CN110386563A - A kind of folding and unfolding storage device based on deep Compensation Control - Google Patents
A kind of folding and unfolding storage device based on deep Compensation Control Download PDFInfo
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- CN110386563A CN110386563A CN201810365843.XA CN201810365843A CN110386563A CN 110386563 A CN110386563 A CN 110386563A CN 201810365843 A CN201810365843 A CN 201810365843A CN 110386563 A CN110386563 A CN 110386563A
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- 238000013016 damping Methods 0.000 claims abstract description 43
- 230000003044 adaptive effect Effects 0.000 claims abstract description 31
- 238000004064 recycling Methods 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 239000003921 oil Substances 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 4
- 239000013535 sea water Substances 0.000 description 3
- 101100190462 Caenorhabditis elegans pid-1 gene Proteins 0.000 description 1
- 101100190464 Caenorhabditis elegans pid-2 gene Proteins 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/08—Driving gear incorporating fluid motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
- B66D1/74—Capstans
-
- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
-
- 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
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of folding and unfolding storage devices based on deep Compensation Control, the device includes winch, retracting platform, by winch driving hydraulic motor, the proportional pressure control valve in parallel with winch driving hydraulic motor, the tension-damping adaptive hydraulic system for driving the concatenated proportional throttle valve of oil supply loop of hydraulic motor to form with winch and the deep Front feedback control system of tension-being made of deep-controlled major loop, tension compensating control loop and deep period feedforward compensation circuit.Deep-controlled major loop provided by the invention controls proportional pressure control valve as reference quantity as reference quantity, deep period feedforward compensation circuit to go up and down amplitude as reference quantity, tension compensating control loop using tension using depth with regulating system folding and unfolding tension, deep period feedforward compensation circuit controls proportional throttle valve as reference quantity to go up and down phase with regulating system dynamic antivibration, it controls winch driving hydraulic motor driving winch and carries out folding and unfolding campaign, the depth for stablizing trailer, reduces the tension fluctuation of towrope.
Description
Technical field
The present invention relates to ocean engineering field of mechanical technique, in particular to a kind of folding and unfolding based on deep Compensation Control
Storage device.
Background technique
Folding and unfolding storage device is one of the most widely used equipment in marine engineering equipment, in national defence, scientific research and civilian
Play a significant role in process of construction.Folding and unfolding storage device, which has, to be discharged into trailer in seawater, pulls in water, recycling towing
The functions such as on object to workbench.For folding and unfolding storage device, the most key is the safety for guaranteeing trailer, and stability contorting drags
Object depth in water is draged, control towrope tension avoids towrope damage or excessive impact that folding and unfolding storage device is caused to damage.
Trailer in ocean engineering is determined according to actual engineering application requirement, can be robot system, can also
To be dedicated detection device and scientific instrument etc..The weight of trailer is generally heavier, and weight is more than some trailers in air
30 tons.For heavier trailer, folding and unfolding storage device generally uses hydraulic driving mode to provide the energy, passes through hydraulic motor
Winch rotation is driven, and then drives towrope to receive or put realization and trailer is discharged into seawater to or is recycled from seawater trailer
Function.
Recycling release platform due to working under marine environment is returning across the sea with wave up and down, drift
The fluctuating of ocean wave causes towrope great tension fluctuation occur during receiving, discharge and pulling, and leads to the depth of trailer
Degree position also follows wave biggish eustasy occur, influences measurement and observation effect.Therefore, it is badly in need of a kind of more demanding
Hydraulic and electric control system, with the depth for reducing tension fluctuation, maintaining trailer setting.
Summary of the invention
The object of the present invention is to provide a kind of folding and unfolding storage devices based on deep Compensation Control, can stablize towing
The depth of object reduces the tension fluctuation of towrope.
To achieve the above object, the present invention provides following schemes:
A kind of folding and unfolding storage device based on deep Compensation Control, the folding and unfolding storage device include winch, folding and unfolding
Platform and the tension being placed on the retracting platform-damping adaptive hydraulic system and the deep Front feedback control of tension-
System；
The tension-damping adaptive hydraulic system includes that winch driving hydraulic motor and the winch drive hydraulic horse
The concatenated proportional throttle valve of oil supply loop up to proportional pressure control valve in parallel and with winch driving hydraulic motor；The strand
Vehicle driving hydraulic motor is connect with the winch；The deep Front feedback control system of tension-include deep-controlled major loop,
Tension compensating control loop and deep period feedforward compensation circuit；
During the winch folding and unfolding, the deep-controlled major loop is using depth value of feedback as reference quantity, the tension
It is reference quantity, the deep period feedforward compensation circuit to go up and down amplitude as reference quantity control that control loop, which is compensated, using tension feedback value
The proportional pressure control valve is made to adjust the tension-damping adaptive hydraulic system folding and unfolding tension, the deep period feedforward
Compensation circuit controls the proportional throttle valve as reference quantity to go up and down phase to adjust the tension-damping adaptive hydraulic system
Dynamic antivibration, and then control winch driving hydraulic motor and the winch driven to carry out folding and unfolding campaign.
