure adjustment relief valve 2062, third filter 2063, the 4th filter 2064, the second electro-hydraulic reversing valve 2065 and third 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 third pressure adjustment relief valve 2061 is used to connect the second oil outlet of oil pump 70, the third pressure regulation The oil outlet of overflow valve 2061 connects the oil inlet of the third filter 2063, the oil return of the third pressure adjustment relief valve 2061 Mouth connects the oil inlet of the 4th filter 2064；The oil inlet of 4th pressure adjustment relief valve 2062 is for connecting oil pump 70 Third oil outlet, the oil outlet of the 4th pressure adjustment relief valve 2062 connects the oil inlet of the third 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 outlet for connecting fuel tank 100；The oil outlet of the third filter 2063 connects second electro-hydraulic reversing valve 2065 Oil inlet and the third electro-hydraulic reversing valve 2066 oil inlet；First oil outlet of second electro-hydraulic reversing valve 2065 connects The described first passive rodless cavity hydraulic fluid port 2041 (in Fig. 2, indicating the connection relationship with two D labels) is connect, described second is electro-hydraulic Second oil outlet of reversal valve 2065 connects the first passive rod chamber hydraulic fluid port 2043 and (in Fig. 2, is indicated with two C labels The connection relationship), the of the first control signal input terminal of second electro-hydraulic reversing valve 2065 connection described control unit 10 Five oil-feeding control ends, the of the second control signal input terminal connection described control unit 10 of second electro-hydraulic reversing valve 2065 Six oil-feeding control ends；First oil outlet of the third electro-hydraulic reversing valve 2066 connects the second passive rodless cavity hydraulic fluid port 2051 Second oil outlet of (in Fig. 2, indicating the connection relationship with two F labels), the third electro-hydraulic reversing valve 2066 connects institute State the second passive rod chamber hydraulic fluid port 2053 (in Fig. 2, indicating the connection relationship with two E labels), the electro-hydraulic commutation of third 7th oil-feeding control end of the first control signal input terminal connection described control unit 10 of valve 2066, the electro-hydraulic commutation of third 8th oil-feeding control end of the second control signal input terminal connection described control unit 10 of valve 2066.
In embodiments of the present invention, it described first is selected by hydraulic cylinder 204 and described second by hydraulic cylinder 205 With the hydraulic cylinder that bilateral is oil-filled, that is, described first by tool on hydraulic cylinder 204 there are two hydraulic fluid port --- first passively without bar Chamber hydraulic fluid port 2041 and the first passive rod chamber hydraulic fluid port 2043, 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 cylinder 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 and repeats herein.It should be noted that the hydraulic cylinder oil-filled compared to the unilateral side selected in above embodiment, makes The job stability of the wave compensating device is enhanced with the oil-filled hydraulic cylinder of bilateral.
It should be noted that need to be first the first accumulator in the wave compensating device before carrying out compensation of undulation 201, 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 outlet 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 third oil outlet of the oil pump 70 is the passive compensating unit 20 Repairing mouth, flow is smaller, in first accumulator 201, second accumulator 202, the first passive hydraulic oil Cylinder 204 or described second supplements hydraulic oil when being occurred revealing or being lost by the hydraulic oil in hydraulic cylinder 205, for it.
In embodiments of the present invention, the third pressure adjustment relief valve 2061 and the 4th pressure adjustment relief valve 2062 are for limiting Liquefaction pressure, it is excessively high to prevent from supplying the oil pressure of hydraulic oil of the passive compensating unit 20；Specifically, the third pressure-regulating overflow There is valve 2061 third to preset oil pressure threshold value, when the oil pressure for the hydraulic oil that the oil inlet of the third pressure adjustment relief valve 2061 flows into When presetting oil pressure threshold value higher than the third, the oil inlet of the third pressure adjustment relief valve 2061 is connected to oil return opening, part liquid Pressure oil flows back to fuel tank 100 by the oil return opening and the 4th filter 2064 of the third 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 The oil pressure of the hydraulic oil entered be higher than the 4th default oil pressure threshold value when, the oil inlet of the 4th pressure adjustment relief valve 2062 and return Hydraulic fluid port connection, section hydraulic oil pass through the oil return opening of the 4th pressure adjustment relief valve 2062 and the 4th filter 2064 stream Oil return box 100.The third filter 2063 and the 4th filter 2064 are used to filter out 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, second control signal input terminal, oil inlet, the first oil outlet and the second oil outlet, when first control When signal input part processed has corresponding control signal input, first oil outlet is connected to the oil inlet, and described second goes out Hydraulic fluid port and the oil inlet separate, when the second control signal input terminal has corresponding control signal input, described second Oil outlet is connected to the oil inlet, and first oil outlet and the oil inlet separate, the third electro-hydraulic reversing valve 2066 It is all the same with the structure and working principle of second electro-hydraulic reversing valve 2065, it is not added and repeats 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 It is equipped with the 5th bleeder valve 218, is additionally provided at the second of hydraulic cylinder 205 passive rod chamber hydraulic fluid port 2053 described second 6th bleeder valve 219, be respectively used to when needed by described first by the rod chamber of hydraulic cylinder 204 hydraulic oil and institute Second is stated to be discharged by the hydraulic oil in the rod chamber of hydraulic cylinder 205.
