CN111674511B - Self-stabilizing ship gangway ladder system and control method - Google Patents
Self-stabilizing ship gangway ladder system and control method Download PDFInfo
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- CN111674511B CN111674511B CN202010518569.2A CN202010518569A CN111674511B CN 111674511 B CN111674511 B CN 111674511B CN 202010518569 A CN202010518569 A CN 202010518569A CN 111674511 B CN111674511 B CN 111674511B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
- B63B27/146—Pilot ladders or similar outboard ladders, e.g. bathing ladders; Pilot lifts
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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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
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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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more 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
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
Abstract
The invention discloses a self-stabilizing ship gangway ladder system and a control method, and relates to the field of ship berthing gangways. The self-stabilizing ship gangway ladder system comprises a six-degree-of-freedom hydraulic stabilizing platform, a gangway ladder stabilizing controller and a gangway ladder lifting and rotating mechanism; the six-degree-of-freedom hydraulic stabilization platform comprises a platform stabilization system, wherein the platform stabilization system comprises a hydraulic cylinder jacking system, a bearing platform, a PLC (programmable logic controller) and peripheral circuit, a servo signal amplification processing circuit and an electric servo system; the ship accommodation ladder stability controller comprises a main control board, a ship attitude signal collector and a serial port communication module, wherein the ship attitude collector is used for collecting attitude transformation real-time values of a ship under the action of surge and wind power and sending data to the ship accommodation ladder stability control; the accommodation ladder lifting and rotating mechanism comprises a lifting motor, a rotating motor, a gear meshing device, a steel wire rope winding drum, a first lifting limiter, a second lifting limiter, a first rotating limiter and a second rotating limiter.
Description
Technical Field
The invention relates to the field of ship berthing gangways, in particular to a self-stabilizing ship gangway ladder system and a control method.
Background
After the mooring of the large ship is finished, the erection of the ship-loading and ship-unloading channel needs to be completed at the first time so as to quickly open a personnel passage from the wharf to the large ship. The tonnage of a common ship is small, and a boarding ladder for personnel from a wharf to the ship is generally carried by the ship and is responsible for erection. However, the positions of the passages for large ship personnel to get on and off the ship are special, the transverse span of the boarding ladder is large, the number of passers is large, and the ship can not carry and build the wharf boarding ladder, so that the port is required to be responsible for providing and building. The erection and the withdrawal of the passages for the large ship personnel to get on and off the ship become an important task for guaranteeing the large ship berthing port and the berthed port base.
The prior ship gangway ladder mainly comprises several types, the first type is a simple mechanical gangway ladder without any electronic and hydraulic assistance, and the gangway ladder can only be suitable for small ships and under the condition of very good sea condition. The gangway ladder with the simple steel wire rope device can be lifted and rotated to complete two-dimensional connection operation, can adapt to small and medium-sized ships and general sea operation below 6/7-level wind power, is easy to cause damage to a walking motor and the steel wire rope when in operation in large ships and severe weather, and can cause personal safety injury seriously. The third kind of track gangway ladder consists of walking mechanism, main frame, platform, driving mechanism, hydraulic control, floating ladder and other parts, and is higher than the former kind of sea state and ship grade. The acquisition of ship postures cannot be realized by the above gangways, the comparison of the current gangway postures cannot realize multi-dimensional posture adjustment in real time and rapidly.
Disclosure of Invention
The invention aims to overcome the defects and provides a self-stabilizing ship gangway ladder system and a control method, wherein a six-degree-of-freedom hydraulic platform is adopted to carry a ship mechanical gangway ladder, and the stretching of a six-degree-of-freedom hydraulic oil cylinder is used for compensating the swinging and shaking of a ship caused by the action of sea waves and wind.
The invention specifically adopts the following technical scheme:
a self-stabilized ship gangway ladder system comprises a six-degree-of-freedom hydraulic stabilizing platform, a gangway ladder stabilizing controller and a gangway ladder lifting and rotating mechanism;
the six-degree-of-freedom hydraulic stabilization platform comprises a platform stabilization system, wherein the platform stabilization system comprises a hydraulic cylinder jacking system, a bearing platform, a PLC (programmable logic controller) and peripheral circuit, a servo signal amplification processing circuit and an electric servo system;
the ship accommodation ladder stability controller comprises a main control board, a ship attitude signal collector and a serial port communication module, wherein the ship attitude collector is used for collecting attitude transformation real-time values of a ship under the action of surge and wind power and sending data to the ship accommodation ladder stability control;
the accommodation ladder lifting and rotating mechanism comprises a lifting motor, a rotating motor, a gear meshing device, a steel wire rope winding drum, a first lifting limiter, a second lifting limiter, a first rotating limiter and a second rotating limiter.