Optionally, the deep-controlled major loop, the tension compensating control loop and the deep period feedforward are mended
Repay the control algolithm that the controller in circuit is all made of pid control algorithm or PID modified version.
Optionally, the deep-controlled major loop includes depth controller, the first calculator, first integrator and coding
Device；Depth threshold is stored in the depth controller；The first proportionality coefficient is stored in first calculator；The encoder,
It is mounted on the axis of the winch driving hydraulic motor, for measuring the movement circle number of the winch；The first integrator, with
The encoder connection, for obtaining the folding and unfolding length of towrope to movement circle number Integral Processing；
The depth controller is connect, for calculating the depth respectively with the first integrator, first calculator
The difference of the folding and unfolding length of threshold value and the towrope is spent, and according to the difference, determines the depth with the depth value of feedback
The deep-controlled amount is sent to first calculator by control amount；
First calculator, also connect with the proportional pressure control valve, is used for the deep-controlled amount and described first
Proportionality coefficient is multiplied, and obtains the control signal of the deep-controlled major loop, and export in conjunction with the tension compensating control loop
Control signal, deep period feedforward compensation circuit output control signal control the unlatching of the proportional pressure control valve
Degree.
Optionally, the deep-controlled major loop includes depth controller, the first calculator and depth transducer；It is described
Depth threshold is stored in depth controller；The first proportionality coefficient is stored in first calculator；The depth transducer, installation
On trailer, for acquiring the depth value of the trailer；
The depth controller is connect, for calculating the depth respectively with the depth transducer, first calculator
The difference of the depth value of threshold value and the trailer is spent, and according to the difference, determines the depth control with the depth value of feedback
The deep-controlled amount is sent to first calculator by amount processed；
First calculator, also connect with the proportional pressure control valve, is used for the deep-controlled amount and described first
Proportionality coefficient is multiplied, and obtains the control signal of the deep-controlled major loop, and export in conjunction with the tension compensating control loop
Control signal, deep period feedforward compensation circuit output control signal control the unlatching of the proportional pressure control valve
Degree.
Optionally, the tension compensating control loop includes: tension controller, the second calculator and tension sensor；
The tension controller stores tension threshold；The tension threshold is the actual weight of the trailer and the product of constant；Institute
Stating constant is the weight differential value of towrope weight compensating value and the trailer in water and air；In shown second calculator
Store the second proportionality coefficient；The tension sensor is for acquiring towrope tension；
The tension controller is connect with second calculator, the tension sensor respectively, for calculating described
The difference of force threshold and the towrope tension, and according to the difference, determine the tension force amount with the tension feedback value,
The tension force amount is sent to second calculator；
Second calculator, also connect with the proportional pressure control valve, is used for the tension force amount and described second
Proportionality coefficient is multiplied, and obtains the control signal of the tension compensating control loop, and export in conjunction with the deep-controlled major loop
Control signal, deep period feedforward compensation circuit output control signal control the unlatching of the proportional pressure control valve
Degree.
Optionally, the tension compensating control loop includes: tension controller, the second calculator, first pressure sensor
And second pressure sensor；The tension controller stores tension threshold；The tension threshold is the reality of the trailer
The product of weight and constant；The constant is the weight differential of towrope weight compensating value and the trailer in water and air
Value；The second proportionality coefficient is stored in shown second calculator；The first pressure sensor, setting drive hydraulic in the winch
The first hydraulic pressure value at first at the first of motor, for acquiring the winch driving hydraulic motor；Second pressure
Force snesor is arranged at second mouthful of the winch driving hydraulic motor, for acquiring the winch driving hydraulic motor
The second hydraulic pressure value at second mouthful；
The tension controller is passed with second calculator, the first pressure sensor, the second pressure respectively
Sensor connection, for determining with the tension according to the tension threshold, first hydraulic pressure value and second hydraulic pressure value
The tension force amount is sent to second calculator by the tension force amount of value of feedback；
Second calculator, also connect with the proportional pressure control valve, is used for the tension force amount and described second
Proportionality coefficient is multiplied, and obtains the control signal of the tension compensating control loop, and export in conjunction with the deep-controlled major loop
Control signal, deep period feedforward compensation circuit output control signal control the unlatching of the proportional pressure control valve
Degree.