The working principle of the described second passive oil-feeding control module 206 is explained in detail below:
In actual use, the oil inlet of the third pressure adjustment relief valve 2061 is connected to the second oil outlet of oil pump 70, By the third oil outlet of the oil inlet of the 4th pressure adjustment relief valve 2062 connection oil pump 70, by the oil inlet of the oil pump 70 and The oil outlet of 4th filter 2064 is for connecting 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 The 5th oil-feeding control end output of control unit 10 is corresponding to control the first control of signal to second electro-hydraulic reversing valve 2065 First oil outlet of signal input part processed, first electro-hydraulic reversing valve is connected to its oil inlet, and the second of the oil pump 70 goes out The hydraulic oil of hydraulic fluid port outflow passes through the third pressure adjustment relief valve 2061, the third filter 2063 and described second electro-hydraulic The oil inlet of reversal valve 2065 flows to the first oil outlet of second electro-hydraulic reversing valve 2065, thus 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 When oil-filled by the rodless cavity of hydraulic cylinder 205, the corresponding control letter of the 7th oil-feeding control end output of described control unit 10 Number to the third electro-hydraulic reversing valve 2066 first control signal input terminal, other courses of work are similar, are not added and repeat herein. In above process, if the oil pressure for the hydraulic oil that the second oil outlet of the oil pump 70 flows out is higher than the third pressure adjustment relief valve 2061 third presets oil pressure threshold value, then section hydraulic oil passes through the oil return opening of the third 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 of described control unit 10 is supplied The corresponding control signal of oily control terminal output to second electro-hydraulic reversing valve 2065 second control signal input terminal, described the Second oil outlet of two electro-hydraulic reversing valves 2065 is connected to its oil inlet, the hydraulic oil of the second oil outlet outflow of the oil pump 70 Pass through the oil inlet of the third pressure adjustment relief valve 2061, the third filter 2063 and second electro-hydraulic reversing valve 2065 Mouth flows to the second oil outlet of second electro-hydraulic reversing valve 2065, 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 The corresponding signal that controls of output is to the 2066 volume second control signal input terminal of third electro-hydraulic reversing valve, other course of work classes Seemingly, it is not added and repeats herein.In above process, if the oil pressure for the hydraulic oil that the second oil outlet of the oil pump 70 flows out is higher than institute The third for stating third pressure adjustment relief valve 2061 presets oil pressure threshold value, then section hydraulic oil passes through the third pressure adjustment relief valve 2061 Oil return opening and the 4th filter 2064 flow back to fuel tank 100.
In addition, being if desired first accumulator 201 and described first by hydraulic cylinder 204 during the work time Rodless cavity supplement hydraulic oil, then the corresponding control signal of the 5th oil-feeding control end output of described control unit 10 to described the The first control signal input terminal of two electro-hydraulic reversing valves 2065, the first oil outlet of second electro-hydraulic reversing valve 2065 and its into The hydraulic oil of hydraulic fluid port connection, the third oil outlet outflow of the oil pump 70 passes through the third 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 outlet, 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 The 7th oil-feeding control end output of unit 10 processed is corresponding to control the first control of signal to the third electro-hydraulic reversing valve 2066 Signal input part, other courses of work are similar, are not added and repeat herein.In above process, if the third of the oil pump 70 is fuel-displaced The oil pressure of the hydraulic oil of mouth outflow is higher than the 4th default oil pressure threshold value of the 4th pressure adjustment relief valve 2062, then section hydraulic oil 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 The corresponding second control signal input terminal for controlling signal to second electro-hydraulic reversing valve 2065 of 6th oil-feeding control end output, Second oil outlet of second electro-hydraulic reversing valve 2065 is connected to its oil inlet, the third oil outlet outflow of the oil pump 70 Hydraulic oil passes through the third pressure adjustment relief valve 2061, the third filter 2063 and second electro-hydraulic reversing valve 2065 Oil inlet flow to the second oil outlet of second electro-hydraulic reversing valve 2065, thus 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 Hydraulic oil is supplemented, the corresponding signal that controls of the 8th oil-feeding control end output of described control unit 10 is to the electro-hydraulic commutation of the third The second control signal input terminal of valve 2066, other courses of work are similar, are not added and repeat herein.In above process, if it is described The oil pressure of the hydraulic oil of the third oil outlet outflow of oil pump 70 is higher than the 4th default oil pressure of the 4th pressure adjustment relief valve 2062 Threshold value, then section hydraulic oil flows back to oil by the oil return opening and the 4th filter 2064 of the 4th pressure adjustment relief valve 2062 Case 100.
Preferably, the passive compensating unit 20 further 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 in the described first passive rodless cavity hydraulic fluid port 2041 and first accumulator Between 201, and the isolation control of the control signal input connection described control unit 10 of first safety isolating valve 207 End；Second safety isolating valve 208 setting the described second passive rodless cavity hydraulic fluid port 2051 and second accumulator 202 it Between, and the isolated controlling end of the control signal input connection described control unit 10 of second safety isolating valve 208.
