CN115559945A - Mining ship wave compensation device, compensation system and compensation method - Google Patents
Mining ship wave compensation device, compensation system and compensation method Download PDFInfo
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- CN115559945A CN115559945A CN202210929136.5A CN202210929136A CN115559945A CN 115559945 A CN115559945 A CN 115559945A CN 202210929136 A CN202210929136 A CN 202210929136A CN 115559945 A CN115559945 A CN 115559945A
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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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
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- 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
- F15B11/12—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action
- F15B11/121—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action providing distinct intermediate positions
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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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single 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
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0072—Seaway compensators
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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)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a mining ship wave compensation device, which comprises: the acquisition mechanism, the control mechanism connected with the acquisition mechanism and the hydraulic mechanism connected with the control mechanism; the collection comprises the following mechanisms: the displacement sensor is arranged on the mining ship, and the wave motion acquisition unit is connected with the mining ship; the hydraulic mechanism includes: the hydraulic system comprises a composite hydraulic cylinder, a main control valve and an oil pump which are connected with the composite hydraulic cylinder, and a liquid filling valve which is connected with the main control valve in parallel. Through displacement sensor or wave motion acquisition unit, real-time detection mining ship displacement volume or prediction mining ship motion trail realize the compensation of active and passive compound wave, reduce the heaving motion of ocean mining ship to let can guarantee that mining ship also can the steady operation under the irregular influence of wave, improved the precision of compensation.
Description
Technical Field
The invention relates to the technical field of a mining ship wave compensation device, in particular to a mining ship wave compensation device, a mining ship wave compensation system and a mining ship wave compensation method.
Background
The mining ship is necessary because the exploitation of ocean resources is very important at present, but the wave compensation system is also necessary for ensuring the stability of the mining ship during operation, but the design and the improvement of the wave compensation system of the mining ship in the market are based on mechanical angles, and the mining ship is large in size and large in occupied area. In addition, the existing mining ship wave compensation system cannot realize the matching use of a passive type and an active type wave compensation system, so that the compensation precision is low.
Therefore, the invention needs to research a brand-new active-passive integrated composite wave compensation system, and further improve the accuracy of the wave compensation system of the mining ship by improving the algorithm.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a mining ship wave compensation device, a compensation system and a compensation method.
In order to achieve the purpose, the invention adopts the technical scheme that: a mining vessel wave compensation arrangement, comprising: the acquisition mechanism, the control mechanism connected with the acquisition mechanism and the hydraulic mechanism connected with the control mechanism;
the acquisition comprises a mechanism: the displacement sensor is arranged on the mining ship, and the wave motion acquisition unit is connected with the mining ship;
the hydraulic mechanism includes: the hydraulic system comprises a composite hydraulic cylinder, a main control valve and an oil pump which are connected with the composite hydraulic cylinder, and a liquid filling valve which is connected with the main control valve in parallel;
the combined hydraulic cylinder comprises: the outer oil cylinder, the piston rod arranged in the outer oil cylinder and the inner oil cylinder arranged in the piston rod; one end of the piston rod is provided with a pulley, and the pulley is connected with a mining ship through a rope;
the outer oil cylinder is divided by the end face of the piston rod to form a first oil cylinder and a second oil cylinder; the main control valve is connected with the inner oil cylinder through a first pipeline, and the main control valve is connected with the second oil cylinder through a second pipeline; the first pipeline is communicated with the second pipeline through a buffer pipeline; the liquid charging valve is arranged in a third pipeline, one end of the third pipeline is connected with the main pump, and the other end of the third pipeline is connected with the first oil cylinder.
In a preferred embodiment of the present invention, the control mechanism is a fuzzy PID controller.
In a preferred embodiment of the present invention, the first pipeline and the third pipeline are connected by a connecting valve.
In a preferred embodiment of the present invention, a buffer valve is disposed in the buffer pipeline.
In a preferred embodiment of the present invention, the third pipeline at the input end of the charging valve is connected in parallel with a voltage-stabilizing accumulator, and the third pipeline at the output end of the charging valve is connected in parallel with a compensation accumulator.
In a preferred embodiment of the invention, the main pump is provided with a relief valve.
In a preferred embodiment of the invention, the sheave is capable of extending or retracting the rope.
