CN107720551B - Lifting point heave compensation system and compensation method - Google Patents
Lifting point heave compensation system and compensation method Download PDFInfo
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- CN107720551B CN107720551B CN201710760954.6A CN201710760954A CN107720551B CN 107720551 B CN107720551 B CN 107720551B CN 201710760954 A CN201710760954 A CN 201710760954A CN 107720551 B CN107720551 B CN 107720551B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
Abstract
The invention discloses a lifting point heave compensation system and a compensation method, and belongs to the field of marine machinery. The compensation system comprises a lifting point detection module, a control module and a control module, wherein the lifting point detection module is used for acquiring the relative position relation between a lifting point and the center of gravity of a ship body; the motion detection module is used for acquiring motion parameters of the center of gravity of the ship body; the processing module is used for calculating the movement speed of the lifting point in the heave direction according to the movement parameters of the center of gravity of the ship body and the relative position relation between the lifting point and the center of gravity of the ship body; the control module is used for controlling the crane to receive and release the steel wire rope according to the movement speed of the lifting point in the heaving direction, and calculating the movement speed of the lifting point in the heaving direction according to the movement parameter of the center of gravity of the ship body and the movement parameter of the center of gravity of the ship body by acquiring the relative position relation between the lifting point and the center of gravity of the ship body and the movement parameter of the center of gravity of the ship body, so that the crane can be controlled to receive and release the steel wire rope according to the movement speed of the lifting point in the heaving direction, the amplitude of the goods fluctuating along with the wind waves is reduced.
Description
Technical Field
The invention relates to the field of marine machinery, in particular to a lifting point heave compensation system and a compensation method.
Background
The crane is an indispensable device in the ocean operation process. The crane is usually placed on the deck of the hull, and the hull may be stopped at the sea surface during marine operations.
As the marine environment is complex and changeable, the ship body can fluctuate along with sea waves in the marine operation process. When the sea stormy waves are large, the ship body can be seriously shaken, so that goods hung on the crane can fluctuate and swing together, the efficiency of hoisting the goods can be reduced, and certain danger can be caused.
In order to reduce the amplitude of fluctuation and swing of the cargo, a hoisting point (a part connected between a hoisted object and a hoisted object in hoisting operation) heave compensation system is usually arranged on the existing ship, and the hoisting point heave compensation system can control the steel wire rope of the crane to be wound and unwound along with the fluctuation of the waves, so that the tension on the steel wire rope is reduced, and the cargo is maintained at a certain fixed position and does not fluctuate along with the waves. However, the existing suspension point heave compensation system has a complex structure and is expensive to manufacture.
Disclosure of Invention
In order to solve the problem that the structure of the conventional hoisting point heave compensation system is complex, the embodiment of the invention provides a hoisting point heave compensation system and a compensation method. The technical scheme is as follows:
in one aspect, an embodiment of the present invention provides a suspension point heave compensation system, where the compensation system includes:
the lifting point detection module is used for acquiring the relative position relation between a lifting point and the center of gravity of the ship body;
the motion detection module is used for acquiring motion parameters of the center of gravity of the ship body;
the processing module is used for calculating the movement speed of the lifting point in the heave direction according to the movement parameters of the center of gravity of the ship body and the relative position relation between the lifting point and the center of gravity of the ship body;
the control module is used for controlling the crane to receive and release the steel wire rope according to the movement speed of the lifting point in the heave direction;
the storage unit is used for storing the relative position relation between the tower body of the crane and the gravity center of the ship body, the height of the tower body and the lengths of the main arm and the folding arm;
the angle detection unit is used for acquiring a tower body corner, a main arm corner and a folding arm corner;
a conversion unit, configured to obtain a relative position relationship between the hoisting point and the gravity center of the hull according to a relative position relationship between a tower body of the crane and the gravity center of the hull, a height of the tower body, a length of the main arm, a length of the knuckle, a tower body rotation angle, a main arm rotation angle, and a knuckle rotation angle, where the tower body rotation angle is an angle that the tower body of the crane has rotated relative to an initial position, the main arm rotation angle is an included angle between the main arm of the crane and a rotation axis of the tower body, and the knuckle rotation angle is an included angle between the knuckle of the crane and the main arm,