In embodiments of the present invention, first safety isolating valve 207 and second safety isolating valve 208 are added, when When the first passive piston rod 2042 and the second passive piston rod 2052 lose load suddenly, described control unit 10 The corresponding signal that controls of isolated controlling end output is to first safety isolating valve 207 and second safety isolating valve 208, institute It states the first safety isolating valve 207 and second safety isolating valve 208 to close, separates first accumulator 201 and described the One by between hydraulic cylinder 204 oil circuit and second accumulator 202 and described second by hydraulic cylinder 205 it Between oil circuit, i.e., described first accumulator 201 can not be pressed into hydraulic oil by hydraulic cylinder 204 to described first again, described the Two accumulators 202 can not be pressed into hydraulic oil by hydraulic cylinder 205 to described second again, can be effectively prevented 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 safety and reliability of the wave compensating device.
Preferably, the passive compensating unit 20 further includes work gas cylinder electrically-controlled valve 209 and work gas cylinder exhaust valve 210； Described control unit 10 also has second exhaust control terminal；
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 exhaust valve 210, the control letter of the work gas cylinder electrically-controlled valve 209 The second exhaust control terminal of number input terminal connection described control unit 10.
In embodiments of the present invention, the work gas cylinder electrically-controlled valve 209 and work gas cylinder exhaust valve 210 are for when needed By the gas discharge in the high-pressure work gas cylinder 203, such as when the wave compensating device power cut-off, to avoid the height The high pressure gas in work gas cylinder 203 is pressed to cause peril.Specifically, when needs will be in the high-pressure work gas cylinder 203 When gas is discharged, the corresponding control signal of second exhaust control terminal 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 control the work gas cylinder exhaust valve 210 and open, thus 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 exhaust valve 210 and above by filling Exhausting loop in gas control unit 50 can be vented, but their difference is, pass through 209 He of work gas cylinder electrically-controlled valve The exhaust of work gas cylinder exhaust valve 210 is more accurate, and is vented by the exhausting loop in ventilating control unit 50 more thick Slightly.
Preferably, the sensor unit 40 includes the piston position information for acquiring first accumulator 201 First position sensor 401, piston position information for acquiring second accumulator 202 second position sensor 402, For acquiring described first by the third place sensor 403 of the piston position information of hydraulic cylinder 204, described for acquiring Second by the 4th position sensor 404 of the piston position information of hydraulic cylinder 205, for acquiring the active hydraulic cylinder 5th position sensor 405 of 301 piston position information, the motion reference units being displaced for acquiring the heave of drill ship The hook displacement sensor (not shown) of (not shown), heave displacement for acquiring the hook 60, for acquiring described the One by hydraulic cylinder and described second by the passive oil pressure sensor 406 of the oil pressure of hydraulic cylinder, for acquiring the master The active oil pressure sensor 407 of the oil pressure of hydraulic cylinder 301, for acquiring working gas in the passive compensating unit 20 The air pressure sensor 408 of pressure, and the tension sensor (not shown) for acquiring dead line end tension.
In embodiments of the present invention, the piston of first accumulator 201 is arranged in the first position sensor 401 On；The second position sensor 402 is arranged on the piston of second accumulator 202；The third place sensor 403 It is arranged in described first by the piston of hydraulic cylinder 204；4th position sensor 404 setting is passive described second On the piston of hydraulic cylinder 205；5th position sensor 405 is arranged on the piston of the active hydraulic cylinder 301；Institute It states motion reference units to be arranged on the hull of the drill ship, the heave for acquiring the drill ship is displaced, i.e., the described brill Absolute displacement of the corresponding position of well ship relative to seabed；The hook displacement sensor is arranged on the hook 60, is used for Acquire the heave displacement of the hook 60, i.e., the absolute displacement of corresponding position of the described hook 60 relative to the drill ship；Institute Passive oil pressure sensor 406 is stated for acquiring by the oil pressure of the hydraulic oil in hydraulic cylinder, can be set 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), it illustrate only in figure and be arranged in 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 acquire the oil pressure of the hydraulic oil in the active hydraulic cylinder 301, can set The oil port (rod chamber hydraulic fluid port or rodless cavity hydraulic fluid port) in the active hydraulic cylinder 301 is set, illustrate only and set in figure The case where setting at the first active rodless cavity hydraulic fluid port 3012；The air pressure sensor 408 is described for acquiring The pressure of working gas, can be set at the gas inlet and outlet of the high-pressure work gas cylinder 203 in passive compensating unit 20； The tension sensor is arranged at the dead line end, for acquiring the tension at the dead line end.Above-mentioned each sensor is real-time Corresponding data are acquired, and feed back to described control unit 10.