Optionally, the deep period feedforward compensation circuit includes: inertial navigation device, the first PID controller, third meter
Calculate device and the second PID controller；Third proportionality coefficient is stored in the third calculator；
The inertial navigation device is fixedly mounted on the retracting platform；The Z axis letter of the inertial navigation device output
The retracting platform number is obtained after software is handled in the lifting amplitude and lifting phase in same deep period；The lifting width
Value and the lifting phase are that the control in the deep period feedforward compensation circuit inputs；
First PID controller is connect with the third calculator, for deviateing fluctuation zero point with the lifting amplitude
Value based on, calculate tension compensating component, and the tension compensating component be sent to the third calculator；
The third calculator, connect with the proportional pressure control valve, is used for the tension compensating component and the third
Proportionality coefficient is multiplied, and obtains the control signal in the deep period feedforward compensation circuit, defeated in conjunction with the deep-controlled major loop
Control signal out, tension compensating control loop output control signal control the open degree of the proportional pressure control valve；
Second PID controller, connect with the proportional throttle valve, for calculating damping according to the lifting phase
Component is compensated, and the damping compensation component is sent to the proportional throttle valve to control the unlatching of the proportional throttle valve
Degree.
Optionally, the deep period feedforward compensation circuit further include: second integral device, low-pass filter, deep parameter
Detector；The Z axis signal of the inertial navigation device output passes through the second integral device, the low-pass filter, the depth
The retracting platform is obtained after heavy parametric detector processing in the lifting amplitude and lifting phase in same deep period.
Optionally, the tension-damping adaptive hydraulic system further includes hydraulic pump, safety valve；The safety valve setting
In the exit of the hydraulic pump；
The hydraulic pump is used to provide the described winch required power source in folding and unfolding work；The safety valve is for adjusting
The maximum pressure for saving the exit of the hydraulic pump, plays the role of safeguard protection.
Optionally, the tension-damping adaptive hydraulic system further includes by proportional direction valve, balanced valve；The ratio
Direction valve is arranged on two chamber circuits of the winch driving hydraulic motor；The proportional pressure control valve passes through the balanced valve and institute
State proportional throttle valve connection；
The proportional direction valve is for controlling the winch recycling and release movement；When the ratio side of the proportional direction valve
When to control amount less than 0, hydraulic oil is flowed by the first of winch driving hydraulic motor, and second mouthful of outflow is realized back
Receipts movement；When the proportion directional control amount of the proportional direction valve is greater than 0, hydraulic oil drives hydraulic motor by the winch
Second mouthful inflow, first outflow, realize release movement；
The balanced valve for guarantee during the winch recycles and discharges winch driving hydraulic motor not by
The trailer is actively hauled out, and safeguard protection is played the role of.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The present invention provides a kind of folding and unfolding storage device based on deep Compensation Control, which includes winch, receives
Tension-damping adaptive the hydraulic system and the deep Front feedback control system of tension-for being laid flat platform, being placed on retracting platform；
Tension-damping adaptive hydraulic system includes winch driving hydraulic motor, the proportional overflow in parallel with winch driving hydraulic motor
Valve, the concatenated proportional throttle valve of oil supply loop with winch driving hydraulic motor；The deep Front feedback control system of tension-includes
Deep-controlled major loop, tension compensating control loop and deep period feedforward compensation circuit；During winch folding and unfolding, depth control
Major loop processed is reference quantity, tension compensating control loop using tension feedback value as reference quantity, before the deep period using depth value of feedback
Feedback compensation circuit controls proportional pressure control valve as reference quantity to go up and down amplitude to adjust the folding and unfolding of tension-damping adaptive hydraulic system
Tension, deep period feedforward compensation circuit are adaptive to adjust tension-damping as reference quantity control proportional throttle valve to go up and down phase
The dynamic antivibration of hydraulic system is answered, and then controls winch driving hydraulic motor driving winch and carries out folding and unfolding campaign.Therefore, of the invention
The folding and unfolding storage device of offer, can stablize the depth of trailer by using deep Compensation Control, reduce towrope
Tension fluctuation.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of folding and unfolding of embodiment of the present invention storage device；
Fig. 2 is tension of the embodiment of the present invention-damping adaptive hydraulic system implementation diagram；
Fig. 3 is tension of the embodiment of the present invention-deep Front feedback control system implementation diagram.
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.
The object of the present invention is to provide a kind of folding and unfolding storage devices based on deep Compensation Control, can stablize towing
The depth of object reduces the tension fluctuation of towrope.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Deep compensation is that a kind of compensation control being arranged according to more demanding ocean operation folding and unfolding storage requirements is arranged
It applies.
Fig. 1 is the structural schematic diagram of folding and unfolding of embodiment of the present invention storage device.