Preferably, the hydraulic station comprises a servo motor, a hydraulic pump, a proportional solenoid valve, a reversing solenoid valve, a hydraulic oil tank, a mechanical oil level meter, an oil pressure meter and a hydraulic pipeline; the accommodation ladder walking channel lifting platform comprises a steel wire rope, a winding drum, an accommodation ladder walking channel, a winding drum support mechanism and a fixed pulley block.
Preferably, the six-degree-of-freedom hydraulic stabilization platform further comprises a base platform, 6 hydraulic push-pull cylinders, hydraulic pipelines and interfaces, a hinged structure, a proportional signal amplification circuit, a reversing signal amplification circuit and a servo driver.
Preferably, the bearing platform comprises an upper bearing platform and a lower bearing platform, the upper bearing platform is connected with the lightering gangway ladder for anchoring, when the six-degree-of-freedom hydraulic stabilizing platform automatically compensates ship posture information, instantaneous compensation of the lightering gangway ladder can be achieved, stability of the lightering gangway ladder is guaranteed, the lower bearing platform is connected with the left-right rotating mechanism for anchoring, when the whole gangway ladder rotates left and right, the six-degree-of-freedom platform rotates along with the whole, and the six hydraulic push-pull cylinders are driven by the servo motor to achieve push-pull of the cylinder body and achieve pose change of the upper platform.
Preferably, the accommodation ladder lifting and rotating mechanism comprises a supporting roller, a lifting motor and a winding drum, a left-handed motor, a right-handed motor, a speed reducer, a gear set mechanism, a rotation limit, a contact-connection pulley, a steel wire rope fixed pulley, a cross-connection channel handrail, a cross-connection channel and an electric cabinet; the ship accommodation ladder stable controller comprises a system main control circuit board, a ship attitude signal communication serial port, a PLC signal issuing communication serial port, an anti-electromagnetic interference device and a DC24V power supply, and when the ship accommodation ladder stable controller works, a ship attitude signal is input to a ship attitude acquisition board in an electric cabinet through hard wire connection; the hoisting motor is used for controlling the lifting function of the lightering channel, when the lightering task is started or the lightering task is completed, the hoisting motor is needed to lift the lightering channel, and then the left-handed motor or the right-handed motor is started to complete the erection or retraction of the gangway ladder.
A control method of a self-stabilizing ship gangway ladder system adopts the self-stabilizing ship gangway ladder system, a main control board collects ship body posture information, a compensation signal obtained through calculation processing is sent to a PLC (programmable logic controller) through a serial port communication module, the PLC receives the compensation signal to perform program internal operation, and calculation results are sent to a proportional solenoid valve, a reversing solenoid valve and a servo driver respectively; the servo driver receives the signals to process and convert the data signals, and the servo motor drives the hydraulic pump to rotate so as to drive the 6 hydraulic push-pull cylinders; the proportional solenoid valve receives a control command of the PLC, and the opening and closing angle of the proportional solenoid valve determines the expansion and contraction speed of the hydraulic cylinder; the reversing electromagnetic valve receives a control instruction of the PLC controller and determines whether the hydraulic cylinder is stretched or compressed.
Preferably, the compensation main controller receives the acquisition control command and records the receiving time of the data frame, and the time difference T is obtained by subtracting the acquisition control command from the receiving time of the data frame1Meanwhile, the time difference T of the command output to the hydraulic cylinder action is obtained through data statistics2，T＝T1+T2Adding the two to obtain signal communication lag time, substituting the lag time into the speed control operation shown in the formula (2), performing time compensation to obtain a real-time control command, and finally driving and controlling the ship gangway through a hydraulic cylinder;
u(k-T1)＝(x(k+1)-x(k))/T2 (1)；
wherein k represents a reception time, and k +1 represents an execution completion time;
T1calculating a communication lag time;
k-T1indicating a transmission time;
T2the duration of action of the speed control quantity is the time taken from the execution of the command to the completion of the command after the command is received;
x (k) represents the motion state of the ship gangway ladder in X, Y, Z at the time k;
x (k +1) represents the motion state of the six-degree-of-freedom hydraulic stable platform in X, Y, Z three directions at the moment of k + 1;
u(k-T1) Is k-T1The speed control amount at the time is X, Y, Z propulsion speeds in three directions.
