CN110386563B - Retraction storage device based on deep compensation control algorithm - Google Patents
Retraction storage device based on deep compensation control algorithm Download PDFInfo
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- CN110386563B CN110386563B CN201810365843.XA CN201810365843A CN110386563B CN 110386563 B CN110386563 B CN 110386563B CN 201810365843 A CN201810365843 A CN 201810365843A CN 110386563 B CN110386563 B CN 110386563B
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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
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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
- B66D1/28—Other constructional details
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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
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
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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
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
- B66D1/74—Capstans
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- 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
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- 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
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- 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
Abstract
The invention discloses a retraction storage device based on a deep-sinking compensation control algorithm, which comprises a winch, a retraction platform, a tension-damping self-adaptive hydraulic system and a tension-deep-sinking feedforward compensation control system, wherein the tension-damping self-adaptive hydraulic system consists of a winch driving hydraulic motor, a proportional overflow valve connected with the winch driving hydraulic motor in parallel, and a proportional throttle valve connected with an oil supply loop of the winch driving hydraulic motor in series, and the tension-deep-sinking feedforward compensation control system consists of a depth control main loop, a tension compensation control loop and a deep-sinking period feedforward compensation loop. The depth control main loop provided by the invention takes the depth as a reference amount, the tension compensation control loop takes the tension as a reference amount, the deep cycle feedforward compensation loop takes the lifting amplitude as a reference amount to control the proportional overflow valve so as to adjust the system retraction tension, the deep cycle feedforward compensation loop takes the lifting phase as a reference amount to control the proportional throttle valve so as to adjust the system dynamic damping, and the winch is controlled to drive the hydraulic motor to drive the winch to retract and release, so that the depth of a towed object is stabilized, and the tension fluctuation of a towing cable is reduced.
Description
Technical Field
The invention relates to the technical field of ocean engineering machinery, in particular to a retraction storage device based on a deep-dip compensation control algorithm.
Background
The storing and releasing device is one of the most widely used devices in ocean engineering equipment and plays an important role in the processes of national defense, scientific research and civil construction. The storing and releasing device has the functions of releasing the towed objects into seawater, towing the towed objects in the seawater, recovering the towed objects to a working platform and the like. For the storage device, the most important is to ensure the safety of the towing object, stably control the depth of the towing object in water and control the tension of the towing cable to avoid the damage of the towing cable or the damage of the storage device caused by overlarge impact.
The towed object in ocean engineering is determined according to the actual engineering application requirements, and can be a robot system, a special detection device, a scientific instrument and the like. The weight of the towed objects is generally heavy, and some towed objects weigh more than 30 tons in the air. To heavier towing thing, receive and release storage device and generally adopt the hydraulic drive mode to provide the energy, and it is rotatory to drive the winch through hydraulic motor, and then drives and drags the function that the cable was received or put and realize releasing the towing thing to the sea water or retrieve the towing thing from the sea water.
As the recovery and release platform working in the marine environment rises, falls and drifts on the sea along with waves, the fluctuation of the marine waves in the recovery, release and drag processes causes great tension fluctuation of the drag cable, the depth position of the drag object also follows the waves to generate great lifting change, and the measurement and observation effects are influenced. Therefore, there is a need for a hydraulic and electrical control system that reduces tension fluctuations and maintains a predetermined depth of tow.
Disclosure of Invention
The invention aims to provide a retraction storage device based on a deep compensation control algorithm, which can stabilize the depth of a towed object and reduce the tension fluctuation of a towed cable.
In order to achieve the purpose, the invention provides the following scheme:
a retraction storage device based on a deep-drawdown compensation control algorithm comprises a winch, a retraction platform, a tension-damping self-adaptive hydraulic system and a tension-deep-drawdown feedforward compensation control system, wherein the tension-damping self-adaptive hydraulic system and the tension-deep-drawdown feedforward compensation control system are placed on the retraction platform;
the tension-damping self-adaptive hydraulic system comprises a winch driving hydraulic motor, a proportional overflow valve connected with the winch driving hydraulic motor in parallel and a proportional throttle valve connected with an oil supply loop of the winch driving hydraulic motor in series; the winch driving hydraulic motor is connected with the winch; the tension-deep feedforward compensation control system comprises a depth control main loop, a tension compensation control loop and a deep cycle feedforward compensation loop;
in the winch retracting process, the depth control main loop takes a depth feedback value as a reference amount, the tension compensation control loop takes a tension feedback value as a reference amount, the deep cycle feedforward compensation loop takes a lifting amplitude value as a reference amount to control the proportional overflow valve so as to adjust the retracting tension of the tension-damping adaptive hydraulic system, and the deep cycle feedforward compensation loop takes a lifting phase value as a reference amount to control the proportional throttle valve so as to adjust the dynamic damping of the tension-damping adaptive hydraulic system, so that the winch driving hydraulic motor is controlled to drive the winch to retract and retract.