As shown in Figure 1, the folding and unfolding storage device provided in an embodiment of the present invention based on deep Compensation Control includes twisting
Vehicle, retracting platform and the deep feedforward of tension-damping adaptive hydraulic system and tension-being placed on the retracting platform are mended
Repay control system.
The tension-damping adaptive hydraulic system includes tension adjustment link and damping governing loop.The tension-
Damping adaptive hydraulic system includes winch driving hydraulic motor, the proportional pressure control valve in parallel with winch driving hydraulic motor
And the concatenated proportional throttle valve of oil supply loop with winch driving hydraulic motor；The winch driving hydraulic motor and institute
State winch connection.
The proportional throttle valve is used to adjust described tension-damping adaptive hydraulic system dynamic during folding and unfolding
Damping improves tension-damping adaptive hydraulic system control characteristic.The proportional pressure control valve for adjusting on a large scale
The tension-damping adaptive hydraulic system folding and unfolding tension.Therefore, the tension adjustment link passes through in the hydraulic drive of winch
Proportional pressure control valve realization in parallel, plays the role of stable tension during recycling and release in dynamic motor.The damping
Governing loop is played big by driving one proportional throttle valve of series connection in hydraulic motor to realize in winch during winch folding and unfolding
Range adjusts the effect of tension-damping adaptive hydraulic system tension.
The deep Front feedback control system of tension-includes deep-controlled major loop, tension compensating control loop and depth
Heavy period feedforward compensation circuit.The depth fluctuation of trailer can be significantly reduced in above three control loop collective effect, reduces
The tension fluctuation of towrope.
During the winch folding and unfolding, the deep-controlled major loop is using depth value of feedback as reference quantity, the tension
It is reference quantity, the deep period feedforward compensation circuit to go up and down amplitude as reference quantity control that control loop, which is compensated, using tension feedback value
The proportional pressure control valve is made to adjust the tension-damping adaptive hydraulic system folding and unfolding tension, the deep period feedforward
Compensation circuit controls the proportional throttle valve as reference quantity to go up and down phase to adjust the tension-damping adaptive hydraulic system
Dynamic antivibration, and then control winch driving hydraulic motor and the winch driven to carry out folding and unfolding campaign.
Fig. 2 is tension of the embodiment of the present invention-damping adaptive hydraulic system implementation diagram, as shown in Fig. 2, described
Power-damping adaptive hydraulic system includes hydraulic pump 1, safety valve 2, proportional direction valve 3, balanced valve 4, proportional pressure control valve 5, ratio
Throttle valve 6, winch driving hydraulic motor 7 etc..Recycling and release direction when the tension-damping adaptive hydraulic system work
Also as shown in Figure 2.
The hydraulic pump 1 is used to provide the described winch required power source in folding and unfolding work；The safety valve 2 is arranged
In the exit of the hydraulic pump 1；The safety valve 2 is used to adjust the maximum pressure in the exit of the hydraulic pump 1, plays peace
Full guard effect.The proportional direction valve 3 is arranged on two chamber circuits of the winch driving hydraulic motor 7；The ratio side
To valve 3 for controlling the winch recycling and release movement；When the proportion directional control amount of the proportional direction valve 3 is less than 0,
Hydraulic oil is flowed by the first (being indicated in figure with A) of winch driving hydraulic motor 7, and second mouthful (being indicated in figure with B)
Recycling movement is realized in outflow；When the proportion directional control amount of the proportional direction valve 3 is greater than 0, hydraulic oil passes through the winch
Second mouthful (being indicated in figure with B) of hydraulic motor 7 is driven to flow into, release movement is realized in first (being indicated in figure with A) outflow.
The proportional pressure control valve 5 is connect by the balanced valve 4 with the proportional throttle valve 6；The balanced valve 4 is for guaranteeing described
The winch driving hydraulic motor 7 is not hauled out actively by the trailer during winch recycling and release, plays safeguard protection
Effect.Proportional pressure control valve 5 is in parallel with winch driving hydraulic motor 7, adjusts the towrope tension during folding and unfolding；Proportional throttle valve
6, for dynamic adjusting system damping during folding and unfolding, improve control effect.Winch drives hydraulic motor 7 that winch is driven to carry out
Folding and unfolding movement is realized in folding and unfolding campaign.
Fig. 3 is tension of the embodiment of the present invention-deep Front feedback control system implementation diagram, as shown in figure 3, in reality
During now, control amount, the tension compensating control loop that the control signal of proportional pressure control valve 5 is exported by deep-controlled major loop are defeated
Control amount out and the control amount of deep period feedforward compensation circuit output proportionally obtain after coefficient linear combination.Wherein,
The proportionality coefficient of above-mentioned 3 control amounts needed for control is determined according to Engineering Control effect scene.