The invention provides a compensation system of a mining ship wave compensation device, which is applied to the mining ship wave compensation device and comprises a fuzzy PID control unit;
the fuzzy PID control unit receives detection signals of the displacement sensor and the wave motion acquisition unit; and the fuzzy PID control unit sends control signals to the main control valve, the liquid charging valve and the buffer valve in the hydraulic mechanism and is used for controlling the opening and closing or switching of the main control valve, the liquid charging valve and the buffer valve.
The invention provides a compensation method of a wave compensation device of a mining ship;
when the mining vessel is in the active compensation mode, comprising the steps of: a1, collecting wave motion data according to a wave motion collecting unit, analyzing wave motion by using an algorithm, and determining the direction or compensation amount of the mining ship wave compensation;
a2, controlling the oil quantity pumped from the main pump by the third pipeline and the second pipeline, and further controlling the oil quantity in the first oil cylinder and the second oil cylinder to realize the left-right movement of the piston rod;
when the mining vessel is in a passive compensation mode, comprising the steps of: b1, measuring the actual displacement of the mining ship according to a displacement sensor, and determining the wave compensation direction or compensation amount of the mining ship; and B2, pumping oil into the inner oil cylinder through the main control valve, adjusting the oil quantity between the inner oil cylinder and the second oil cylinder through a buffer pipeline, inputting the oil into the first oil cylinder through the compensation energy accumulator, and realizing the left-right movement of the piston rod.
In a preferred embodiment of the invention, in A1, the wave motion track is divided according to time, under the condition of setting a fixed step length, the actual wave motion track in the next step length is predicted and analyzed through the action of a control mechanism, the error between the actual wave motion track and the expected value is calculated at the same time, and continuous iterative calculation and rolling optimization are carried out, so that the wave compensation direction or compensation amount of the mining ship is determined.
The invention solves the defects in the background art, and has the following beneficial effects:
(1) The invention provides a mining ship wave compensation device, which detects the displacement of a mining ship or predicts the motion track of the mining ship in real time through a displacement sensor or a wave motion acquisition unit, realizes active and passive composite wave compensation, reduces the heave motion of an ocean mining ship, ensures that the mining ship can stably run under the irregular influence of waves, and improves the compensation precision.
(2) The algorithm is based on a wave motion short-time forecasting algorithm of a time sequence, the track of the wave motion is divided according to time, under the condition that a fixed step length is set, the actual track of the wave motion under the next step length is predicted and analyzed through the action of a control mechanism, the error between the actual track and an expected value is calculated at the same time, continuous iterative calculation and rolling optimization are carried out, the wave compensation direction or compensation quantity of a mining ship is further determined, the displacement quantity of a piston rod is further obtained, and the oil quantity in a first oil cylinder and the oil quantity in a second oil cylinder are conveniently controlled.
(3) In the active compensation mode, the motion amplitude of the mining ship is small at the moment, namely the compensation amount is small, the oil amounts in the first oil cylinder and the second oil cylinder are measured and calculated in advance through the control mechanism, namely, only the specified oil amount needs to be conveyed into the first oil cylinder and the second oil cylinder; under passive compensation mode, survey the actual displacement volume of mining ship in real time through displacement sensor, the motion amplitude of mining ship is great under the state this moment, and the compensation is comparatively frequent promptly, leads to the change volume of the oil mass in first hydro-cylinder and the second hydro-cylinder great, through storing oil in inside hydro-cylinder and the compensation energy storage ware in advance, the oil mass in the first hydro-cylinder of the quick adjustment of being convenient for or the second hydro-cylinder, and then realize the rapid compensation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
fig. 1 is a schematic configuration diagram of a hydraulic mechanism of a preferred embodiment of the present invention;
FIG. 2 is a flow chart of a compensation method in an active compensation mode of a preferred embodiment of the present invention;
FIG. 3 is a flow chart of a compensation method in a passive compensation mode of a preferred embodiment of the present invention;
in the figure: 1. a composite hydraulic cylinder; 2. a first oil cylinder; 3. a second oil cylinder; 4. a piston rod; 5. an inner cylinder; 6. a pulley; 7. a first pipeline; 8. a second pipeline; 9. a third pipeline; 10. a buffer tube; 11. a main control valve; 12. an oil pump; 13. a liquid charging valve; 14. connecting a valve; 15. a cushion valve; 16. a safety valve; 17. a voltage stabilization accumulator; 18. a compensating accumulator.