It should be noted that described control unit 10 can be according to the data that the first position sensor 401 acquires certainly It is dynamic and accurately adjust the piston of first accumulator 201 to the middle position of stroke, it is similar, it can be respectively according to institute State second position sensor 402, the third place sensor 403, the 4th position sensor 404, the acquisition of the 5th position sensor 405 Data it is automatic and accurately by second accumulator 202, described first by hydraulic cylinder 204, described second by hydrodynamic Compressing cylinder 205, the active hydraulic cylinder 301 piston adjust to the middle position of stroke, adjustment process is not necessarily to 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 that the motion reference units acquire Heave displacement obtains the heave velocity of the drill ship, and heaves data acquisition in conjunction with the heave displacement and the history prestored The heave trend of the drill ship, so it is actively pre- according to 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 oil-filled for the rod chamber of the active hydraulic cylinder 301, so compensate the hook 60 by because The heave displacement that wave effect generates.
In addition, the heave for the hook 60 that described control unit 10 can also be acquired according to the hook displacement sensor 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 cylinder 301 acquired by the oil pressure of hydraulic cylinder, the active oil pressure sensor 407 that device 406 acquires Oil pressure and the dead line end tension of tension sensor acquisition obtain bit pressure, and become according to the heave of the hook 60 Gesture obtain bit pressure variation tendency, and then according to the heave displacement of the hook 60, heave velocity and heave trend, the bit pressure and The bit pressure 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 cylinder 301, and then is further compensate for the hook The 60 heave displacements generated by wave effect.
Preferably, described control unit 10 also has the 9th oil-feeding control end；The active oil-feeding control module also has Third controlled end, the 9th oil-feeding control end of the third controlled end connection described control unit 10；
The active oil-feeding control module 302 further includes that the 5th pressure adjustment relief valve 3021, the 5th filter 3022, electromagnetism change To valve 3025, the first logic core 3026 and the second logic core 3027；
The oil inlet of 5th pressure adjustment relief valve 3021 connects the oil inlet of the active oil-feeding control module 302, institute The oil outlet 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 outlet of 5th filter 3022 connects the first oil inlet and the electricity of the proportional reversing valve 3024 First oil inlet of magnetic reversal valve 3025；
Second oil inlet of the solenoid directional control valve 3025 connects the oil inlet of the 6th filter 3023, the electromagnetism The oil outlet 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 connect the third controlled end of the active oil-feeding control module；
First hydraulic fluid port of first logic core 3026 connects the first oil outlet of the active oil-feeding control module, 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 outlet 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.
It should be noted that in Fig. 2, the first fuel-displaced of the active oil-feeding control module 302 is indicated with two A labels Mouth is connected with the active rod chamber hydraulic fluid port of the active hydraulic cylinder 301, indicates the active oil-feeding control mould with two B labels Second oil outlet of block 302 is connected with the active rodless cavity hydraulic fluid port of the active hydraulic cylinder 301.
It should be noted that the active oil-feeding control module 302 is used for control oil pump 70 and the active hydraulic cylinder The connection and partition of fuel feeding access between 301, can have a variety of structures, for example, shaped like the above-mentioned first passive oil-feeding control Module, the first oil outlet of electro-hydraulic reversing valve connect the first oil outlet of the active oil-feeding control module 302, i.e., described in connection Second oil outlet of the rod chamber hydraulic fluid port of active hydraulic cylinder 301, the electro-hydraulic reversing valve connects the active oil-feeding control mould Second oil outlet of block 302, that is, connect the rodless cavity hydraulic fluid port of the active hydraulic cylinder 301, described in the reference of other connection relationships The structure of first passive oil-feeding control module, is not added herein and repeats, but in said structure, described under wave effect Active hydraulic cylinder 301 always have compensation function, however, sometimes user be not intended to the active hydraulic cylinder 301 into The operation of row Active Compensation.
Therefore, in embodiments of the present invention, the active oil-feeding control module 302 has suspension/compensation handoff functionality, That is, the control that the active oil-feeding control module 302 can be exported according to the 9th oil-feeding control end of described control unit 10 is believed Whether whether the active piston bar 3013 of number control active hydraulic cylinder 301 follows the hook 60 to move, i.e., can be into The operation of row Active Compensation.Present embodiment can control the working condition of the Active Compensation unit 30 according to user demand, rich The rich function of wave compensating device, can better meet user demand.