The deep-controlled major loop is with the set depth (depth threshold) of trailer during recycling, discharge, pulling
Reference input, not directly measure trailer mean depth in the case where, can also use towrope discharge average length as
Feedback variable.Or according to the control errors amount between reference input and the mean depth of practical trailer.
There is different devices for different feedback variables for the deep-controlled major loop.
The first, the deep-controlled major loop include depth controller 9, the first calculator, first integrator 12 and
Encoder 11；Depth threshold 8 is stored in the depth controller 9；The first proportionality coefficient k1 is stored in first calculator；Institute
Encoder 11 is stated, is mounted on the axis of the winch driving hydraulic motor 7, for measuring the movement circle number of the winch 10；Institute
First integrator 12 is stated, is connect with the encoder 11, for the movement circle scalar product to be got to the folding and unfolding length of towrope.
The depth controller 9 is connect, for calculating respectively with the first integrator 12, first calculator
The difference of the folding and unfolding length of depth threshold 8 and the towrope is stated, and according to the difference, is determined with the depth value of feedback
The deep-controlled amount is sent to first calculator by deep-controlled amount.
First calculator is also connect with the proportional pressure control valve 5, is used for the deep-controlled amount and described first
Proportionality coefficient k1 is multiplied, and obtains the control signal of the deep-controlled major loop, and defeated in conjunction with the tension compensating control loop
Control signal out, deep period feedforward compensation circuit output control signal control opening for the proportional pressure control valve 5
Qi Du.
Specific implementation process are as follows: calculate depth threshold 8 and discharge the deviation between cable length, and by depth based on this deviation
Degree controller 9 calculates control amount.The control amount is believed multiplied by after the first proportionality coefficient k1 with the control of other control loops generation
Number combination, then control proportional pressure control valve 5, proportional pressure control valve 5 finally adjust tension-damping adaptive hydraulic system make winch 10
Tension variation.
Second, the deep-controlled major loop includes depth controller 9, the first calculator and depth transducer；Institute
It states and stores depth threshold 8 in depth controller；The depth threshold 8 is deep-controlled major loop in recycling, release, towing process
In set depth value；The first proportionality coefficient k1 is stored in first calculator；The depth transducer, is mounted on trailer
On, for acquiring the depth value of the trailer.
The depth controller 9 is connect with the depth transducer, first calculator respectively, described for calculating
The difference of the depth value of depth threshold 8 and the trailer, and according to the difference, determine the depth with the depth value of feedback
The deep-controlled amount is sent to first calculator by control amount.
First calculator is also connect with the proportional pressure control valve 5, is used for the deep-controlled amount and described first
Proportionality coefficient k1 is multiplied, and obtains the control signal of the deep-controlled major loop, and defeated in conjunction with the tension compensating control loop
Control signal out, deep period feedforward compensation circuit output control signal control opening for the proportional pressure control valve 5
Qi Du.
The tension compensating control loop is with practical trailer weight multiplied by, for reference input, calculating is joined after a constant kx
It examines input and reality is compared by the towrope tension of sensor measurement, control amount is calculated by tension variation.Or in uneasiness
Under conditions of filling tension sensor, 7 inlet outlet pressure differential of hydraulic motor, and realization after conversion can also be driven by measurement winch
Force feedback.
There is different devices for the tension feedback that distinct methods obtain for the tension compensating control loop.
The first, the tension compensating control loop includes: tension controller 15, the second calculator and tension sensor
13；The tension controller 15 stores tension threshold；The tension threshold is the actual weight 14 and constant kx of the trailer
Product；The constant kx is the weight differential value of towrope weight compensating value and the trailer in water and air；It is shown
The second proportionality coefficient k2 is stored in second calculator；The tension sensor 13 is for acquiring towrope tension.
The tension controller 15 is connect, for calculating respectively with second calculator, the tension sensor 13
The difference of tension threshold Yu the towrope tension is stated, and according to the difference, determines the tension control with the tension feedback value
The tension force amount is sent to second calculator by amount processed.
Second calculator is also connect with the proportional pressure control valve 5, is used for the tension force amount and described second
Proportionality coefficient k2 is multiplied, and obtains the control signal of the tension compensating control loop, and defeated in conjunction with the deep-controlled major loop
Control signal out, deep period feedforward compensation circuit output control signal control opening for the proportional pressure control valve 5
Qi Du.