the relative position relationship between the tower body of the crane and the gravity center of the ship body is included in a space coordinate system with the gravity center of the ship body as an original point, and the distance x between the tower body of the crane and the original point in the direction parallel to the direction that the stern points to the bow1The distance y between the tower body of the crane and the original point in the direction perpendicular to the stern and pointing to the bow and parallel to the deck1And the distance z between the tower body of the crane and the origin in the direction perpendicular to the deck1，
The moving speed V of the suspension point in the heave directionbThe following equation is satisfied:
x2＝x1+L2sinθ1sinθ2+L3sinθ1sin(θ2+θ3)
y2＝y1+L2cosθ1sinθ2+L3cosθ1sin(θ2+θ3)
z2＝z1+L1+L2cosθ2+L3cos(θ2+θ3)
wherein x is2、y2、z2Is the relative position relationship between the lifting point and the center of gravity of the ship body, theta1Is the angle of rotation of the tower body, theta2Is the angle of rotation of the main arm, theta3Is a corner of a folding arm, L1Is the height L of the tower body2Is the length, L, of the main arm3Is the length of the folding arm, thetaxIs the roll angle, theta, of the hullyIs the pitch angle, V, of the hullzThe speed, ω, of the hull in the heave directionxIs the roll angular velocity, omega, of the hullyIs the pitch angular velocity of the hull,
the control of the crane to receive and release the steel wire rope according to the movement speed of the lifting point in the heave direction comprises the following steps:
controlling the crane to rotate at a speed VaThe steel wire rope is wound and unwound,
wherein, VaThe following equation is satisfied:
Va＝nVb，
Vbn is a constant and is the moving speed of the lifting point in the heave direction.
Preferably, the angle detection unit includes a first angle sensor, a second angle sensor, and a third angle sensor, the first angle sensor is configured to acquire the tower rotation angle, the second angle sensor is configured to acquire the main arm rotation angle, and the third angle sensor is configured to acquire the knuckle arm rotation angle.
Further, the first angle sensor, the second angle sensor and the third angle sensor are all single-turn encoders.
Preferably, the motion detection module comprises a motion reference unit.
Preferably, the motion parameters of the center of gravity of the ship body at least comprise the roll angle of the ship body, the pitch angle of the ship body and the speed of the ship body in the heave direction.
On the other hand, the embodiment of the invention also provides a lifting point heave compensation method, which comprises the following steps:
acquiring the relative position relation between a hanging point and the gravity center of the ship body;
acquiring motion parameters of the center of gravity of the ship body;
calculating the movement speed of the lifting point in the heave direction according to the movement parameters of the center of gravity of the ship body and the relative position relation between the lifting point and the center of gravity of the ship body;
controlling the crane to receive and release the steel wire rope according to the movement speed of the lifting point in the heave direction,
the relative position relation of the hoisting point and the gravity center of the ship body is obtained, and the method comprises the following steps:
acquiring the relative position relation between a tower body of the crane and the gravity center of the ship body, the height of the tower body and the lengths of the main arm and the folding arm;
acquiring a tower body corner, a main arm corner and a folding arm corner;
obtaining the relative position relation between the hoisting point and the gravity center of the ship body according to the relative position relation between the tower body of the crane and the gravity center of the ship body, the corner of the tower body, the corner of the main arm and the corner of the folding arm;
wherein the tower body corner is an angle rotated by the tower body of the crane relative to an initial position, the main arm corner is an included angle between a main arm of the crane and a rotation axis of the tower body, the folded arm corner is an included angle between a folded arm of the crane and the main arm,
the relative position relationship between the tower body of the crane and the gravity center of the ship body is included in a space coordinate system with the gravity center of the ship body as an original point, and the distance x between the tower body of the crane and the original point in the direction parallel to the direction that the stern points to the bow1The distance y between the tower body of the crane and the original point in the direction perpendicular to the stern and pointing to the bow and parallel to the deck1And the distance z between the tower body of the crane and the origin in the direction perpendicular to the deck1，
The moving speed V of the suspension point in the heave directionbThe following equation is satisfied:
x2＝x1+L2sinθ1sinθ2+L3sinθ1sin(θ2+θ3)
y2＝y1+L2cosθ1sinθ2+L3cosθ1sin(θ2+θ3)
z2＝z1+L1+L2cosθ2+L3cos(θ2+θ3)
wherein x is2、y2、z2Is the lifting point and the ship bodyRelative positional relationship of center of gravity, θ1Is the angle of rotation of the tower body, theta2Is the angle of rotation of the main arm, theta3Is a corner of a folding arm, L1Is the height L of the tower body2Is the length, L, of the main arm3Is the length of the folding arm, thetaxIs the roll angle, theta, of the hullyIs the pitch angle, V, of the hullzThe speed, ω, of the hull in the heave directionxIs the roll angular velocity, omega, of the hullyIs the pitch angular velocity of the hull,
the control of the crane to receive and release the steel wire rope according to the movement speed of the lifting point in the heave direction comprises the following steps:
controlling the crane to rotate at a speed VaThe steel wire rope is wound and unwound,
wherein, VaThe following equation is satisfied:
Va＝nVb，
Vbn is a constant and is the moving speed of the lifting point in the heave direction.