In embodiments of the present invention, the 5th pressure adjustment relief valve 3021 is for limiting oil pressure, to prevent from supplying the master The oil pressure of the hydraulic oil of dynamic compensating unit 30 is excessively high；Specifically, the 5th pressure adjustment relief valve 3021 has the 5th default oil pressure Threshold value, when the oil pressure for the hydraulic oil that the oil inlet of the 5th pressure adjustment relief valve 3021 flows into is higher than the described 5th default oil pressure threshold When value, the oil inlet of the 5th pressure adjustment relief valve 3021 is connected to 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 out the impurity particle in the hydraulic oil.The proportional reversing valve 3024, which is that 3-position 4-way is electro-hydraulic, to be changed To valve, the proportional reversing valve 3024 have first control signal input terminal, second control signal input terminal, the first oil inlet, Second oil inlet, the first oil outlet and the second oil outlet, when the first control signal input terminal has corresponding control signal defeated Fashionable, first oil outlet is connected to second oil inlet, and second oil outlet is connected to first oil inlet, when When the second control signal input terminal has corresponding control signal input, first oil outlet and first oil inlet connect Logical, second oil outlet is connected to 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 outlet, when the control signal input of the solenoid directional control valve 3025 has corresponding control When signal inputs, first oil inlet is connected to the oil outlet, when the control signal of the solenoid directional control valve 3025 inputs When end is without control signal input accordingly, second oil inlet is connected to the oil outlet.First logic core 3026 With the first hydraulic fluid port, the second hydraulic fluid port and control port, when the control port do not have hydraulic oil input or its input it is hydraulic When the oil pressure of oil is lower than preset oil pressure, first hydraulic fluid port is connected to second hydraulic fluid port, when control port input When the oil pressure of hydraulic oil is higher than the preset oil pressure, first hydraulic fluid port and second hydraulic fluid port partition, that is, one Snap switch, the structure and function of second logic core 3027 and first logic core 3026 are all the same, are not added herein superfluous It states.
The working principle of the active oil-feeding control module 302 in the present embodiment will be described below:
When the corresponding control signal of the 9th oil-feeding control end of described control unit 10 output to the solenoid directional control valve 3025 control signal input, the high pressure liquid pressure oil that the oil pump 70 exports can not 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 connection of the second hydraulic fluid port, institute The first hydraulic fluid port and the connection of the second hydraulic fluid port, that is, the active for being equivalent to the active hydraulic cylinder 301 for stating the second logic core 3027 have Rod cavity hydraulic fluid port 3011 is connected to active rodless cavity hydraulic fluid port 3012, and the both ends of the piston of the active hydraulic cylinder 301 always will not Pressure difference is generated, therefore, the active piston bar 3013 will be followed to be moved with the hook 60, that is, the active piston bar 3013 can not apply active force, no active compensating operation to the hook 60；When the 9th oil-feeding control of described control unit 10 When holding without exporting control signal input of the corresponding control signal to the solenoid directional control valve 3025, the oil pump 70 is exported High pressure liquid pressure oil 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 partition of the second hydraulic fluid port of the first logic core 3026, the first hydraulic fluid port of second logic core 3027 and the second oil Mouth partition, i.e., the active rod chamber hydraulic fluid port 3011 of the described active hydraulic cylinder 301 are not connected to active rodless cavity hydraulic fluid port 3012, institute The both ends for stating the piston of active hydraulic cylinder 301 can generate corresponding pressure difference in the respective cases, therefore, described big When hook 60 generates heave movement, that is, the active piston bar 3013 can apply corresponding active force to the hook 60, exist Active Compensation operation.
Specifically, the working condition of the Active Compensation unit 30 is divided into four kinds, is respectively as follows: the active piston bar 3013 The hook 60 is followed to move upwards, the active piston bar 3013 follows the hook 60 to move downward, the active piston Bar 3013 moves upwards under the control of described control unit 10, so that the hook 60 be driven to move upwards and the master Piston bar 3013 moves downward under the control of described control unit 10, so that the hook 60 be driven to move downward.Below Their course of work will be described in detail respectively.
One, 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 when the active piston bar 3013 follows the hook 60 to move upwards, the active Hydraulic oil in the rodless cavity of hydraulic cylinder 301 is forced out, the hydraulic oil being forced out by first logic core 3026 the One hydraulic fluid port is flowed out from the second hydraulic fluid port of first logic core 3026, and a part is filtered through the 6th filter 3023 downwards After flow back to fuel tank 100, another part is successively described in the second hydraulic fluid port Jing Guo second logic core 3027 and the first hydraulic fluid port flow direction In the rod chamber of active hydraulic cylinder 301, in the process, in the rod chamber and rodless cavity of the active hydraulic cylinder 301 Hydraulic oil is lubricating action.
Two, 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 when the active piston bar 3013 follows the hook 60 to move downward, the active Hydraulic oil in the rod chamber of hydraulic cylinder 301 is forced out, the hydraulic oil being forced out by second logic core 3027 the One hydraulic fluid port flows to the second hydraulic fluid port of first logic core 3026, Jin Ercong from the second hydraulic fluid port of second logic core 3027 First hydraulic fluid port of first logic core 3026 flows out in the rodless cavity of the active hydraulic cylinder 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 out of, the first hydraulic fluid port of first logic core 3026 flows out to the active hydraulic cylinder 301 rodless cavity, herein In the process, the hydraulic oil in the rod chamber and rodless cavity of the active hydraulic cylinder 301 is also lubricating action.
Three, the active piston bar 3013 moves downward under the control of described control unit 10, to drive described big Hook 60 moves downward.