Preferably, the coordinate transformation moments of the load-bearing platform and the base platform are as shown in formula (2),
K＝Kx*Ky*Kz (2)
Kxfor carrying platform solely rotating theta about X-axisxObtaining a matrix;
Kyfor carrying platform solely rotating theta about Y-axisyObtaining a matrix;
Kzfor carrying platform solely rotating theta about Z-axiszObtaining a matrix;
θx，θy，θzrespectively, about the X, Y, Z axes; l isx,Ly,LzRespectively, along the X, Y, Z axes.
The invention has the following beneficial effects:
the invention provides a self-stabilizing ship gangway ladder system and a control method thereof, wherein a six-degree-of-freedom hydraulic platform is used as a base of the ship gangway ladder, the attitude information acquired by the ship attitude is sent to a stabilizing controller, the controller is a main control upper computer of the system, performs operation processing on the information and sends the information to a PLC lower controller, the PLC controller receives an upper control signal and completes the push-pull and speed control of a hydraulic cylinder, the push-pull of the hydraulic cylinder corresponds to the horizontal and up-down displacement of the gangway ladder, and the push-pull speed of the hydraulic cylinder determines the movement speed of the gangway ladder, namely the compensation time of the ship shaking.
Drawings
FIG. 1 is a top view of a self-stabilizing marine gangway system;
FIG. 2 is a front view of a self-stabilizing marine gangway system;
FIG. 3 is a diagram of a ship gangway ladder rotation and lifting control mechanism;
FIG. 4 is a diagram of a control structure of a six-degree-of-freedom hydraulic platform of a ship accommodation ladder;
FIG. 5 is a schematic diagram of a controller design based on a six-degree-of-freedom hydraulic platform;
FIG. 6 is a diagram of a controller custom communication protocol format;
FIG. 7 is a six-DOF table coordinate system diagram.
The device comprises a support roller 1, a lifting motor and a winding drum 2, a left-handed motor 3, a right-handed motor 4, an electric cabinet 5, a ship attitude sensor 6, a contact barge pulley 7, a steel wire rope fixed pulley 8, a lightering channel handrail 9, a lightering channel 10, an upper bearing platform 11, a hydraulic push-pull cylinder 12, a lower bearing platform 13 and a servo driving motor 14.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
with reference to fig. 1-4, the self-stabilizing ship gangway ladder system comprises a six-degree-of-freedom hydraulic stabilizing platform, a gangway ladder stabilizing controller, a gangway ladder lifting and rotating mechanism, a hydraulic station and a gangway ladder walking channel lifting platform, wherein the hydraulic station comprises a servo motor, a hydraulic pump, a proportional solenoid valve, a reversing solenoid valve, a hydraulic oil tank, a mechanical oil level meter, an oil pressure gauge and a hydraulic pipeline; the accommodation ladder walking channel lifting platform comprises a steel wire rope, a winding drum, an accommodation ladder walking channel, a winding drum support mechanism and a fixed pulley block.
The six-degree-of-freedom hydraulic stabilization platform comprises a platform stabilization system, wherein the platform stabilization system comprises a hydraulic cylinder jacking system, a bearing platform, a PLC (programmable logic controller) controller, a peripheral circuit, a servo signal amplification processing circuit, an electric servo system, an AC380V power supply and a DC24V direct-current power supply. The AC380V power supply supplies power for the servo driver and the servo motor; the DC24V direct current power supply supplies power for the PLC, and the DC24V direct current power supply supplies power for the steady main control board of the gangway.
The ship gangway ladder stability controller comprises a main control board, a ship attitude signal collector and a serial port communication module, wherein the ship attitude signal collector is used for collecting attitude transformation real-time values of a ship under the action of surge and wind power and sending data to the ship gangway ladder stability controller. The power supply voltage of the ship gangway ladder stability controller is unified to be DC24V and comprises a ship attitude acquisition processing controller and an attitude compensation main controller, the ship attitude acquisition processing controller is responsible for signal acquisition and analysis uploading, and the attitude compensation main controller calculates compensation difference of transmitted attitude signals and compensates by driving a six-degree-of-freedom platform. Is to separate two different control panels (components). The acquisition main control board acquires data of the attitude sensor, performs algorithm processing and then transmits the data to the attitude compensation main control; the main control obtains the attitude information of the current berthing ship through the forward solution of the attitude information, and then calculates the compensation speed and the compensation vector which need to be executed by the six-degree-of-freedom platform through a reverse solution method; the compensation information is sent to a reversing valve and a switch valve in a control signal mode, the reversing hydraulic valve controls the pushing or pulling of a push rod of the hydraulic cylinder, and the switch valve controls the pushing and pulling speed of the push rod of the hydraulic cylinder; the compensation speed and the compensation vector are simultaneously sent to the servo controller, the servo controller drives the servo motor according to the given value to drive the hydraulic pump, and the hydraulic cylinder is driven to act according to the given speed and the vector.