Preferably, the motion parameters of the gravity center of the ship body at least comprise a roll angle of the ship body, a pitch angle of the ship body, a speed of the ship body in a heave direction, a roll angular speed of the ship body and a pitch angular speed of the ship body.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: the relative position relation between the lifting point and the gravity center of the ship body and the motion parameter of the gravity center of the ship body are obtained, so that the motion speed of the lifting point in the heave direction is calculated according to the motion parameter of the gravity center of the ship body and the relative position relation between the lifting point and the gravity center of the ship body, the crane can be controlled to release and release the steel wire rope according to the motion speed of the lifting point in the heave direction, the amplitude of fluctuation of goods along with wind waves is reduced, the structure is simple, and the realization is easy.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a suspension point heave compensation system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a hoisting point detection module according to an embodiment of the present invention;
FIG. 3 is a side view of a hull provided by an embodiment of the present invention;
FIG. 4 is a top view of a hull provided by an embodiment of the present invention;
fig. 5 is a flowchart of a suspension point heave compensation method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a suspension point heave compensation system according to an embodiment of the present invention, and as shown in fig. 1, the compensation system includes a suspension point detection module 10, a motion detection module 20, a processing module 30 and a control module 40, where the suspension point detection module 10 is configured to obtain a relative position relationship between a suspension point and a center of gravity of a hull; the motion detection module 20 is used for acquiring motion parameters of the center of gravity of the ship body; the processing module 30 is used for calculating the movement speed of the lifting point in the heave direction according to the movement parameters of the center of gravity of the ship body and the relative position relationship between the lifting point and the center of gravity of the ship body; and the control module 40 is used for controlling the crane to pay off and pay off the steel wire rope according to the movement speed of the lifting point in the heave direction.
Wherein, the heave direction refers to the direction of the ship body fluctuating with the wind and the waves.
According to the embodiment of the invention, the relative position relation between the lifting point and the gravity center of the ship body and the motion parameter of the gravity center of the ship body are obtained, so that the motion speed of the lifting point in the heave direction is calculated according to the motion parameter of the gravity center of the ship body and the relative position relation between the lifting point and the gravity center of the ship body, the crane can be controlled to release and release the steel wire rope according to the motion speed of the lifting point in the heave direction, the fluctuation range of goods along with wind waves is reduced, the structure is simple, and the realization is.
Fig. 2 is a schematic structural diagram of a suspension point detection module according to an embodiment of the present invention, and as shown in fig. 2, the suspension point detection module 10 may include a storage unit 11, an angle detection unit 12, and a conversion unit 13, where the storage unit 11 is used for storing a relative position relationship between a tower body of a crane and a center of gravity of a hull. The angle detection unit 12 is configured to obtain a tower body rotation angle, a main arm rotation angle, and a knuckle arm rotation angle. The conversion unit 13 is used for obtaining the relative position relationship between the lifting point and the gravity center of the ship body according to the relative position relationship between the tower body of the crane and the gravity center of the ship body, the height of the tower body, the length of the main arm and the folded arm, the rotation angle of the tower body, the rotation angle of the main arm and the folded arm. The tower body corner is the angle that the tower body of loop wheel machine turned for initial position, and the main arm corner is the contained angle between the main arm of loop wheel machine and the axis of rotation of tower body, and the knuckle arm corner is the contained angle between the knuckle arm and the main arm of loop wheel machine.