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.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein and, therefore, the scope of the present invention is not limited by the specific embodiments disclosed below.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific cases.
The invention provides a wave compensation device for a mining ship. This mining ship wave compensation arrangement includes: the device comprises a collecting mechanism, a control mechanism connected with the collecting mechanism, and a hydraulic mechanism connected with the control mechanism.
The acquisition of the invention comprises the following mechanisms: the displacement sensor is arranged on the mining ship, and the wave motion acquisition unit is connected with the mining ship. The displacement sensor is used for detecting the position quantity of the mining ship, and the wave motion acquisition unit comprises one or more floats arranged in water and a motion sensor arranged on the floats.
According to the method, the track of wave motion is divided according to time, the motion quantity and the motion track of the floater are detected under the set fixed step length, the detection result is input into a control mechanism, the control mechanism carries out fuzzy prediction on the detection result, meanwhile, the error between the detection result and an expected value is calculated, continuous iterative calculation and rolling optimization are carried out, the motion quantity and the motion track of the floater in a period of time in the future are predicted, and then the wave compensation direction or the compensation quantity of the mining ship is determined.
The control mechanism in the invention is a fuzzy PID controller. The method considers that the system possibly has certain response hysteresis in engineering practice, so that research is developed based on time lag, and meanwhile, the wave compensation system is controlled based on artificial intelligence and reinforcement learning design intelligent algorithms, so that the universality of the system can be further improved, errors of research and practice can be reduced, and the precision is improved.
As shown in fig. 1, a schematic structural view of a hydraulic mechanism in the present invention is shown. The hydraulic mechanism includes: the hydraulic system comprises a compound hydraulic cylinder 1, a main control valve 11 and an oil pump 12 which are connected with the compound hydraulic cylinder 1, and a liquid filling valve 13 which is connected with the main control valve 11 in parallel.
The composite hydraulic cylinder 1 includes: the hydraulic cylinder comprises an outer oil cylinder, a piston rod 4 arranged inside the outer oil cylinder and an inner oil cylinder 5 arranged inside the piston rod 4; one end of the piston rod 4 is provided with a pulley 6, and the pulley 6 is connected with a mining ship through a rope.
It should be noted that the sheave 6 of the present invention is capable of extending or retracting the rope.
The outer oil cylinder is divided by the end surface of the piston rod 4 to form a first oil cylinder 2 and a second oil cylinder 3; the main control valve 11 is connected with the inner oil cylinder 5 through a first pipeline 7, and the main control valve 11 is connected with the second oil cylinder 3 through a second pipeline 8; the first pipeline 7 is communicated with the second pipeline 8 through a buffer tube 10; a buffer valve 15 is arranged in the buffer tube 10 for exchanging oil in the inner oil cylinder 5 and the second oil cylinder 3.
And the liquid filling valve 13 is arranged in the third pipeline 9, one end of the third pipeline 9 is connected with the main pump, and the other end of the third pipeline is connected with the first oil cylinder 2.
The first line 7 and the third line 9 are connected by a connecting valve 14.
A third line 9 at the input of the charging valve 13 is connected in parallel with a pressure-stabilizing accumulator 17, and a third line 9 at the output of the charging valve 13 is connected in parallel with a compensating accumulator 18.
The main pump is provided with a relief valve 16 in the present invention.
The invention provides a compensation system of a mining ship wave compensation device, which is applied to the mining ship wave compensation device and comprises a fuzzy PID control unit;
a fuzzy PID control unit receives detection signals of a displacement sensor and a wave motion acquisition unit; the fuzzy PID control unit sends control signals to a main control valve 11, a charging valve 13 and a buffer valve 15 in the hydraulic mechanism, and the control signals are used for controlling the opening and closing or switching of the main control valve 11, the charging valve 13 and the buffer valve 15.
The invention provides a compensation method of a wave compensation device of a mining ship;
as shown in fig. 2, when the mining vessel is in the active compensation mode, the method comprises the following steps:
a1, collecting wave motion data according to a wave motion collecting unit, analyzing wave motion by using an algorithm, and determining the direction or compensation amount of the mining ship wave compensation;
a2, controlling the oil amount pumped from the main pump through the third pipeline 9 and the second pipeline 8, further controlling the oil amount in the first oil cylinder 2 and the second oil cylinder 3, and realizing the left-right movement of the piston rod 4.