When described control unit 10 detects that the hook 60 moves upwards, the 9th fuel feeding control of described control unit 10 The output corresponding control signal input for controlling signal to the solenoid directional control valve 3025 in end processed, and its second oil-feeding control end The corresponding second control signal input terminal for controlling signal to the proportional reversing valve 3024 of output, the first of the oil pump 70 go out Hydraulic fluid port flows out high pressure liquid pressure oil, after the 5th pressure adjustment relief valve 3021 and the 5th filter 3022, a part of high pressure liquid Pressure oil flow to first logic core 3026 and described using the first oil inlet and oil outlet of the solenoid directional control valve 3025 The control port of second logic core 3027, so that the first hydraulic fluid port of first logic core 3026 and the partition of the second hydraulic fluid port, described First hydraulic fluid port of the second logic core 3027 and the partition of the second hydraulic fluid port, i.e., the active rod chamber hydraulic fluid port of the described active hydraulic cylinder 301 3011 are not connected to active rodless cavity hydraulic fluid port 3012.Another part using the proportional reversing valve 3024 the first oil inlet, It is the master out of, the first oil outlet of the proportional reversing valve 3024 flows out to the active hydraulic cylinder 301 rodless cavity The rodless cavity of hydraulic cylinder 301 is oil-filled, and the active piston bar 3013 of the active hydraulic cylinder 301 moves downward, thus band It moves the hook 60 to move downward, to compensate the rising displacement that the hook 60 is generated by wave effect.Also, work as the active When piston rod 3013 moves downward, the hydraulic oil in the rod chamber of the active hydraulic cylinder 301 is forced out, and what is be forced out is hydraulic Oil flows into 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 outlet for stating proportional reversing valve 3024 flows out in the rodless cavity of the active hydraulic cylinder 301, for the active The rodless cavity of hydraulic cylinder 301 supplements hydraulic oil, since the hydraulic oil that the rod chamber of the active hydraulic cylinder 301 flows out is direct For high pressure liquid pressure oil, therefore, the hydraulic oil that can be flowed out with the rod chamber of the active hydraulic cylinder 301 is that the active is hydraulic The rodless cavity supplement section hydraulic oil of oil cylinder 301, can reduce the oil pump 70 in this way and need for the active hydraulic cylinder 301 Rodless cavity provide high pressure liquid pressure oil, that is, reduce the workload of oil pump 70, effectively saved the energy.
Four, the active piston bar 3013 moves upwards under the control of described control unit 10, to drive described big Hook 60 moves upwards.
When described control unit 10 detects that the hook 60 moves downward, the 9th fuel feeding control of described control unit 10 The output corresponding control signal input for controlling signal to the solenoid directional control valve 3025 in end processed, and its first oil-feeding control end The corresponding first control signal input terminal for controlling signal to the proportional reversing valve 3024 of output, the first of the oil pump 70 go out The high pressure liquid pressure oil of hydraulic fluid port outflow, after the 5th pressure adjustment relief valve 3021 and the 5th filter 3022, a part of high pressure First oil inlet and oil outlet of the hydraulic oil Jing Guo the solenoid directional control valve 3025 flow to first logic core 3026 and described The control port of second logic core 3027, so that the first hydraulic fluid port of first logic core 3026 and the partition of the second hydraulic fluid port, described First hydraulic fluid port of the second logic core 3027 and the partition of the second hydraulic fluid port, i.e., the active rod chamber hydraulic fluid port of the described active hydraulic cylinder 301 3011 are not connected to active rodless cavity hydraulic fluid port 3012.Another part high pressure liquid pressure oil is using the of the proportional reversing valve 3024 One oil inlet is flowed out from the second oil outlet of the proportional reversing valve 3024, and then passes through the first one-way conduction valve 3028 It is that the rod chamber of the active hydraulic cylinder 301 is oil-filled in the rod chamber for flowing to the active hydraulic cylinder 301 afterwards, the master The active piston bar 3013 of hydraulic cylinder 301 moves upwards, so that the hook 60 is driven to move upwards, it is described big to compensate The sinking displacement that hook 60 is generated by wave effect, also, when the active piston bar 3013 moves upwards, the active is hydraulic 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 flows into, and then flows out from the second oil inlet of the proportional reversing valve 3024, flows back to after the 6th filter 3023 Fuel tank 100.
Preferably, described control unit 10 includes microcontroller 101, interchanger 102 and PLC controller 103；The micro-control Device 101 processed connects the interchanger 102 by way of fieldbus, and the interchanger 102 passes through the side of the fieldbus Formula connects the PLC controller 103.
In embodiments of the present invention, the microcontroller 101 be used to parse the data that the sensor unit 40 acquires with And generate corresponding control instruction, forwarding of the interchanger 102 for realizing data and control instruction, the PLC controller 103 for realizing data format conversion.It is understood that when it is implemented, in physical form, by described control unit PLC controller in 10 in device respective valves and respective sensor be electrically connected.