The accommodation ladder lifting and rotating mechanism comprises a lifting motor, a rotating motor, a gear meshing device, a steel wire rope winding drum, a first lifting limiter, a second lifting limiter, a first rotating limiter and a second rotating limiter.
The six-degree-of-freedom hydraulic stabilization platform comprises a bearing platform, a base platform, 6 hydraulic push-pull cylinders, hydraulic pipelines, interfaces, a hinged structure body, a PLC (programmable logic controller), a proportional signal amplification circuit, a reversing signal amplification circuit and a servo driver.
The plummer includes load-bearing platform and lower load-bearing platform, it links up the anchor with the gangway ladder of refuting to go up load-bearing platform, when six degrees of freedom hydraulic stabilization platform automatic compensation boats and ships gesture information, can realize the instantaneous compensation of the gangway ladder of refuting, thereby guarantee the steady of the gangway ladder of refuting, lower load-bearing platform links up the anchor with rotary mechanism, when whole gangway ladder is rotatory about, six degrees of freedom platforms are rotatory along with whole realization, six hydraulic pressure push-and-pull jars are under servo motor's drive, realize the push-and-pull of cylinder body, realize the position appearance change of upper mounting plate.
The accommodation ladder lifting and rotating mechanism comprises a forward rotating motor, a reverse rotating motor, a speed reducer, a gear set mechanism and a rotation limiting mechanism. The ship accommodation ladder stability controller comprises a system main control circuit board, a ship attitude signal communication serial port, a PLC signal issuing communication serial port, an anti-electromagnetic interference device and a DC24V power supply.
The stable main control board (upper computer) collects ship attitude information, processes and compares the ship attitude information, sends the calculated displacement difference to a PLC (lower computer) of the six-degree-of-freedom platform through a serial port, the PLC reads input signals and processes programs, the signals are respectively sent to an amplifying circuit, a proportional solenoid valve and a reversing solenoid valve, the signals are matched with the input end of a servo driver through the signal amplifying circuit and are sent to the servo driver, the driver processes the sent amplifying signals, calculates parameters such as stroke, speed and acceleration of the servo motor at the same time, converts the parameters into actual power output of the servo motor, and the servo motor rotates to drive a hydraulic pump so as to drive a hydraulic cylinder; whether the hydraulic cylinder extends or retracts depends on the reversing electromagnetic valve, and the extending and retracting speed of the hydraulic cylinder depends on the opening and closing amount of the proportional valve.
The control method of the self-stabilizing ship gangway ladder system adopts the self-stabilizing ship gangway ladder system, the main control board collects the posture information of a ship body, a compensation signal obtained by calculation processing is sent to the PLC through the serial port communication module, the PLC receives the compensation signal to carry out program internal operation, and the calculation result is respectively sent to the proportional solenoid valve, the reversing solenoid valve and the servo driver; the servo driver receives the signals to process and convert the data signals, and the servo motor drives the hydraulic pump to rotate so as to drive the 6 hydraulic push-pull cylinders; the proportional solenoid valve receives a control command of the PLC, and the opening and closing angle of the proportional solenoid valve determines the expansion and contraction speed of the hydraulic cylinder; the reversing electromagnetic valve receives a control instruction of the PLC controller and determines whether the hydraulic cylinder is stretched or compressed.