The relative position relationship between the tower body of the crane and the center of gravity of the ship body can be the relative position relationship between the intersection point of the rotating axis of the tower body of the crane and the deck and the center of gravity of the ship body.
Fig. 3 is a side view of a ship hull according to an embodiment of the present invention, fig. 4 is a top view of a ship hull according to an embodiment of the present invention, and in conjunction with fig. 3 and 4, a relative positional relationship between a tower 1 of a crane and a center of gravity of the ship hull may be included in a spatial coordinate system with the center of gravity of the ship hull as an origin, and a distance x between the tower 1 of the crane and the origin in a direction parallel to a direction in which a stern points to a bow1The distance y between the tower body 1 of the crane and the original point in the direction perpendicular to the stern and pointing to the bow and parallel to the deck1And the distance z between the tower 1 of the crane and the origin in the direction perpendicular to the deck1. In this embodiment, the direction from the stern to the bow is the X direction, the direction perpendicular to the deck is the Z direction, and the directions perpendicular to the X direction and the Z direction are the Y direction. The X positive direction points to the bow from the stern, the Z positive direction is perpendicular to the deck and upwards, and the Y positive direction points to the port from the starboard of the ship body.
In practice, the relative position relationship between the tower 1 of the crane and the center of gravity of the ship body can be manually input into the storage unit. The height of the tower 1 and the lengths of the main arm 2 and the knuckle arm 3 may also be manually entered into the storage unit. The tower body 1 of the crane is opposite to the gravity center of the ship bodyThe position may be (x)1，y1，z1)。
The tower body 1 of the crane has an initial position, when the tower body 1 is at the initial position, the rotation angle of the tower body is 0 degree, the range of the rotation angle of the tower body is [0 degree ], 360 degrees, and the rotation angle of the tower body 1 relative to the initial position along the same direction is the rotation angle of the tower body. In the present embodiment, the initial position is defined as a position where an angle between an orthographic projection of the main arm 2 on the deck and the positive Y-direction is 0 °, and the tower body rotation angle is an angle θ between the orthographic projection of the main arm 2 on the deck and the positive Y-direction1。
Specifically, the angle detection unit 12 may include a first angle sensor 121, a second angle sensor 122, and a third angle sensor 123, wherein the first angle sensor 121 is used to acquire the tower rotation angle θ1The second angle sensor 122 is used for acquiring the rotation angle theta of the main arm2The third angle sensor 123 is used for acquiring the turning angle theta of the folding arm3. Three angle sensors are arranged to respectively detect the rotation angle theta of the tower body1Main arm turning angle theta2Angle of rotation theta of folding arm3And the acquired angle is more accurate.
In practice, the first angle sensor 121, the second angle sensor 122 and the third angle sensor 123 may be single-turn encoders. The single-turn encoder has high detection precision and can detect the angle change of 0.005 degrees. In this embodiment, the first angle sensor 121, the second angle sensor 122 and the third angle sensor 123 may be encoders of the duo-jiafu brand model AVS58N-011AAR0GN-0016, and the interface thereof is in the form of a synchronous serial interface.
The conversion unit 13 is based on the relative position relationship between the tower body 1 of the crane and the center of gravity of the hull and the height L of the tower body 11Length L of main arm 22Length L of the folding arm 33Angle of rotation theta of tower body1Main arm turning angle theta2Angle of rotation theta of folding arm3The position of the lifting point can be obtained as (x)2，y2，z2). Wherein:
x2＝x1+L2sinθ1sinθ2+L3sinθ1sin(θ2+θ3)，
y2＝y1+L2cosθ1sinθ2+L3cosθ1sin(θ2+θ3)，
z2＝z1+L1+L2cosθ2+L3cos(θ2+θ3)。
in implementation, the motion detection module 20 may include an MRU (motion reference unit; chinese: motion reference unit). The MRU can be arranged at the center of gravity of the ship body so as to accurately detect the motion parameters of the center of gravity of the ship body. Specifically, an MRU with an SMC brand name of IMU-108 may be selected.