Wave compensating device provided in an embodiment of the present invention passes through setting control unit 10, passive compensating unit 20, active Compensating unit 30 and sensor unit 40；Passively first in compensating unit 20 is by hydraulic cylinder 204 and second by hydrodynamic pressure Oil cylinder 205 is symmetricly set on the both 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 cylinder 301 and active oil-feeding control module 302 that are connected to hook 60； Active oil-feeding control module 302 includes the first oil outlet, the second oil outlet, the first controlled end, the second controlled end and for connecting The oil inlet of first oil outlet of oil pump, the first oil outlet connect the active rod chamber hydraulic fluid port 3011 of active hydraulic cylinder 301, the Two oil outlets connect the active rodless cavity hydraulic fluid port 3012 of active hydraulic cylinder 301, and the first controlled end connects the of control unit 10 One oil-feeding control end, the second controlled end connect the second oil-feeding control end of control unit 10.As it can be seen that the present invention combines passive compensation And Active Compensation, compensation precision is improved, the investment of power source is reduced, so as to better adapt to sea situation badly and bore The big deep sea drilling operation of column load.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art For, without departing from the principle of the present invention, several improvement and deformations can also be made, these improvement and deformations are also considered as Protection scope of the present invention.

Claims (10)

1. a kind of wave compensating device, which is characterized in that including control unit, passive compensating unit, Active Compensation unit and biography Sensor cell；
Described control unit has data collection terminal, the first oil-feeding control end and the second oil-feeding control end；
The sensor unit has data output end；The data collection terminal of the data output end connection 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 Both ends first by hydraulic cylinder and second by hydraulic cylinder；Described first has the first passive nothing by hydraulic cylinder First passive piston rod of rod cavity hydraulic fluid port and one end for connecting the hook, described second has second by hydraulic cylinder Second passive piston rod of passive rodless cavity hydraulic fluid port and the other end for connecting the hook；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 is logical 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 cylinder for being connected to the hook and for control oil pump and described The active oil-feeding control module of connection and the partition of fuel feeding access between active hydraulic cylinder；The active hydraulic cylinder 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 have the first controlled end, the second controlled end, the first oil outlet, the second oil outlet and for connecting the oil pump the The oil inlet of one oil outlet；The active rod chamber hydraulic fluid port connects first oil outlet, the active rodless cavity hydraulic fluid port connection Second oil outlet, the first oil-feeding control end of the first controlled end connection described control unit, second controlled end Connect the second oil-feeding control end of described control unit；
The active oil-feeding control module include the 6th filter, proportional reversing valve, solenoid directional control valve, the first one-way conduction valve and Second one-way conduction valve；
First oil inlet of the proportional reversing valve connects the oil inlet of the active oil-feeding control module, the proportional reversing valve The second oil inlet connect the oil inlet of the 6th filter, the first oil outlet of the proportional reversing valve connects the active Second oil outlet of the first oil outlet of oil-feeding control module, the proportional reversing valve is connected by the first one-way conduction valve Second oil outlet of the active oil-feeding control module, it is unidirectional that the first oil inlet of the proportional reversing valve also passes through described second Conducting valve connects the second oil outlet of the active oil-feeding control module, the first control signal input terminal of the proportional reversing valve The first controlled end of the active oil-feeding control module is connected, the second control signal input terminal of the proportional reversing valve connects institute State the second controlled end of active oil-feeding control module；
The oil outlet of 6th filter is for connecting fuel tank.
2. wave compensating device as described in claim 1, which is characterized in that the wave compensating device further 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, third control air valve, the first electrically-controlled valve, the first pneumatic actuator, working gas conducting valve, working gas pressure regulator valve and For connecting total air inlet of the gas outlet of air compressor machine；First pneumatic actuator is for controlling 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 second control air valve；The low pressure gas of the control gas pressure regulating valve Body outlet 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 described Third 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；It is single that the control signal input of first electrically-controlled valve connects the control The ventilating control end of member.
3. wave compensating device as claimed in claim 2, which is characterized in that the ventilating control unit further includes the 4th control Air valve, the second electrically-controlled valve, the second pneumatic actuator and work exhaust valve；Described control unit also has first exhaust control terminal； Second pneumatic actuator is used to control the opening and closing of the work exhaust valve；
The air inlet of the work exhaust valve connects the air inlet of the working gas conducting valve；The gas of the low voltage control gas cylinder Body inlet and outlet also connect the air inlet of second electrically-controlled valve, the outlet of second electrically-controlled valve by the 4th control air valve Mouth passes through second pneumatic actuator and connects the work exhaust valve；The control signal input of second electrically-controlled valve connects The first exhaust control terminal of described control unit.
4. wave compensating device as described in claim 1, which is characterized in that the passive compensating unit further includes first 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, first filter, second Filter and the first electro-hydraulic reversing valve；Described control unit also has third 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 outlet of the oil pump, first pressure adjustment relief valve Oil outlet connect the oil inlet of the first filter, the oil return opening connection of first pressure adjustment relief valve second filtering The oil inlet of device；The oil outlet of second filter is for connecting fuel tank；The oil inlet of second pressure adjustment relief valve is used for The third oil outlet of oil pump is connected, the oil outlet of second pressure adjustment relief valve connects the oil inlet of the first filter, institute The oil return opening for stating the second pressure adjustment relief valve connects the oil inlet of second filter；The oil outlet of the first filter connects The oil inlet of first electro-hydraulic reversing valve；The first oil outlet connection described first of first electro-hydraulic reversing valve is passively without bar Second oil outlet of chamber hydraulic fluid port, first electro-hydraulic reversing valve connects the second passive rodless cavity hydraulic fluid port, and described first is electro-hydraulic The third oil-feeding control end of the first control signal input terminal connection described control unit of reversal valve, first electro-hydraulic reversing valve Second control signal input terminal connection described control unit the 4th oil-feeding control end.