Optionally, the controllers in the depth control main loop, the tension compensation control loop and the deep cycle feedforward compensation loop all adopt a PID control algorithm or a PID modified control algorithm.
Optionally, the depth control main loop includes a depth controller, a first calculator, a first integrator, and an encoder; storing a depth threshold in the depth controller; storing a first scale factor in the first calculator; the encoder is arranged on a shaft of the winch driving hydraulic motor and used for measuring the number of movement turns of the winch; the first integrator is connected with the encoder and used for integrating the number of the movement turns to obtain the retracting length of the towing cable;
the depth controller is respectively connected with the first integrator and the first calculator, and is used for calculating a difference value between the depth threshold value and the retraction length of the towing cable, determining a depth control quantity according to the difference value and the depth feedback value, and sending the depth control quantity to the first calculator;
the first calculator is further connected with the proportional overflow valve and used for multiplying the depth control quantity by the first proportional coefficient to obtain a control signal of the depth control main loop, and controlling the opening degree of the proportional overflow valve by combining the control signal output by the tension compensation control loop and the control signal output by the deep cycle feedforward compensation loop.
Optionally, the depth control main loop includes a depth controller, a first calculator, and a depth sensor; storing a depth threshold in the depth controller; storing a first scale factor in the first calculator; the depth sensor is arranged on the towed object and used for acquiring the depth value of the towed object;
the depth controller is respectively connected with the depth sensor and the first calculator, and is used for calculating a difference value between the depth threshold value and the depth value of the towed object, determining a depth control quantity according to the difference value and the depth feedback value, and sending the depth control quantity to the first calculator;
the first calculator is further connected with the proportional overflow valve and used for multiplying the depth control quantity by the first proportional coefficient to obtain a control signal of the depth control main loop, and controlling the opening degree of the proportional overflow valve by combining the control signal output by the tension compensation control loop and the control signal output by the deep cycle feedforward compensation loop.
Optionally, the tension compensation control loop comprises: a tension controller, a second calculator and a tension sensor; the tension controller stores a tension threshold; the tension threshold is the product of the actual weight of the towed object and a constant; the constant is a towed cable weight compensation value and a weight difference value of the towed object in water and air; the second calculator stores a second scaling factor; the tension sensor is used for collecting the tension of the towing cable;
the tension controller is respectively connected with the second calculator and the tension sensor, and is used for calculating a difference value between the tension threshold value and the tension of the towing cable, determining a tension control quantity according to the difference value and the tension feedback value, and sending the tension control quantity to the second calculator;
and the second calculator is also connected with the proportional overflow valve and is used for multiplying the tension control quantity by the second proportional coefficient to obtain a control signal of the tension compensation control loop and controlling the opening degree of the proportional overflow valve by combining the control signal output by the depth control main loop and the control signal output by the deep cycle feedforward compensation loop.
Optionally, the tension compensation control loop comprises: the tension controller, the second calculator, the first pressure sensor and the second pressure sensor; the tension controller stores a tension threshold; the tension threshold is the product of the actual weight of the towed object and a constant; the constant is a towed cable weight compensation value and a weight difference value of the towed object in water and air; the second calculator stores a second scaling factor; the first pressure sensor is arranged at a first port of the winch driving hydraulic motor and used for acquiring a first hydraulic value at the first port of the winch driving hydraulic motor; the second pressure sensor is arranged at a second port of the winch driving hydraulic motor and is used for acquiring a second hydraulic value at the second port of the winch driving hydraulic motor;
the tension controller is respectively connected with the second calculator, the first pressure sensor and the second pressure sensor, and is used for determining a tension control quantity according to the tension threshold value, the first hydraulic pressure value and the second hydraulic pressure value, and sending the tension control quantity to the second calculator;
and the second calculator is also connected with the proportional overflow valve and is used for multiplying the tension control quantity by the second proportional coefficient to obtain a control signal of the tension compensation control loop and controlling the opening degree of the proportional overflow valve by combining the control signal output by the depth control main loop and the control signal output by the deep cycle feedforward compensation loop.