Specifically, the motion parameters of the gravity center of the ship body at least comprise a roll angle of the ship body, a pitch angle of the ship body, a speed of the ship body in a heave direction, a roll angular speed of the ship body and a pitch angular speed of the ship body.
Wherein the transverse rocking angle of the ship body is a rotation angle theta of the ship body around the X directionxThe longitudinal rocking angle of the ship body is a rotation angle theta of the ship body in the direction around the Y directionyThe speed of the ship body in the heave direction is the speed V of the gravity center of the ship body in the Z directionzTransverse angular velocity omega of ship bodyxAngular velocity of rotation of hull in X direction, pitch angular velocity omega of hullyAngular velocity, omega, of the hull about the Y directionxIn the direction from the stern to the bow, omegayIn the starboard direction to the port direction. The speed of movement of the suspension point in the heave direction includes the magnitude and direction of the speed of movement.
The processing module 30 can calculate the moving speed of the suspension point in the heave direction according to the moving parameters of the center of gravity of the hull and the relative position relationship between the suspension point and the center of gravity of the hull.
In particular, the speed of movement V of the hoisting point in the heave directionbThe following equation is satisfied:
the control module 40 may include a PLC (Programmable Logic Controller), and the PLC may control the hoisting machine to hoist the steel wire rope according to the movement speed of the hoisting point in the heave direction, and the hoisting speed of the steel wire rope. The PLC can be selected from a CPU315-2PN/DP of Siemens S7-300 series.
Wire rope take-up and pay-off speed VaSatisfies the equation Va＝nVbAnd n is a constant, and the value of n is different when the winding modes of the steel wire rope in the crane are different, wherein the value of n can be the ratio of the length of the steel wire rope wound or released from a winch for drawing the steel wire rope to the moving distance of a hoisting point in the same time period in the normal hoisting or releasing process of the crane.
For example, when the suspension point moves at a velocity V in the heave directionbWhen the lifting point moves in the positive direction of Z at the speed of d meters/second, the steel wire rope can be controlled to release the steel wire rope at the speed of n x d meters/second, and when the lifting point moves in the rising and sinking direction, the moving speed V is shownbAnd when the lifting point moves along the negative direction of Z at the speed of d meters per second, the steel wire rope can be controlled to be collected into the steel wire rope at the speed of n × d meters per second, and the value range of d can be 0-1.39 m/s.
The hoisting point heave compensation system may further comprise a displacement sensor which may be provided on a winch of the crane to detect the length of a wire rope wound around the winch. The total length of the steel wire rope is fixed, so that the total length of the steel wire rope released by the winch can be obtained, the winding and unwinding speed of the steel wire rope can be detected in real time according to the change of the total length of the steel wire rope released by the winch, and the detected winding and unwinding speed of the steel wire rope and the calculated winding and unwinding speed V of the steel wire rope can be controlled by controlling the speed of the winchaAre equal.
During specific implementation, the displacement sensor arranged on the winch can select an encoder with the model of AVM58N-011AAR0GN-1213 of the Beijiafu brand, and the interface form of the encoder is a synchronous serial interface.
Alternatively, the angle detection unit can be connected with the PLC by adopting a Siemens ET200SP series IM155-PN interface module.
Fig. 5 is a flowchart of a suspension point heave compensation method according to an embodiment of the present invention, where the compensation method is applied to the compensation system shown in fig. 1, and as shown in fig. 5, the compensation method includes:
s11: and obtaining the relative position relation between the lifting point and the center of gravity of the ship body.
In practice, step S11 may be performed by the aforementioned suspension point detection module.
S12: and acquiring the motion parameters of the center of gravity of the ship body.
In practice, step S12 may be performed by the motion detection module described above.