5. wave compensating device as described in claim 1, which is characterized in that described first also has first by hydraulic cylinder Passive rod chamber hydraulic fluid port, described second is also had the second passive rod chamber hydraulic fluid port by hydraulic cylinder；
The passive compensating unit further 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, third filter, the 4th filter, the second electro-hydraulic reversing valve and third is electro-hydraulic changes 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 terminal；
The oil inlet of the third pressure adjustment relief valve is used to connect the second oil outlet of oil pump, and the third pressure adjustment relief valve goes out Hydraulic fluid port connects the oil inlet of the third filter, and the oil return opening of the third pressure adjustment relief valve connects the 4th filter Oil inlet；The oil inlet of 4th pressure adjustment relief valve is used to connect the third oil outlet of oil pump, the 4th pressure adjustment relief valve Oil outlet connect the oil inlet of the third filter, the oil return opening connection of the 4th pressure adjustment relief valve the 4th filtering The oil inlet of device；The oil outlet of 4th filter is for connecting fuel tank；Described in the oil outlet connection of the third filter The oil inlet of the oil inlet of second electro-hydraulic reversing valve and the third 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 outlet connection described first of second electro-hydraulic reversing valve is passive Rod chamber hydraulic fluid port, the 5th fuel feeding control of the first control signal input terminal connection described control unit of second electro-hydraulic reversing valve End processed, the 6th oil-feeding control end of the second control signal input terminal connection described control unit of second electro-hydraulic reversing valve； First oil outlet of the third electro-hydraulic reversing valve connects the second passive rodless cavity hydraulic fluid port, the third electro-hydraulic reversing valve Second oil outlet connects the second passive rod chamber hydraulic fluid port, and the first control signal input terminal of the third electro-hydraulic reversing valve connects The 7th oil-feeding control end of described control unit is connect, described in the second control signal input terminal connection of the third electro-hydraulic reversing valve 8th oil-feeding control end of control unit.
6. wave compensating device as described in claim 1, which is characterized in that the passive compensating unit further 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 isolated controlling end of the control signal input connection described control unit of first safety isolating valve；Second safety isolating valve It is arranged between the described second passive rodless cavity hydraulic fluid port and second accumulator, and the control letter of second safety isolating valve The isolated controlling end of number input terminal connection described control unit.
7. wave compensating device as described in claim 1, which is characterized in that the passive compensating unit further includes work gas cylinder Electrically-controlled valve and work gas cylinder exhaust valve；Described control unit also has second exhaust control terminal；
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 exhaust valve, the control signal input of the work gas cylinder electrically-controlled valve connects the control The second exhaust control terminal of unit.
8. wave compensating device as described in claim 1, which is characterized in that the sensor unit includes described for acquiring The first position sensor of the piston position information of first accumulator, the piston position information for acquiring second accumulator Second position sensor, for acquire described first by the third place sensor of the piston position information of hydraulic cylinder, For acquiring described second by the 4th position sensor of the piston position information of hydraulic cylinder, for acquiring the active liquid 5th position sensor of the piston position information of compressing cylinder, for acquire drill ship heave displacement motion reference units, For acquiring the hook displacement sensor of the heave displacement of the hook, for acquiring described first by hydraulic cylinder and described Second by the passive oil pressure sensor of the oil pressure of hydraulic cylinder, the active oil of oil pressure for acquiring the active hydraulic cylinder Pressure sensor and tension sensor for acquiring dead line end tension.
9. wave compensating device as described in claim 1, which is characterized in that described control unit also has the 9th oil-feeding control End；The active oil-feeding control module also has third controlled end, and the third controlled end connects the 9th of described control unit Oil-feeding control end；
The active oil-feeding control module further includes the 5th pressure adjustment relief valve, the 5th filter, solenoid directional control valve, the first logic core With the second logic core；
The oil inlet of 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 outlet of stream 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 outlet of 5th filter connect the proportional reversing valve the first oil inlet and the solenoid directional control valve One oil inlet；
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 Mouth connects the control port of first logic core and the control port of second logic core, the control of the solenoid directional control valve Signal input part connects the third controlled end of the active oil-feeding control module；
First hydraulic fluid port of first logic core connects the first oil outlet of the active oil-feeding control module, 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 outlet of the active oil-feeding control module, second logic Second hydraulic fluid port of core connects the oil inlet of the 6th filter.
10. wave compensating device as described in any one of claim 1 to 9, which is characterized in that described control unit includes micro-control Device, interchanger and PLC controller processed；The microcontroller connects the interchanger, the exchange by way of fieldbus Machine connects the PLC controller by way of the fieldbus.
CN201710109422.6A 2017-02-27 2017-02-27 Wave compensating device Active CN106744308B (en)

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