Optionally, the deep cycle feedforward compensation loop includes: the system comprises an inertial navigation sensor, a first PID controller, a third calculator and a second PID controller; storing a third scaling factor in the third calculator;
the inertial navigation sensor is fixedly arranged on the retraction platform; the Z-axis signal output by the inertial navigation sensor is processed by software to obtain the lifting amplitude and the lifting phase of the retractable platform in the same deep period; the lifting amplitude and the lifting phase are control inputs of the deep cycle feedforward compensation loop;
the first PID controller is connected with the third calculator and used for calculating a tension compensation component on the basis of the value of the lifting amplitude deviating from a fluctuation zero point and sending the tension compensation component to the third calculator;
the third calculator is connected with the proportional overflow valve and is used for multiplying the tension compensation component by the third proportional coefficient to obtain a control signal of the deep cycle feedforward compensation loop, and controlling the opening degree of the proportional overflow valve by combining the control signal output by the depth control main loop and the control signal output by the tension compensation control loop;
and the second PID controller is connected with the proportional throttle valve and used for calculating a damping compensation component according to the lifting phase and sending the damping compensation component to the proportional throttle valve so as to control the opening degree of the proportional throttle valve.
Optionally, the deep cycle feedforward compensation loop further includes: the second integrator, the low-pass filter, the deep parameter detector; and the Z-axis signal output by the inertial navigation sensor is processed by the second integrator, the low-pass filter and the deep parameter detector to obtain the lifting amplitude and the lifting phase of the retractable platform in the same deep period.
Optionally, the tension-damping adaptive hydraulic system further comprises a hydraulic pump and a safety valve; the safety valve is arranged at the outlet of the hydraulic pump;
the hydraulic pump is used for providing a power source required by the winch during the retraction and extension work; the safety valve is used for adjusting the highest pressure at the outlet of the hydraulic pump, and plays a role in safety protection.
Optionally, the tension-damping adaptive hydraulic system further comprises a proportional directional valve and a balance valve; the proportional directional valve is arranged on a two-cavity loop of the winch driving hydraulic motor; the proportional overflow valve is connected with the proportional throttle valve through the balance valve;
the proportional directional valve is used for controlling the winch recovery and release actions; when the proportional direction control quantity of the proportional direction valve is smaller than 0, hydraulic oil flows in through a first port and flows out through a second port of the winch driving hydraulic motor, and recovery action is achieved; when the proportional direction control quantity of the proportional direction valve is larger than 0, hydraulic oil flows in through a second port of the winch driving hydraulic motor, and flows out of a first port, so that release action is realized;
the balance valve is used for ensuring that the winch drives the hydraulic motor not to be actively dragged out by the dragging object in the winch recovery and release processes, and the safety protection effect is achieved.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a retraction storage device based on a deep-drawdown compensation control algorithm, which comprises a winch, a retraction platform, a tension-damping self-adaptive hydraulic system and a tension-deep-drawdown feedforward compensation control system, wherein the tension-damping self-adaptive hydraulic system and the tension-deep-drawdown feedforward compensation control system are arranged on the retraction platform; the tension-damping self-adaptive hydraulic system comprises a winch driving hydraulic motor, a proportional overflow valve connected with the winch driving hydraulic motor in parallel and a proportional throttle valve connected with an oil supply loop of the winch driving hydraulic motor in series; the tension-deep feedforward compensation control system comprises a depth control main loop, a tension compensation control loop and a deep cycle feedforward compensation loop; in the winch retracting process, the depth control main loop takes a depth feedback value as a reference amount, the tension compensation control loop takes a tension feedback value as a reference amount, the deep-period feedforward compensation loop takes a lifting amplitude value as a reference amount to control a proportional overflow valve so as to adjust the retracting tension of the tension-damping adaptive hydraulic system, the deep-period feedforward compensation loop takes a lifting phase value as a reference amount to control a proportional throttle valve so as to adjust the dynamic damping of the tension-damping adaptive hydraulic system, and then the winch driving hydraulic motor is controlled to drive the winch to retract and retract. Therefore, the storing and releasing device provided by the invention can stabilize the depth of the towed object by adopting a deep-sinking compensation control algorithm and reduce the tension fluctuation of the towed cable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described 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 without inventive exercise.
FIG. 1 is a schematic structural diagram of a storage device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of a tension-damping adaptive hydraulic system according to the present invention;
FIG. 3 is a schematic diagram of an embodiment of a tension-deepening feedforward compensation control system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a retraction storage device based on a deep compensation control algorithm, which can stabilize the depth of a towed object and reduce the tension fluctuation of a towed cable.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Deep compensation is a compensation control measure set according to the requirements of the marine operation storage device with higher requirements.
Fig. 1 is a schematic structural diagram of a storage device according to an embodiment of the present invention.