S13: and calculating the movement speed of the lifting point in the heave direction according to the movement parameters of the center of gravity of the ship body and the relative position relation between the lifting point and the center of gravity of the ship body.
In practice, step S13 may be performed by the aforementioned processing module.
S14: and controlling the crane to take up and pay off the steel wire rope according to the movement speed of the hoisting point in the heave direction.
In practice, step S14 may be performed by the control module described above.
According to the embodiment of the invention, the relative position relation between the lifting point and the gravity center of the ship body and the motion parameter of the gravity center of the ship body are obtained, so that the motion speed of the lifting point in the heave direction is calculated according to the motion parameter of the gravity center of the ship body and the relative position relation between the lifting point and the gravity center of the ship body, the crane can be controlled to release and release the steel wire rope according to the motion speed of the lifting point in the heave direction, the fluctuation range of goods along with wind waves is reduced, the structure is simple, and the realization is.
Specifically, step S11 may include:
and acquiring the relative position relation between the tower body of the crane and the gravity center of the ship body, the height of the tower body and the lengths of the main arm and the folding arm.
And acquiring a tower body corner, a main arm corner and a folding arm corner.
And obtaining the relative position relation between the lifting point and the gravity center of the ship body according to the relative position relation between the tower body of the crane and the gravity center of the ship body, the corner of the tower body, the corner of the main arm and the corner of the folding arm.
The tower body corner is an angle turned by the tower body of the crane relative to an initial position, the main arm corner is an included angle between a main arm of the crane and a rotation axis of the tower body, and the folded arm corner is an included angle between a folded arm of the crane and the main arm.
In the implementation, the relative position relationship between the tower body of the crane and the center of gravity of the ship body, the height of the tower body and the length of the main arm and the folding arm can be manually input and stored in the storage unit. The rotation angle of the tower body, the rotation angle of the main arm and the rotation angle of the folding arm can be obtained by the angle detection unit, and the relative position relation between the lifting point and the center of gravity of the ship body can be obtained by the conversion unit, which is not described in detail herein.
Specifically, the motion parameters of the gravity center of the ship body at least comprise the roll angle theta of the ship bodyxThe pitch angle theta of the hullySpeed V of the hull in the heave directionzThe roll angular velocity omega of the hullxLongitudinal angular velocity omega of ship bodyy. The speed of movement of the suspension point in the heave direction includes the magnitude and direction of the speed of movement. The processing module can calculate the movement speed of the lifting point in the heave direction according to the movement parameters of the center of gravity of the ship body and the relative position relation between the lifting point and the center of gravity of the ship body.
Specifically, step S14 may include:
controlling the crane to move at speed VaAnd (5) winding and unwinding the steel wire rope.
Wherein, VaThe following equation is satisfied:
Va＝nVb，
Vbn is a constant number, which is the speed of movement of the suspension point in the heave direction. VbSee the previous device embodiments for calculations.
In different cranes, the winding modes of the steel wire ropes are different, so the value of n is different, and the value of n can be the ratio of the length of the steel wire rope wound or released from a winch for drawing the steel wire rope to the moving distance of a hoisting point in the same time period in the normal hoisting or releasing process of the crane. VbThe calculation process of (2) can refer to the aforementioned calculation method of the movement speed of the suspension point in the heave direction, and is not detailed here. By using the speed VaThe winch on the crane is controlled to roll in or out the steel wire rope, so that the steel wire rope is discharged along with the upward floating and sinking of the ship body to be rolled in, and the steel wire rope can be rolled inThe tension on the steel wire rope is reduced, and the goods are prevented from fluctuating along with the floating of the ship body.