In the active compensation mode, the motion amplitude of the mining ship is small in the state at the moment, namely the compensation amount is small, the oil quantities in the first oil cylinder 2 and the second oil cylinder 3 are measured and calculated in advance through the control mechanism, and only the specified oil quantities need to be conveyed into the first oil cylinder 2 and the second oil cylinder 3.
The algorithm is based on a wave motion short-time forecasting algorithm of a time sequence, the track of the wave motion is divided according to time, under the condition that a fixed step length is set, the actual track of the wave motion under the next step length is predicted and analyzed through the action of a control mechanism, the error between the actual track and an expected value is calculated at the same time, continuous iterative calculation and rolling optimization are carried out, the wave compensation direction or compensation quantity of a mining ship is further determined, the displacement quantity of a piston rod 4 is further obtained, and the oil quantity in a first oil cylinder 2 and the oil quantity in a second oil cylinder 3 are conveniently controlled.
As shown in fig. 3, when the mining vessel is in the passive compensation mode, the method comprises the following steps:
b1, measuring the actual displacement of the mining ship according to a displacement sensor, and determining the wave compensation direction or compensation amount of the mining ship;
and B2, pumping oil into the inner oil cylinder 5 through the main control valve 11, adjusting the oil quantity between the inner oil cylinder 5 and the second oil cylinder 3 through a buffer tube 10 way, and inputting oil into the first oil cylinder 2 through the compensation energy accumulator 18 to realize the left and right movement of the piston rod 4.
Under passive compensation mode, survey the actual displacement volume of mining ship in real time through displacement sensor, the motion amplitude of mining ship is great under the state this moment, and the compensation is comparatively frequent promptly, leads to the change volume of the oil mass in first hydro-cylinder 2 and the second hydro-cylinder 3 great, through storing oil in interior hydro-cylinder 5 and the compensation energy storage ware 18 in advance, is convenient for the oil mass in the first hydro-cylinder 2 of quick adjustment or the second hydro-cylinder 3, and then realizes the rapid compensation.
While the preferred embodiments of the present invention have been described, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A mining vessel wave compensation arrangement, comprising: the device comprises a collecting mechanism, a control mechanism connected with the collecting mechanism, and a hydraulic mechanism connected with the control mechanism;
the acquisition comprises a mechanism: a displacement sensor disposed on the mining vessel, a wave motion acquisition unit connected to the mining vessel;
the hydraulic mechanism includes: the hydraulic system comprises a composite hydraulic cylinder, a main control valve and an oil pump which are connected with the composite hydraulic cylinder, and a liquid filling valve which is connected with the main control valve in parallel;
the combined hydraulic cylinder comprises: the outer oil cylinder, the piston rod arranged in the outer oil cylinder and the inner oil cylinder arranged in the piston rod; one end of the piston rod is provided with a pulley, and the pulley is connected with a mining ship through a rope;
the outer oil cylinder is divided by the end face of the piston rod to form a first oil cylinder and a second oil cylinder; the main control valve is connected with the inner oil cylinder through a first pipeline, and the main control valve is connected with the second oil cylinder through a second pipeline; the first pipeline is communicated with the second pipeline through a buffer pipeline; the liquid filling valve is arranged in a third pipeline, one end of the third pipeline is connected with the main pump, and the other end of the third pipeline is connected with the first oil cylinder.
2. A mining vessel wave compensation arrangement according to claim 1, characterized in that: the control mechanism is a fuzzy PID controller.
3. A mining vessel wave compensation arrangement as claimed in claim 1, characterized in that: the first pipeline is connected with the third pipeline through a connecting valve.
4. A mining vessel wave compensation arrangement as claimed in claim 1, characterized in that: and a buffer valve is arranged in the buffer pipeline.
5. A mining vessel wave compensation arrangement as claimed in claim 1, characterized in that: and the third pipeline at the input end of the liquid charging valve is connected with a voltage stabilizing energy accumulator in parallel, and the third pipeline at the output end of the liquid charging valve is connected with a compensation energy accumulator in parallel.