As shown in fig. 1, the retraction storage device based on the deep drawdown compensation control algorithm according to the embodiment of the present invention includes a winch, a retraction platform, and a tension-damping adaptive hydraulic system and a tension-deep drawdown feedforward compensation control system disposed on the retraction platform.
The tension-damping self-adaptive hydraulic system comprises a tension adjusting link and a damping adjusting link. The tension-damping self-adaptive hydraulic system comprises a winch driving hydraulic motor, a proportional overflow valve connected with the winch driving hydraulic motor in parallel and a proportional throttle valve connected with an oil supply loop of the winch driving hydraulic motor in series; the winch drives the hydraulic motor to be connected with the winch.
The proportional throttle valve is used for adjusting the dynamic damping of the tension-damping adaptive hydraulic system in the retraction process and improving the control characteristic of the tension-damping adaptive hydraulic system. The proportional overflow valve is used for adjusting the retraction tension of the tension-damping self-adaptive hydraulic system in a large range. Therefore, the tension adjusting link is realized by connecting a proportional overflow valve in parallel in the winch hydraulic drive motor, and plays a role in stabilizing tension in the recovery and release processes. The damping adjusting link is realized by serially connecting a proportional throttle valve in the winch driving hydraulic motor, and the effect of adjusting the tension of the tension-damping self-adaptive hydraulic system in a large range is achieved in the winch retracting process.
The tension-deep feedforward compensation control system comprises a depth control main loop, a tension compensation control loop and a deep cycle feedforward compensation loop. The three control loops act together to remarkably reduce the depth fluctuation of the towing object and reduce the tension fluctuation of the towing cable.
In the winch retracting process, the depth control main loop takes a depth feedback value as a reference amount, the tension compensation control loop takes a tension feedback value as a reference amount, the deep cycle feedforward compensation loop takes a lifting amplitude value as a reference amount to control the proportional overflow valve so as to adjust the retracting tension of the tension-damping adaptive hydraulic system, and the deep cycle feedforward compensation loop takes a lifting phase value as a reference amount to control the proportional throttle valve so as to adjust the dynamic damping of the tension-damping adaptive hydraulic system, so that the winch driving hydraulic motor is controlled to drive the winch to retract and retract.
Fig. 2 is an implementation schematic diagram of a tension-damping adaptive hydraulic system according to an embodiment of the present invention, and as shown in fig. 2, the tension-damping adaptive hydraulic system includes a hydraulic pump 1, a safety valve 2, a proportional directional valve 3, a balance valve 4, a proportional overflow valve 5, a proportional throttle valve 6, a winch drive hydraulic motor 7, and the like. The direction of recovery and release of the tension-damping adaptive hydraulic system when operating is also shown in fig. 2.
The hydraulic pump 1 is used for providing a power source required by the winch during the retraction and extension work; the relief valve 2 is arranged at the outlet of the hydraulic pump 1; the safety valve 2 is used for adjusting the highest pressure at the outlet of the hydraulic pump 1, and plays a role in safety protection. The proportional directional valve 3 is arranged on a two-cavity loop of the winch driving hydraulic motor 7; the proportional directional valve 3 is used for controlling the winch recovery and release actions; when the proportional direction control quantity of the proportional direction valve 3 is less than 0, hydraulic oil flows in through a first port (shown by A in the figure) and flows out through a second port (shown by B in the figure) of the winch driving hydraulic motor 7, and recovery action is realized; when the proportional directional control amount of the proportional directional valve 3 is larger than 0, hydraulic oil flows in through a second port (shown by B in the figure) and flows out through a first port (shown by A in the figure) of the winch driving hydraulic motor 7, and release action is realized. The proportional overflow valve 5 is connected with the proportional throttle valve 6 through the balance valve 4; the balance valve 4 is used for ensuring that the winch drives the hydraulic motor 7 not to be actively dragged out by the dragging object in the winch recovery and release process, and the safety protection effect is achieved. The proportional overflow valve 5 is connected in parallel with a winch driving hydraulic motor 7 to adjust the tension of a towing cable in the retracting process; the proportional throttle valve 6 is used for dynamically adjusting system damping in the retraction process, and the control effect is improved. The winch drives the hydraulic motor 7 to drive the winch to carry out retraction movement, so that retraction movement is realized.
Fig. 3 is an implementation schematic diagram of a tension-deep feedforward compensation control system according to an embodiment of the present invention, and as shown in fig. 3, in an implementation process, a control signal of the proportional relief valve 5 is obtained by linearly combining a control quantity output by a depth control main loop, a control quantity output by a tension compensation control loop, and a control quantity output by a deep cycle feedforward compensation loop according to a proportional coefficient. Wherein, the proportionality coefficient of the 3 control quantities required by the control is determined according to the engineering control effect field.