It should be noted that: when the suspension point heave compensation system provided in the above embodiment performs the suspension point heave compensation, only the division of the above function modules is taken as an example, in practical application, the function distribution can be completed by different function modules according to needs, that is, the internal structure of the equipment is divided into different function modules, so as to complete all or part of the above described functions. In addition, the embodiments of the suspension point heave compensation method and the suspension point heave compensation system provided in the above embodiments belong to the same concept, and specific implementation processes thereof are described in detail in the embodiments of the apparatus and are not described herein again.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A suspension point heave compensation system, the compensation system comprising:
the lifting point detection module is used for acquiring the relative position relation between a lifting point and the center of gravity of the ship body;
the motion detection module is used for acquiring motion parameters of the center of gravity of the ship body;
the processing module is used for calculating the movement speed of the lifting point in the heave direction according to the movement parameters of the center of gravity of the ship body and the relative position relation between the lifting point and the center of gravity of the ship body;
the control module is used for controlling the crane to receive and release the steel wire rope according to the movement speed of the lifting point in the heave direction;
the storage unit is used for storing the relative position relation between the tower body of the crane and the gravity center of the ship body, the height of the tower body and the lengths of the main arm and the folding arm;
the angle detection unit is used for acquiring a tower body corner, a main arm corner and a folding arm corner;
a conversion unit, configured to obtain a relative position relationship between the hoisting point and the gravity center of the hull according to a relative position relationship between a tower body of the crane and the gravity center of the hull, a height of the tower body, a length of the main arm, a length of the knuckle, a tower body rotation angle, a main arm rotation angle, and a knuckle rotation angle, where the tower body rotation angle is an angle that the tower body of the crane has rotated relative to an initial position, the main arm rotation angle is an included angle between the main arm of the crane and a rotation axis of the tower body, and the knuckle rotation angle is an included angle between the knuckle of the crane and the main arm,
the relative position relationship between the tower body of the crane and the gravity center of the ship body is included in a space coordinate system with the gravity center of the ship body as an original point, and the distance x between the tower body of the crane and the original point in the direction parallel to the direction that the stern points to the bow1The distance y between the tower body of the crane and the original point in the direction perpendicular to the stern and pointing to the bow and parallel to the deck1And the distance z between the tower body of the crane and the origin in the direction perpendicular to the deck1，
The moving speed V of the suspension point in the heave directionbThe following equation is satisfied:
x2＝x1+L2sinθ1sinθ2+L3sinθ1sin(θ2+θ3)
y2＝y1+L2cosθ1sinθ2+L3cosθ1sin(θ2+θ3)
z2＝z1+L1+L2cosθ2+L3cos(θ2+θ3)
wherein x is2、y2、z2Is the relative position relationship between the lifting point and the center of gravity of the ship body, theta1Is the angle of rotation of the tower body, theta2Is the angle of rotation of the main arm, theta3Is a corner of a folding arm, L1Is the height L of the tower body2Is the length, L, of the main arm3Is the length of the folding arm, thetaxIs the roll angle, theta, of the hullyIs the pitch angle, V, of the hullzThe speed, ω, of the hull in the heave directionxIs the roll angular velocity, omega, of the hullyIs the pitch angular velocity of the hull,
the control of the crane to receive and release the steel wire rope according to the movement speed of the lifting point in the heave direction comprises the following steps:
controlling the crane to rotate at a speed VaThe steel wire rope is wound and unwound,
wherein, VaThe following equation is satisfied:
Va＝nVb，
Vbn is a constant and is the moving speed of the lifting point in the heave direction.
2. The compensation system according to claim 1, wherein the angle detection unit includes a first angle sensor for acquiring the tower rotation angle, a second angle sensor for acquiring the main arm rotation angle, and a third angle sensor for acquiring the knuckle arm rotation angle.
3. The compensation system of claim 2, wherein the first angle sensor, the second angle sensor, and the third angle sensor are each single-turn encoders.
4. A compensation system according to any of claims 1 to 3, wherein the motion detection module comprises a motion reference unit.
5. The compensation system of any one of claims 1 to 3, wherein the motion parameters of the hull center of gravity comprise at least a roll angle of the hull, a pitch angle of the hull, a speed of the hull in a heave direction, a roll angular speed of the hull, and a pitch angular speed of the hull.