6. A mining vessel wave compensation arrangement according to claim 1, characterized in that: the main pump is provided with a safety valve.
7. A mining vessel wave compensation arrangement as claimed in claim 1, characterized in that: the sheave is capable of expanding or contracting the rope.
8. A compensation system of a mine vessel heave compensation apparatus, applied to a mine vessel heave compensation apparatus according to any of claims 1-7, comprising a fuzzy PID control unit;
the fuzzy PID control unit receives detection signals of the displacement sensor and the wave motion acquisition unit; and the fuzzy PID control unit sends control signals to the main control valve, the liquid charging valve and the buffer valve in the hydraulic mechanism and is used for controlling the opening and closing or switching of the main control valve, the liquid charging valve and the buffer valve.
9. The compensation method of the mining vessel wave compensation device according to any one of claims 1 to 7, characterized in that:
when the mining vessel is in the active compensation mode, comprising the steps of: a1, acquiring wave motion data according to a wave motion acquisition unit, analyzing wave motion by utilizing an algorithm, and determining the direction or compensation amount of the mining ship wave compensation; a2, controlling the oil amount pumped from the main pump by the third pipeline and the second pipeline so as to control the oil amount in the first oil cylinder and the second oil cylinder and realize the left-right movement of the piston rod;
when the mining vessel is in a passive compensation mode, comprising the steps of: b1, measuring the actual displacement of the mining ship according to a displacement sensor, and determining the wave compensation direction or compensation amount of the mining ship; and B2, pumping oil into the inner oil cylinder through the main control valve, adjusting the oil quantity between the inner oil cylinder and the second oil cylinder through a buffer pipeline, inputting the oil into the first oil cylinder through the compensation energy accumulator, and realizing the left-right movement of the piston rod.
10. A method of compensating a wave compensator of a mining vessel according to claim 9, characterized by: in A1, the wave motion track is divided according to time, under the condition of a set fixed step length, the actual wave motion track in the next step length is predicted and analyzed through the action of a control mechanism, the error between the actual wave motion track and an expected value is calculated at the same time, and continuous iterative calculation and rolling optimization are carried out, so that the wave compensation direction or compensation amount of the mining ship is determined.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210929136.5A CN115559945A (en) | 2022-08-03 | 2022-08-03 | Mining ship wave compensation device, compensation system and compensation method |
| PCT/CN2022/118884 WO2024026986A1 (en) | 2022-08-03 | 2022-09-15 | Heave compensation device, system and method for mining dredger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210929136.5A CN115559945A (en) | 2022-08-03 | 2022-08-03 | Mining ship wave compensation device, compensation system and compensation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115559945A true CN115559945A (en) | 2023-01-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210929136.5A Pending CN115559945A (en) | 2022-08-03 | 2022-08-03 | Mining ship wave compensation device, compensation system and compensation method |
Country Status (2)
| Country | Link |
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| CN (1) | CN115559945A (en) |
| WO (1) | WO2024026986A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2014318B1 (en) * | 2015-02-20 | 2016-10-13 | Boskalis Bv Baggermaatschappij | Vessel with heave compensation system. |
| CN106321534B (en) * | 2016-09-21 | 2018-02-16 | 中国石油大学(华东) | Marine floating type well drilling traveling block hook heave compensator |
| CN106640780B (en) * | 2017-02-24 | 2018-12-25 | 上海振华重工(集团)股份有限公司 | A kind of positive displacement heave compensation hydraulic system and heave compensation Lift-on/Lift-off System |
| CN206668636U (en) * | 2017-02-24 | 2017-11-24 | 上海振华重工(集团)股份有限公司 | A kind of positive displacement heave compensation hydraulic system and heave compensation Lift-on/Lift-off System |
| CN108408611A (en) * | 2018-05-08 | 2018-08-17 | 山东大学 | A kind of movable type active compensation device and its working method |
| CN108757610B (en) * | 2018-06-27 | 2020-04-21 | 山东大学 | Pump control type semi-active heave compensation system and working method thereof |
-
2022
- 2022-08-03 CN CN202210929136.5A patent/CN115559945A/en active Pending
- 2022-09-15 WO PCT/CN2022/118884 patent/WO2024026986A1/en unknown
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| WO2024026986A1 (en) | 2024-02-08 |
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