The depth control main loop takes the set depth (depth threshold value) of the towed object in the processes of recovery, release and towing as a reference input, and can also take the average length released by the towing cable as a feedback variable under the condition that the average depth of the towed object is not directly measured. Or the amount is controlled based on the error between the reference input and the average depth of the actual tow.
For the depth control primary loop, there are different means for different feedback variables.
First, the depth control main loop includes a depth controller 9, a first calculator, a first integrator 12 and an encoder 11; a depth threshold value 8 is stored in the depth controller 9; a first scaling factor k1 is stored in the first calculator; the encoder 11 is arranged on a shaft of the winch driving hydraulic motor 7 and used for measuring the number of movement turns of the winch 10; the first integrator 12 is connected to the encoder 11, and is configured to integrate the number of movement turns to obtain the retractable length of the trailing cable.
The depth controller 9 is connected to the first integrator 12 and the first calculator, and is configured to calculate a difference between the depth threshold 8 and the retraction length of the trailing cable, determine a depth control amount according to the difference, and send the depth control amount to the first calculator.
The first calculator is further connected to the proportional overflow valve 5, and configured to multiply the depth control amount by the first proportional coefficient k1 to obtain a control signal of the depth control main loop, and control the opening degree of the proportional overflow valve 5 by combining the control signal output by the tension compensation control loop and the control signal output by the deep cycle feedforward compensation loop.
The specific implementation process is as follows: the deviation between the depth threshold 8 and the release cable length is calculated and the control quantity is calculated by the depth controller 9 on the basis of this deviation. The control quantity is multiplied by a first proportional coefficient k1 and then combined with control signals generated by other control loops, and then the proportional overflow valve 5 is controlled, and the proportional overflow valve 5 finally adjusts a tension-damping adaptive hydraulic system to change the tension of the winch 10.
Secondly, the depth control main loop comprises a depth controller 9, a first calculator and a depth sensor; a depth threshold value 8 is stored in the depth controller; the depth threshold value 8 is a set depth value of the depth control main loop in the processes of recovery, release and dragging; a first scaling factor k1 is stored in the first calculator; the depth sensor is arranged on the towed object and used for collecting the depth value of the towed object.
The depth controller 9 is connected to the depth sensor and the first calculator, and configured to calculate a difference between the depth threshold 8 and the depth value of the towed object, determine a depth control amount based on the depth feedback value according to the difference, and send the depth control amount to the first calculator.
The first calculator is further connected to the proportional overflow valve 5, and configured to multiply the depth control amount by the first proportional coefficient k1 to obtain a control signal of the depth control main loop, and control the opening degree of the proportional overflow valve 5 by combining the control signal output by the tension compensation control loop and the control signal output by the deep cycle feedforward compensation loop.
The tension compensation control loop takes the actual weight of the towed object multiplied by a constant kx as a reference input, the calculated reference input is compared with the actual towed cable tension measured by a sensor, and the control quantity is calculated through tension deviation. Or under the condition that no tension sensor is installed, the pressure difference between the inlet and the outlet of the winch driving hydraulic motor 7 can be measured and converted to realize tension feedback.
For the tension compensation control loop, there are different means for the tension feedback obtained by different methods.
First, the tension compensation control loop comprises: a tension controller 15, a second calculator, and a tension sensor 13; the tension controller 15 stores a tension threshold; the tension threshold is the product of the actual weight 14 of the tow and a constant kx; the constant kx is a towing cable weight compensation value and a weight difference value of the towed object in water and air; the second calculator stores a second scaling factor k 2; the tension sensor 13 is used for acquiring the tension of the towing cable.
The tension controller 15 is connected to the second calculator and the tension sensor 13, and configured to calculate a difference between the tension threshold and the tension of the trailing cable, determine a tension control amount according to the difference, and send the tension control amount to the second calculator.
The second calculator is further connected to the proportional overflow valve 5, and configured to multiply the tension control amount by the second proportionality coefficient k2 to obtain a control signal of the tension compensation control loop, and control the opening degree of the proportional overflow valve 5 by combining the control signal output by the depth control main loop and the control signal output by the deep cycle feedforward compensation loop.
The specific implementation process comprises the following steps: the tension compensation control loop takes as a reference input the actual weight 14 of the towed object multiplied by a constant kx which is mainly used to compensate for differences in the weight of the towed cable and the weight of the towed object in water and air. The control loop calculates the error between the reference input and the trailing cable tension measured by the actual tension sensor 13, from which the tension controller 15 calculates a control quantity which, after multiplication by a second proportionality coefficient k2, is combined with other control loop signals and then controls the proportional relief valve 5.