6. A method of compensating for heave of a hoisting point, the method comprising:
acquiring the relative position relation between a hanging point and the gravity center of the ship body;
acquiring motion parameters of the center of gravity of the ship body;
calculating the movement speed of the lifting point in the heave direction according to the movement parameters of the center of gravity of the ship body and the relative position relation between the lifting point and the center of gravity of the ship body;
controlling the crane to receive and release the steel wire rope according to the movement speed of the lifting point in the heave direction,
the relative position relation of the hoisting point and the gravity center of the ship body is obtained, and the method comprises the following steps:
acquiring the relative position relation between a tower body of the crane and the gravity center of the ship body, the height of the tower body and the lengths of the main arm and the folding arm;
acquiring a tower body corner, a main arm corner and a folding arm corner;
obtaining the relative position relation between the hoisting point and the gravity center of the ship body according to the relative position relation between the tower body of the crane and the gravity center of the ship body, the corner of the tower body, the corner of the main arm and the corner of the folding arm;
wherein the tower body corner is an angle rotated by the tower body of the crane relative to an initial position, the main arm corner is an included angle between a main arm of the crane and a rotation axis of the tower body, the folded arm corner is an included angle between a folded arm of the crane and the main arm,
the relative position relationship between the tower body of the crane and the gravity center of the ship body is included in a space coordinate system with the gravity center of the ship body as an original point, and the distance x between the tower body of the crane and the original point in the direction parallel to the direction that the stern points to the bow1The craneThe distance y between the tower body and the original point in the direction perpendicular to the stern and pointing to the bow and parallel to the deck1And the distance z between the tower body of the crane and the origin in the direction perpendicular to the deck1，
The moving speed V of the suspension point in the heave directionbThe following equation is satisfied:
x2＝x1+L2sinθ1sinθ2+L3sinθ1sin(θ2+θ3)
y2＝y1+L2cosθ1sinθ2+L3cosθ1sin(θ2+θ3)
z2＝z1+L1+L2cosθ2+L3cos(θ2+θ3)
wherein x is2、y2、z2Is the relative position relationship between the lifting point and the center of gravity of the ship body, theta1Is the angle of rotation of the tower body, theta2Is the angle of rotation of the main arm, theta3Is a corner of a folding arm, L1Is the height L of the tower body2Is the length, L, of the main arm3Is the length of the folding arm, thetaxIs the roll angle, theta, of the hullyIs the pitch angle, V, of the hullzThe speed, ω, of the hull in the heave directionxIs the roll angular velocity, omega, of the hullyIs the pitch angular velocity of the hull,
the control of the crane to receive and release the steel wire rope according to the movement speed of the lifting point in the heave direction comprises the following steps:
controlling the crane to rotate at a speed VaThe steel wire rope is wound and unwound,
wherein, VaThe following equation is satisfied:
Va＝nVb，
Vbis the moving speed of the lifting point in the heave direction, n isA constant.
7. The compensation method of claim 6, wherein the motion parameters of the center of gravity of the hull comprise at least a roll angle of the hull, a pitch angle of the hull, a speed of the hull in a heave direction, a roll angular speed of the hull, and a pitch angular speed of the hull.
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| JP2001039670A (en) * | 1999-07-30 | 2001-02-13 | Sumitomo Constr Mach Co Ltd | Crane lifting load calculation device |
| CN101466591A (en) * | 2006-06-16 | 2009-06-24 | Itrec有限责任公司 | Heaving movement compensation |
| CN102071875A (en) * | 2011-01-19 | 2011-05-25 | 中国海洋石油总公司 | Automatic control system for winch and control method of automatic control system |
| CN102398856A (en) * | 2010-09-02 | 2012-04-04 | Dmc株式会社 | Active heave compensation system for crane operated in deep sea |
| CN106429840A (en) * | 2016-10-19 | 2017-02-22 | 上海振华重工(集团)股份有限公司 | Electric system of wave compensation crane |
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| JP2001039670A (en) * | 1999-07-30 | 2001-02-13 | Sumitomo Constr Mach Co Ltd | Crane lifting load calculation device |
| CN101466591A (en) * | 2006-06-16 | 2009-06-24 | Itrec有限责任公司 | Heaving movement compensation |
| CN102398856A (en) * | 2010-09-02 | 2012-04-04 | Dmc株式会社 | Active heave compensation system for crane operated in deep sea |
| CN102071875A (en) * | 2011-01-19 | 2011-05-25 | 中国海洋石油总公司 | Automatic control system for winch and control method of automatic control system |
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