With reference to fig. 6, the compensation master controller receives the acquisition control command and records the receiving time of the data frame, and the time difference T is obtained by subtracting the acquisition control command and the data frame1Meanwhile, the time difference T of the command output to the hydraulic cylinder action is obtained through data statistics2，T＝T1+T2Adding the two to obtain signal communication lag time, substituting the lag time into the speed control operation shown in the formula (2), performing time compensation to obtain a real-time control command, and finally driving and controlling the ship gangway through a hydraulic cylinder;
u(k-T1)＝(x(k+1)-x(k))/T2 (1)；
wherein k represents a reception time, and k +1 represents an execution completion time;
T1calculating a communication lag time;
k-T1indicating a transmission time;
T2the duration of action of the speed control quantity is the time taken from the execution of the command to the completion of the command after the command is received;
x (k) represents the motion state of the ship gangway ladder in X, Y, Z at the time k;
x (k +1) represents the motion state of the six-degree-of-freedom hydraulic stable platform (namely the ship gangway ladder) in X, Y, Z three directions at the moment of k + 1;
u(k-T1) Is k-T1The speed control amount at the time is X, Y, Z propulsion speeds in three directions.
The coordinate transformation moment of the bearing platform and the base platform is shown as the formula (2),
K＝Kx*Ky*Kz (2)
Kxfor carrying platform solely rotating theta about X-axisxObtaining a matrix;
Kyfor carrying platform solely rotating theta about Y-axisyObtaining a matrix;
Kzfor carrying platform solely rotating theta about Z-axiszObtaining a matrix;
θx，θy，θzrespectively, about the X, Y, Z axes; l isx,Ly,LzRespectively, along the X, Y, Z axes.
With reference to fig. 7, the communication protocol between the ship gangway ladder controllers adopts a self-defined communication protocol frame, and the attitude compensation main controller analyzes the control instruction sent by the attitude acquisition controller according to a protocol format. The header and the trailer of the protocol are both composed of 1 byte. The control command word consists of 3 bytes, corresponding low 32-bit data bits (from right to left) of the control command word respectively represent a left inclination angle (1-8 bits), a right inclination angle (9-16 bits), a forward inclination angle (17-24 bits) and a backward inclination angle (25-32 bits) of the ship, and the corresponding angle is 0.2 to obtain an actual inclination angle; the high 16 bits represent the inclination delay time (from right to left), respectively represent the left inclination delay (33-36 bits), the right inclination delay (37-40 bits), the forward inclination delay (41-44 bits) and the backward inclination delay (45-48 bits), and the corresponding delay is 0.35 to obtain the actual delay time. The Cyclic Redundancy Check (CRC) is also composed of 1 byte, the attitude compensation main controller calculates the value of the detection bit through a CRC detection algorithm, compares the value with the received CRC value, completes the error detection of the data frame, and discards the data packet if an error occurs.
For example, the attitude compensation master controller receives the attitude information word meaning x xxxxxx, detects the state of the last eight bits, and if the last 8 bits are 01010101, the vessel roll angle is 85 x 0.2 ═ 17 °; if the 9-16 position is 10101010, the right inclination angle of the ship is 170 x 0.2-34 degrees; similarly, if bits 17-20 receive a value of 0110, then the vessel has a time delay of 6 x 0.35 to 2.1 s. Meanwhile, in order to play a role in alarming, the inclination angle of 30 degrees is used as a threshold value to participate in system warning and alarming, and at the moment, the sea state is severe and danger is avoided.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (4)
1. A self-stabilizing ship gangway ladder system is characterized by comprising a six-degree-of-freedom hydraulic stabilizing platform, a gangway ladder stabilizing controller and a gangway ladder lifting and rotating mechanism;
the six-degree-of-freedom hydraulic stabilization platform comprises a platform stabilization system, wherein the platform stabilization system comprises a hydraulic cylinder jacking system, a bearing platform, a PLC (programmable logic controller) and peripheral circuit, a servo signal amplification processing circuit and an electric servo system; the six-degree-of-freedom hydraulic stable platform also comprises a base platform, 6 hydraulic push-pull cylinders, a hydraulic pipeline, an interface, a hinged structure body, a proportional signal amplifying circuit, a reversing signal amplifying circuit and a servo driver;
the ship accommodation ladder stability controller comprises a main control board, a ship attitude signal collector and a serial port communication module, wherein the ship attitude collector is used for collecting attitude transformation real-time values of a ship under the action of surge and wind power and sending data to the ship accommodation ladder stability control;
the accommodation ladder lifting and rotating mechanism comprises a lifting motor, a rotating motor, a gear meshing device, a steel wire rope reel, a first lifting limiter, a second lifting limiter, a first rotating limiter and a second rotating limiter;