Second, the tension compensation control loop comprises: a tension controller 15, a second calculator, a first pressure sensor, and a second pressure sensor; the tension controller 15 stores a tension threshold; the tension threshold is the product of the actual weight 14 of the tow and a constant kx; the constant kx is a towing cable weight compensation value and a weight difference value of the towed object in water and air; the second calculator stores a second scaling factor k 2; the first pressure sensor is arranged at a first port of the winch driving hydraulic motor 7 and used for acquiring a first hydraulic value at the first port of the winch driving hydraulic motor 7; the second pressure sensor is arranged at a second opening of the winch driving hydraulic motor 7 and used for acquiring a second hydraulic value at the second opening of the winch driving hydraulic motor 7.
The tension controller 15 is connected to the second calculator, the first pressure sensor, and the second pressure sensor, and configured to determine a tension control amount based on the tension feedback value according to the tension threshold value, the first hydraulic pressure value, and the second hydraulic pressure value, and send the tension control amount to the second calculator.
The second calculator is further connected to the proportional overflow valve 5, and configured to multiply the tension control amount by the second proportionality coefficient k2 to obtain a control signal of the tension compensation control loop, and control the opening degree of the proportional overflow valve 5 by combining the control signal output by the depth control main loop and the control signal output by the deep cycle feedforward compensation loop.
The deep cycle feedforward compensation loop includes: an inertial navigation sensor 16, a depth parameter detector 17, a first PID controller 18, a third calculator, a second PID controller 19, a second integrator 20, a low pass filter 21. A third scaling factor k3 is stored in the third calculator.
In order to realize the deep cycle feedforward compensation loop, an inertial navigation sensor 16 needs to be fixedly installed on the retraction platform; the Z-axis signal output by the inertial navigation sensor 16 is processed by software to obtain the lifting amplitude and the lifting phase of the retractable platform in the same deep cycle; the lifting amplitude and the lifting phase are control inputs of the deep cycle feedforward compensation loop.
The deep-sinking period feedforward compensation loop calculates the controlled variable according to the amplitude and the phase of the retraction platform in the same lifting period and controls the proportional throttle valve 6 and the proportional overflow valve 5 by using the output signal.
The Z-axis signal output by the inertial navigation sensor 16 is processed by the second integrator 20, the low-pass filter 21 and the deep-depth parameter detector 17 to obtain the lifting amplitude and the lifting phase of the retractable platform in the same deep-depth period.
The first PID controller 18 (PID-1 in the figure) is connected to the third calculator for calculating a tension compensation component on the basis of the value of the heave amplitude deviating from the zero point of the fluctuation and for sending the tension compensation component to the third calculator.
And the third calculator is connected with the proportional overflow valve 5 and is used for multiplying the tension compensation component by the third proportionality coefficient k3 to obtain a control signal of the deep cycle feedforward compensation loop, and controlling the opening degree of the proportional overflow valve 5 by combining the control signal output by the depth control main loop and the control signal output by the tension compensation control loop.
The second PID controller 19 (PID-2 in the figure) is connected to the proportional throttle 6, and is configured to calculate a damping compensation component according to the lift phase, and send the damping compensation component to the proportional throttle 6 to control the opening degree of the proportional throttle 6.
The specific implementation process comprises the following steps: after the Z-axis signal outputted from the inertial navigation sensor 16 passes through the second integrator 20 and the low-pass filter 21, the depth parameter detector 17 measures the lifting amplitude and lifting phase in the latest depth period. Then based on the value of the lifting amplitude deviating from the fluctuation zero point, the tension compensation component is obtained through calculation by the first PID controller 18, and after the component is multiplied by a third proportionality coefficient k3, the component is combined with other control loop signals, and then the proportional relief valve 5 is controlled. The measured lift phase is calculated by the second PID controller 19 to obtain a damping compensation component, which directly controls the proportional throttle valve 6.
Controllers in the depth control main loop, the tension compensation control loop and the deep cycle feedforward compensation loop adopt PID control algorithms and various PID improved control algorithms, and actual parameters need to be adjusted and optimized in engineering according to parameters of a hydraulic mechanical system.
It should be noted that fig. 3 illustrates only the first method of the depth control main loop, the first method of the tension compensation control loop, and the deep cycle feedforward compensation loop.