Specific implementation process are as follows: the tension compensating control loop is with the actual weight 14 of trailer, multiplied by a constant
Reference input is used as after kx, constant kx is mainly used for compensating the weight difference of towrope weight and trailer in water and air
It is different.The control loop calculates the error between reference input and the towrope tension for passing through the measurement of actual tension sensor 13,
Force controller 15 calculates control amount according to the tension variation and controls back after the control amount is multiplied by the second proportionality coefficient k2 with other
The combination of road signal, then controls proportional pressure control valve 5.
Second, the tension compensating control loop includes: tension controller 15, the second calculator, first pressure sensing
Device and second pressure sensor；The tension controller 15 stores tension threshold；The tension threshold is the trailer
The product of actual weight 14 and constant kx；The constant kx is towrope weight compensating value and the trailer in water and air
Weight differential value；The second proportionality coefficient k2 is stored in shown second calculator；The first pressure sensor is arranged described
Winch drives at the first of hydraulic motor 7, and first at first for acquiring the winch driving hydraulic motor 7 is hydraulic
Value；The second pressure sensor is arranged at second mouthful of the winch driving hydraulic motor 7, for acquiring the winch
Drive the second hydraulic pressure value at second mouthful of hydraulic motor 7.
The tension controller 15, respectively with second calculator, the first pressure sensor, the second pressure
Sensor connection, for determining with described according to the tension threshold, first hydraulic pressure value and second hydraulic pressure value
The tension force amount is sent to second calculator by the tension force amount of force feedback value.
Second calculator is also connect with the proportional pressure control valve 5, is used for the tension force amount and described second
Proportionality coefficient k2 is multiplied, and obtains the control signal of the tension compensating control loop, and defeated in conjunction with the deep-controlled major loop
Control signal out, deep period feedforward compensation circuit output control signal control opening for the proportional pressure control valve 5
Qi Du.
The deep period feedforward compensation circuit includes: inertial navigation device 16, deep parametric detector 17, the first PID
Controller 18, third calculator, the second PID controller 19, second integral device 20, low-pass filter 21.The third calculator
Interior storage third proportionality coefficient k3.
In order to realize the deep period feedforward compensation circuit, need that inertial navigation sensing is fixedly mounted on retracting platform
Device 16；The Z axis signal that the inertial navigation device 16 exports obtains the retracting platform same deep after software is handled
The lifting amplitude and lifting phase in period；The lifting amplitude and the lifting phase are the deep period feedforward compensation circuit
Control input.
Amplitude and phase calculation of the deep period feedforward compensation circuit according to retracting platform in the same heave period control
Amount, and proportional throttle valve 6 and proportional pressure control valve 5 are controlled with output signal.
The Z axis signal that the inertial navigation device 16 exports by the second integral device 20, the low-pass filter 21,
Deep parametric detector 17 obtains the retracting platform in the lifting amplitude and lifting phase in same deep period after handling.
First PID controller 18 (being indicated in figure with PID-1), connect with the third calculator, for described
Based on going up and down the value that amplitude deviates fluctuation zero point, tension compensating component is calculated, and the tension compensating component is sent to institute
State third calculator.
The third calculator is connect with the proportional pressure control valve 5, is used for the tension compensating component and the third
Proportionality coefficient k3 is multiplied, and the control signal in the deep period feedforward compensation circuit is obtained, in conjunction with the deep-controlled major loop
The control signal of output, tension compensating control loop output control signal control the unlatching of the proportional pressure control valve 5
Degree.
Second PID controller 19 (being indicated in figure with PID-2), connect with the proportional throttle valve 6, for according to institute
It states lifting phase, calculates damping compensation component, and the damping compensation component is sent to the proportional throttle valve 6 to control
State the open degree of proportional throttle valve 6.
Specific implementation process are as follows: second integral device 20, low pass filtered are passed through to the Z axis signal that inertial navigation sensors 16 export
After wave device 21, the lifting amplitude and lifting phase in a nearest deep period are measured by deep parametric detector 17.Then with
Based on going up and down the value that amplitude deviates fluctuation zero point, tension compensating component, this point are obtained after the calculating of the first PID controller 18
It after amount is multiplied by third proportionality coefficient k3, is combined with other control loop signals, then controls proportional pressure control valve 5.Measured liter
Drop phase obtains damping compensation component after the calculating of the second PID controller 19, directly controls proportional throttle valve 6.
Controller in deep-controlled major loop, tension compensating control loop and deep period feedforward compensation circuit is all made of
The control algolithm of pid control algorithm and various PID modified versions, actual parameter are needed according to hydraulic-mechanic system parameter in engineering
Middle adjusting and optimization.
It additionally needs under explanation, Fig. 3 only illustrates the first method of deep-controlled major loop, tension compensating control loop
First method and deep period feedforward compensation circuit.