the accommodation ladder lifting and rotating mechanism comprises a supporting roller, a lifting motor and a winding drum, a left-handed motor, a right-handed motor, a speed reducer, a gear set mechanism, a rotation limit, a contact-connection pulley, a steel wire rope fixed pulley, a cross-connection channel handrail, a cross-connection channel and an electric cabinet; the ship accommodation ladder stable controller comprises a system main control circuit board, a ship attitude signal communication serial port, a PLC signal issuing communication serial port, an anti-electromagnetic interference device and a DC24V power supply, and when the ship accommodation ladder stable controller works, a ship attitude signal is input to a ship attitude acquisition board in an electric cabinet through hard wire connection; the hoisting motor is used for controlling the lifting function of the lightering channel, when the lightering task is started or is completed, the lightering channel needs to be lifted by the hoisting motor, and then the left-handed motor or the right-handed motor is started to complete the erection or retraction of the gangway ladder;
the hydraulic station comprises a servo motor, a hydraulic pump, a proportional solenoid valve, a reversing solenoid valve, a hydraulic oil tank, a mechanical oil level meter, an oil pressure gauge and a hydraulic pipeline; the accommodation ladder walking channel lifting platform comprises a steel wire rope, a winding drum, an accommodation ladder walking channel, a winding drum support mechanism and a fixed pulley block;
the plummer includes load-bearing platform and lower load-bearing platform, it links up the anchor with the gangway ladder of refuting to go up load-bearing platform, when six degrees of freedom hydraulic stabilization platform automatic compensation boats and ships gesture information, can realize the instantaneous compensation of the gangway ladder of refuting, thereby guarantee the steady of the gangway ladder of refuting, lower load-bearing platform links up the anchor with rotary mechanism, when whole gangway ladder is rotatory about, six degrees of freedom platforms are rotatory along with whole realization, six hydraulic pressure push-and-pull jars are under servo motor's drive, realize the push-and-pull of cylinder body, realize the position appearance change of upper mounting plate.
2. A control method of a self-stabilizing ship gangway ladder system adopts the self-stabilizing ship gangway ladder system as claimed in claim 1, and is characterized in that a main control board collects posture information of a ship body, a compensation signal obtained by calculation processing is sent to a PLC (programmable logic controller) through a serial port communication module, the PLC receives the compensation signal to perform program internal operation, and the calculation result is respectively sent to a proportional solenoid valve, a reversing solenoid valve and a servo driver; the servo driver receives the signals to process and convert the data signals, and the servo motor drives the hydraulic pump to rotate so as to drive the 6 hydraulic push-pull cylinders; the proportional solenoid valve receives a control command of the PLC, and the opening and closing angle of the proportional solenoid valve determines the expansion and contraction speed of the hydraulic cylinder; the reversing electromagnetic valve receives a control instruction of the PLC controller and determines whether the hydraulic cylinder is stretched or compressed.
3. The control method of the self-stabilized ship gangway system as claimed in claim 2, wherein the compensation main controller receives the acquisition control command and records the receiving time of the data frame, and the time difference T is obtained by subtracting the acquisition control command and the receiving time of the data frame1Simultaneously obtained through data statisticsTime difference T from output of command to action of hydraulic cylinder2，T＝T1+T2Adding the two to obtain signal communication lag time, substituting the lag time into the speed control operation shown in the formula (1), performing time compensation to obtain a real-time control command, and finally driving and controlling the ship gangway through a hydraulic cylinder;
u(k-T1)＝(x(k+1)-x(k))/T2 (1)；
wherein k represents a reception time, and k +1 represents an execution completion time;
T1calculating a communication lag time;
k-T1indicating a transmission time;
T2the duration of action of the speed control quantity is the time taken from the execution of the command to the completion of the command after the command is received;
x (k) represents the motion state of the ship gangway ladder in X, Y, Z at the time k;
x (k +1) represents the motion state of the six-degree-of-freedom hydraulic stable platform in X, Y, Z three directions at the moment of k + 1;
u(k-T1) Is k-T1The speed control amount at the time is X, Y, Z propulsion speeds in three directions.
4. The control method of the self-stabilized ship gangway ladder system as claimed in claim 2, wherein the coordinate transformation moments of the bearing platform and the base platform are as shown in formula (2),
K＝Kx*Ky*Kz (2)
Kxfor carrying platform solely rotating theta about X-axisxObtaining a matrix;
Kyfor carrying platform solely rotating theta about Y-axisyObtaining a matrix;
Kzfor carrying platform solely rotating theta about Z-axiszObtaining a matrix;
θx，θy，θzrespectively, about the X, Y, Z axes; l isx,Ly,LzRespectively, along the X, Y, Z axes.
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