The hydraulic system of the storing and releasing device provided by the invention adopts series dynamic damping control and parallel proportional relief valve tension adjustment, and the control system matched with the hydraulic system adopts a depth control main loop, a tension compensation control loop and a deep cycle feedforward compensation loop. In order to realize the feed-forward compensation of the deep-sinking period, an inertial navigation sensor is fixedly arranged on the retractable platform, and the output signal of the inertial navigation sensor is processed by a signal processing mode to extract the amplitude and the phase of the deep-sinking period of the retractable platform and is used as the control input of the deep-sinking feed-forward compensation link. Therefore, the device provided by the invention realizes the retraction storage device based on the deep compensation control algorithm through computer software and hardware, an embedded control system and the like, reduces the depth fluctuation of the towed object and reduces the tension fluctuation of the towed cable.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A retraction storage device based on a deep-sinking compensation control algorithm is characterized by comprising a winch, a retraction platform, a tension-damping self-adaptive hydraulic system and a tension-deep-sinking feedforward compensation control system, wherein the tension-damping self-adaptive hydraulic system and the tension-deep-sinking feedforward compensation control system are arranged on the retraction platform;
the tension-damping self-adaptive hydraulic system comprises a winch driving hydraulic motor, a proportional overflow valve connected with the winch driving hydraulic motor in parallel and a proportional throttle valve connected with an oil supply loop of the winch driving hydraulic motor in series; the winch driving hydraulic motor is connected with the winch; the tension-deep feedforward compensation control system comprises a depth control main loop, a tension compensation control loop and a deep cycle feedforward compensation loop;
in the winch retracting and releasing process, the depth control main loop takes a depth feedback value as a reference amount, the tension compensation control loop takes a tension feedback value as a reference amount, the deep cycle feedforward compensation loop takes a lifting amplitude value as a reference amount to control the proportional overflow valve so as to adjust the retracting and releasing tension of the tension-damping adaptive hydraulic system, and the deep cycle feedforward compensation loop takes a lifting phase value as a reference amount to control the proportional throttle valve so as to adjust the dynamic damping of the tension-damping adaptive hydraulic system, so that the winch driving hydraulic motor is controlled to drive the winch to retract and release;
the depth control main loop comprises a depth controller, a first calculator, a first integrator and an encoder; storing a depth threshold in the depth controller; storing a first scale factor in the first calculator; the encoder is arranged on a shaft of the winch driving hydraulic motor and used for measuring the number of movement turns of the winch; the first integrator is connected with the encoder and used for integrating the number of the movement turns to obtain the retracting length of the towing cable; the depth controller is respectively connected with the first integrator and the first calculator, and is used for calculating a first difference value between the depth threshold value and the retraction length of the towing cable, determining a depth control quantity according to the first difference value and the depth feedback value, and sending the depth control quantity to the first calculator; the first calculator is also connected with the proportional overflow valve and is used for multiplying the depth control quantity by the first proportional coefficient to obtain a control signal of the depth control main loop and controlling the opening degree of the proportional overflow valve by combining the control signal output by the tension compensation control loop and the control signal output by the deep cycle feedforward compensation loop;
or the depth control main loop comprises a depth controller, a first calculator and a depth sensor; storing a depth threshold in the depth controller; storing a first scale factor in the first calculator; the depth sensor is arranged on the towed object and used for acquiring the depth value of the towed object; the depth controller is respectively connected with the depth sensor and the first calculator, and is used for calculating a second difference value between the depth threshold value and the depth value of the towed object, determining a depth control quantity according to the second difference value and the depth feedback value, and sending the depth control quantity to the first calculator; the first calculator is further connected with the proportional overflow valve and used for multiplying the depth control quantity by the first proportional coefficient to obtain a control signal of the depth control main loop, and controlling the opening degree of the proportional overflow valve by combining the control signal output by the tension compensation control loop and the control signal output by the deep cycle feedforward compensation loop.
2. The storage and retrieval device of claim 1, wherein the controllers in the depth control main loop, the tension compensation control loop and the deep cycle feedforward compensation loop all use a PID control algorithm or a PID modified version of the control algorithm.
3. The storage and retrieval arrangement of claim 2, wherein the tension compensation control loop includes: a tension controller, a second calculator and a tension sensor; the tension controller stores a tension threshold; the tension threshold is the product of the actual weight of the towed object and a constant; the constant is a towed cable weight compensation value and a weight difference value of the towed object in water and air; storing a second scaling factor in the second calculator; the tension sensor is used for collecting the tension of the towing cable;
the tension controller is respectively connected with the second calculator and the tension sensor, and is used for calculating a difference value between the tension threshold value and the tension of the towing cable, determining a tension control quantity according to the difference value and the tension feedback value, and sending the tension control quantity to the second calculator;
and the second calculator is also connected with the proportional overflow valve and is used for multiplying the tension control quantity by the second proportional coefficient to obtain a control signal of the tension compensation control loop and controlling the opening degree of the proportional overflow valve by combining the control signal output by the depth control main loop and the control signal output by the deep cycle feedforward compensation loop.