The hydraulic system of folding and unfolding storage device provided by the invention uses the control of series connection dynamic antivibration and ratio in parallel is overflow
Valve tension adjustment is flowed, and matched control system uses deep-controlled major loop, tension compensating control loop and deep
Period feedforward compensation circuit.For the deep period feedforward compensation of realization, inertial navigation device has been fixedly mounted on retracting platform,
Output signal extracts the amplitude and phase in retracting platform deep period by signal processing mode, as deep feedforward compensation link
Control input.Therefore, device provided by the invention is realized by modes such as computer software and hardware, embedded control systems and is based on
The folding and unfolding storage device of deep Compensation Control reduces the depth fluctuation of trailer, reduces the tension fluctuation of towrope.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of folding and unfolding storage device based on deep Compensation Control, which is characterized in that the folding and unfolding storage device includes
Winch, retracting platform and the tension-damping adaptive hydraulic system and the deep feedforward of tension-being placed on the retracting platform
Compensation control system；
The tension-damping adaptive hydraulic system includes that winch driving hydraulic motor and the winch drive hydraulic motor simultaneously
The proportional pressure control valve of connection and the concatenated proportional throttle valve of oil supply loop that hydraulic motor is driven with the winch；The winch drives
Hydrodynamic pressure motor is connect with the winch；The deep Front feedback control system of tension-includes deep-controlled major loop, tension
Compensate control loop and deep period feedforward compensation circuit；
During the winch folding and unfolding, the deep-controlled major loop is using depth value of feedback as reference quantity, the tension compensating
Control loop controls institute as reference quantity as reference quantity, the deep period feedforward compensation circuit to go up and down amplitude using tension feedback value
Proportional pressure control valve is stated to adjust the tension-damping adaptive hydraulic system folding and unfolding tension, the deep period feedforward compensation
Circuit controls the proportional throttle valve as reference quantity to go up and down phase to adjust the tension-damping adaptive hydraulic system and move
State damping, and then control the winch driving hydraulic motor and the winch is driven to carry out folding and unfolding campaign.
2. folding and unfolding storage device according to claim 1, which is characterized in that the deep-controlled major loop, the tension
Controller in compensation control loop and the deep period feedforward compensation circuit is all made of pid control algorithm or PID changes
Into the control algolithm of pattern.
3. folding and unfolding storage device according to claim 2, which is characterized in that the deep-controlled major loop includes depth control
Device, the first calculator, first integrator and encoder processed；Depth threshold is stored in the depth controller；First meter
It calculates and stores the first proportionality coefficient in device；The encoder is mounted on the axis of the winch driving hydraulic motor, for measuring
State the movement circle number of winch；The first integrator is connect with the encoder, for obtaining to movement circle number Integral Processing
To the folding and unfolding length of towrope；
The depth controller is connect, for calculating the depth threshold respectively with the first integrator, first calculator
The difference of value and the folding and unfolding length of the towrope, and according to the difference, it determines with the deep-controlled of the depth value of feedback
Amount, is sent to first calculator for the deep-controlled amount；
First calculator, also connect with the proportional pressure control valve, is used for the deep-controlled amount and first ratio
Multiplication obtains the control signal of the deep-controlled major loop, and the control exported in conjunction with the tension compensating control loop
Signal processed, deep period feedforward compensation circuit output control signal control the open degree of the proportional pressure control valve.
4. folding and unfolding storage device according to claim 2, which is characterized in that the deep-controlled major loop includes depth control
Device, the first calculator and depth transducer processed；Depth threshold is stored in the depth controller；The first calculator memory
Store up the first proportionality coefficient；The depth transducer, is mounted on trailer, for acquiring the depth value of the trailer；
The depth controller is connect, for calculating the depth threshold respectively with the depth transducer, first calculator
The difference of value and the depth value of the trailer, and according to the difference, determine the deep-controlled amount with the depth value of feedback,
The deep-controlled amount is sent to first calculator；
First calculator, also connect with the proportional pressure control valve, is used for the deep-controlled amount and first ratio
Multiplication obtains the control signal of the deep-controlled major loop, and the control exported in conjunction with the tension compensating control loop
Signal processed, deep period feedforward compensation circuit output control signal control the open degree of the proportional pressure control valve.
5. folding and unfolding storage device according to claim 2, which is characterized in that the tension compensating control loop includes:
Force controller, the second calculator and tension sensor；The tension controller stores tension threshold；The tension threshold is institute
State the actual weight of trailer and the product of constant；The constant is towrope weight compensating value and the trailer in water and sky
Weight differential value in gas；The second proportionality coefficient is stored in shown second calculator；The tension sensor is for acquiring towing
Cable tension；
The tension controller is connect with second calculator, the tension sensor respectively, for calculating the tension threshold
The difference of value and the towrope tension, and according to the difference, the tension force amount with the tension feedback value is determined, by institute
It states tension force amount and is sent to second calculator；
Second calculator, also connect with the proportional pressure control valve, is used for the tension force amount and second ratio
Multiplication obtains the control signal of the tension compensating control loop, and the control exported in conjunction with the deep-controlled major loop
Signal processed, deep period feedforward compensation circuit output control signal control the open degree of the proportional pressure control valve.