4. The storage and retrieval arrangement of claim 2, wherein the tension compensation control loop includes: the tension controller, the second calculator, the first pressure sensor and the second pressure sensor; the tension controller stores a tension threshold; the tension threshold is the product of the actual weight of the towed object and a constant; the constant is a towed cable weight compensation value and a weight difference value of the towed object in water and air; storing a second scaling factor in the second calculator; the first pressure sensor is arranged at a first port of the winch driving hydraulic motor and used for acquiring a first hydraulic value at the first port of the winch driving hydraulic motor; the second pressure sensor is arranged at a second port of the winch driving hydraulic motor and is used for acquiring a second hydraulic value at the second port of the winch driving hydraulic motor;
the tension controller is respectively connected with the second calculator, the first pressure sensor and the second pressure sensor, and is used for determining a tension control quantity according to the tension threshold value, the first hydraulic pressure value and the second hydraulic pressure value, and sending the tension control quantity to the second calculator;
and the second calculator is also connected with the proportional overflow valve and is used for multiplying the tension control quantity by the second proportional coefficient to obtain a control signal of the tension compensation control loop and controlling the opening degree of the proportional overflow valve by combining the control signal output by the depth control main loop and the control signal output by the deep cycle feedforward compensation loop.
5. The storage and retrieval arrangement of claim 2, wherein the deep cycle feed forward compensation loop includes: the system comprises an inertial navigation sensor, a first PID controller, a third calculator and a second PID controller; storing a third scaling factor in the third calculator;
the inertial navigation sensor is fixedly arranged on the retraction platform; the Z-axis signal output by the inertial navigation sensor is processed by software to obtain the lifting amplitude and the lifting phase of the retractable platform in the same deep period; the lifting amplitude and the lifting phase are control inputs of the deep cycle feedforward compensation loop;
the first PID controller is connected with the third calculator and used for calculating a tension compensation component on the basis of the value of the lifting amplitude deviating from a fluctuation zero point and sending the tension compensation component to the third calculator;
the third calculator is connected with the proportional overflow valve and is used for multiplying the tension compensation component by the third proportional coefficient to obtain a control signal of the deep cycle feedforward compensation loop, and controlling the opening degree of the proportional overflow valve by combining the control signal output by the depth control main loop and the control signal output by the tension compensation control loop;
and the second PID controller is connected with the proportional throttle valve and used for calculating a damping compensation component according to the lifting phase and sending the damping compensation component to the proportional throttle valve so as to control the opening degree of the proportional throttle valve.
6. The storage and retrieval arrangement of claim 5, wherein the deep cycle feed forward compensation loop further comprises: the second integrator, the low-pass filter, the deep parameter detector; and the Z-axis signal output by the inertial navigation sensor is processed by the second integrator, the low-pass filter and the deep parameter detector to obtain the lifting amplitude and the lifting phase of the retractable platform in the same deep period.
7. The storage and retrieval arrangement of claim 1, wherein the tension-damping adaptive hydraulic system further includes a hydraulic pump, a relief valve; the safety valve is arranged at the outlet of the hydraulic pump;
the hydraulic pump is used for providing a power source required by the winch during the retraction and extension work; the safety valve is used for adjusting the highest pressure at the outlet of the hydraulic pump, and plays a role in safety protection.
8. The storage and retrieval arrangement of claim 1, wherein the tension-damping adaptive hydraulic system further comprises a proportional directional valve, a counterbalance valve; the proportional directional valve is arranged on a two-cavity loop of the winch driving hydraulic motor; the proportional overflow valve is connected with the proportional throttle valve through the balance valve;
the proportional directional valve is used for controlling the winch recovery and release actions; when the proportional direction control quantity of the proportional direction valve is smaller than 0, hydraulic oil flows in through a first port and flows out through a second port of the winch driving hydraulic motor, and recovery action is achieved; when the proportional direction control quantity of the proportional direction valve is larger than 0, hydraulic oil flows in through a second port of the winch driving hydraulic motor, and flows out of a first port, so that release action is realized;
the balance valve is used for ensuring that the winch drives the hydraulic motor not to be actively dragged out by the dragging object in the winch recovery and release processes, and the safety protection effect is achieved.
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| CN113027676B (en) * | 2019-12-25 | 2022-10-04 | 新疆金风科技股份有限公司 | Hydraulic variable pitch control method and device of wind generating set |
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| CN104876145B (en) * | 2014-12-19 | 2018-11-23 | 上海交通大学 | Electronic active compensation hoister system |
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