6. folding and unfolding storage device according to claim 2, which is characterized in that the tension compensating control loop includes:
Force controller, the second calculator, first pressure sensor and second pressure sensor；The tension controller stores tension threshold
Value；The tension threshold is the actual weight of the trailer and the product of constant；The constant is towrope weight compensating value
With weight differential value of the trailer in water and air；The second proportionality coefficient is stored in shown second calculator；Described
One pressure sensor, is arranged at the first of the winch driving hydraulic motor, drives hydraulic horse for acquiring the winch
The first hydraulic pressure value at the first reached；The second of the winch driving hydraulic motor is arranged in the second pressure sensor
The second hydraulic pressure value at second mouthful at mouthful, for acquiring the winch driving hydraulic motor；
The tension controller, respectively with second calculator, the first pressure sensor, the second pressure sensor
Connection, for determining with the tension feedback according to the tension threshold, first hydraulic pressure value and second hydraulic pressure value
The tension force amount is sent to second calculator by the tension force amount of value；
Second calculator, also connect with the proportional pressure control valve, is used for the tension force amount and second ratio
Multiplication obtains the control signal of the tension compensating control loop, and the control exported in conjunction with the deep-controlled major loop
Signal processed, deep period feedforward compensation circuit output control signal control the open degree of the proportional pressure control valve.
7. folding and unfolding storage device according to claim 2, which is characterized in that the deep period feedforward compensation circuit packet
It includes: inertial navigation device, the first PID controller, third calculator and the second PID controller；The third calculator memory
Store up third proportionality coefficient；
The inertial navigation device is fixedly mounted on the retracting platform；The Z axis signal warp of the inertial navigation device output
The retracting platform is obtained in the lifting amplitude and lifting phase in same deep period after crossing software processing；The lifting amplitude and
The lifting phase is that the control in the deep period feedforward compensation circuit inputs；
First PID controller is connect with the third calculator, for deviateing the value of fluctuation zero point with the lifting amplitude
Based on, tension compensating component is calculated, and the tension compensating component is sent to the third calculator；
The third calculator, connect with the proportional pressure control valve, is used for the tension compensating component and the third ratio
Multiplication obtains the control signal in the deep period feedforward compensation circuit, exports in conjunction with the deep-controlled major loop
Control signal, tension compensating control loop output control signal control the open degree of the proportional pressure control valve；
Second PID controller, connect with the proportional throttle valve, for calculating damping compensation according to the lifting phase
Component, and the damping compensation component is sent to the proportional throttle valve to control the open degree of the proportional throttle valve.
8. folding and unfolding storage device according to claim 7, which is characterized in that also wrap in the deep period feedforward compensation circuit
It includes: second integral device, low-pass filter, deep parametric detector；Described in the Z axis signal of the inertial navigation device output passes through
The retracting platform is obtained same deep after second integral device, the low-pass filter, the deep parametric detector processing
The lifting amplitude and lifting phase in period.
9. folding and unfolding storage device according to claim 1, which is characterized in that the tension-damping adaptive hydraulic system
It further include hydraulic pump, safety valve；The exit of the hydraulic pump is arranged in the safety valve；
The hydraulic pump is used to provide the described winch required power source in folding and unfolding work；The safety valve is for adjusting institute
The maximum pressure for stating the exit of hydraulic pump, plays the role of safeguard protection.
10. folding and unfolding storage device according to claim 1, which is characterized in that the tension-damping adaptive hydraulic system
It further include by proportional direction valve, balanced valve；Two chamber circuits of the winch driving hydraulic motor are arranged in the proportional direction valve
On；The proportional pressure control valve is connect by the balanced valve with the proportional throttle valve；
The proportional direction valve is for controlling the winch recycling and release movement；When the proportion directional control of the proportional direction valve
When amount processed is less than 0, hydraulic oil is flowed by the first of winch driving hydraulic motor, and second mouthful of outflow realizes that recycling is dynamic
Make；When the proportion directional control amount of the proportional direction valve is greater than 0, hydraulic oil is by the of winch driving hydraulic motor
Two mouthfuls of inflows, first outflow, realize release movement；
The balanced valve is for guaranteeing that the winch driving hydraulic motor is not described during the winch recycles and discharges
Trailer is actively hauled out, and safeguard protection is played the role of.
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