CN117185160A

CN117185160A - Wave compensation shipborne crane control system based on hydraulic parallel device

Info

Publication number: CN117185160A
Application number: CN202311117459.5A
Authority: CN
Inventors: 王生海; 王丙昱; 靳国良; 韩广冬; 孙茂凱; 陈海泉; 赵世龙; 张洪朋; 范昆龙; 孙玉清
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2023-08-31
Filing date: 2023-08-31
Publication date: 2023-12-08

Abstract

The invention provides a wave compensation shipborne crane control system based on a hydraulic parallel device, which relates to the technical field of wave compensation and comprises the following components: the ship-borne IMU sensor is used for detecting the swing motion and the heave motion of the ship, generating motion signals and sending the motion signals to the control center; the control center is used for receiving and processing the motion signals, generating corresponding compensation signals and sending the corresponding compensation signals to the hydraulic system of the hydraulic parallel device; the control center sends control signals to the crane main body and the hydraulic system of the boom structure so as to realize the lifting function, the luffing function, the pose adjusting function and the rotation function of the crane; the hydraulic system of the hydraulic parallel device is used for receiving the compensation signal and controlling the hydraulic parallel device according to the compensation signal to realize the swing compensation or heave compensation of the shipborne crane; the control method of the system is simple and innovative, and the compensation of the swinging motion and the heave motion is realized through a set of control system, so that the working efficiency of the shipborne crane can be effectively improved.

Description

Wave compensation shipborne crane control system based on hydraulic parallel device

Technical Field

The invention relates to the technical field of wave compensation, in particular to a wave compensation shipborne crane control system based on a hydraulic parallel device.

Background

The shipborne crane is important lifting equipment in the field of ocean engineering equipment, is very wide in application of ocean engineering, and is mainly applied to the scenes of loading and unloading ship cargoes, installing an offshore platform, carrying out offshore rescue, replenishing materials and the like. As an important marine installation, on-board cranes are also required to continuously realize technical and functional advances to continuously improve the economy and safety thereof. The shipborne crane is easy to be influenced by wave factors in actual work to generate unnecessary swinging motion and heave motion, so that the position of the crane weight cannot be accurately positioned when the shipborne crane is in normal operation, and simultaneously, larger load is easily caused on a mechanical structure. This will lead to a significant reduction in the efficiency of the operation of the shipboard crane and a threat to personnel and property safety. Therefore, it is necessary to compensate for the sway motion and heave motion of the on-board crane.

However, at present, the on-board crane in China has few products with the sway compensation function or the heave compensation function and the sway compensation capability and the heave compensation capability. In terms of swing, most of the existing products are mechanical swing compensation schemes, which can have a certain influence on the normal operation of the crane, and the control scheme is complex and needs to deal with complex coupling problems. However, the existing electronic anti-rolling equipment cannot achieve the compensation effect of six degrees of freedom, and has few mature control schemes. In terms of heave, the existing passive heave compensation scheme has poor compensation precision, and the existing active heave compensation scheme has higher energy consumption and lower efficiency.

Disclosure of Invention

According to the technical problem that the existing shipborne crane control system does not have the function of simultaneously performing swing compensation and heave compensation, the wave compensation shipborne crane control system based on the hydraulic parallel device is provided. The control system can control the six-degree-of-freedom wave compensation shipborne crane based on the hydraulic parallel device to compensate the swinging motion and the heave motion when the swinging motion and the heave motion of the shipborne crane occur.

The invention adopts the following technical means:

a wave compensated shipborne crane control system based on hydraulic parallel devices, comprising:

the ship-borne IMU sensor is used for detecting the swing motion and the heave motion of the ship, generating motion signals and sending the motion signals to the control center;

the control center is used for receiving and processing the motion signals, generating corresponding compensation signals and sending the corresponding compensation signals to the hydraulic system of the hydraulic parallel device; the control center sends a control signal to a hydraulic system of the crane main body and the boom structure;

the hydraulic system of the hydraulic parallel device is used for receiving the compensation signal and controlling the hydraulic parallel device according to the compensation signal to realize the swing compensation or heave compensation of the shipborne crane;

the hydraulic system of the crane main body and the boom structure is used for receiving the control signal and controlling the shipborne crane main body and the boom structure to complete the rotation action of the crane tower drum, the winch winding and unwinding the main sling, the amplitude changing control rope and the pose control rope according to the control signal so as to further realize the winding and unwinding action of the main sling, the amplitude changing action of the main boom and the pose adjusting action of the auxiliary boom.

Further, a displacement sensor for monitoring the action condition of the hydraulic parallel device is arranged on the hydraulic parallel device, the displacement sensor sends a displacement signal to a control center, the control center compares a compensation signal with the displacement signal, and when the displacement amount generated by the displacement signal is unequal to the displacement amount required by the compensation signal, the control center generates a new compensation signal and sends the new compensation signal to a hydraulic system of the hydraulic parallel device.

Further, the hydraulic parallel device comprises 6 hydraulic cylinders, and a crane is arranged at the lower part of the hydraulic parallel device; the control signals respectively control each hydraulic oil cylinder to extend and retract the hydraulic oil cylinders to different degrees, so that the whole hydraulic parallel device carries out follow compensation action on the swinging motion of the crane in the horizontal direction and offset compensation action on the vertical direction, and the compensation on the swinging motion and the heave motion of the crane is achieved.

Further, the control center includes:

the wireless remote control unit is used for performing telescopic control on the hydraulic oil cylinder; the wireless remote control unit is electrically connected with the signal processing chip;

the wired control unit is used for controlling the crane main body and the boom structure;

the power supply unit is used for supplying power to the signal processing chip; the power supply unit is electrically connected with the signal processing chip;

the signal processing chip is used for receiving the motion signal, calculating a corresponding compensation signal according to the motion signal and sending the compensation signal to the wireless remote control unit.

Further, the hydraulic system of the boom structure includes:

the lifting loop is used for realizing the retraction and release actions of the winch on the main sling, and the main sling realizes the lifting actions of the crane by the restraining actions of the tower wire wheel, the lifting wire wheel and the pulley mechanism;

the amplitude changing loop is used for realizing the winding and unwinding actions of the amplitude changing control wire by the winch, and the amplitude changing control wire is connected to the amplitude changing wire wheel through the tower wire wheel, so that the lifting amplitude changing action of the main boom is controlled;

the position and pose control loop is used for realizing the retraction and release actions of the winch position and pose control wires, the position and pose control wires pass through the tower tube wire guide wheel and are fixed on the position and pose wire guide wheel, so that the auxiliary boom is ensured to always keep a horizontal pose, and further the adjustment of the pose of the auxiliary boom is realized, and the amplitude-changing control wires are assisted to complete the amplitude-changing action of the main boom;

and the rotary loop is used for realizing the rotary action of the tower rotary joint relative to the crane base.

The invention also provides a wave compensation shipborne crane control method based on the hydraulic parallel device, which is realized based on any wave compensation shipborne crane control system based on the hydraulic parallel device, and comprises swing motion compensation, heave motion compensation and swing heave compensation simultaneously;

the swing motion compensation method comprises the following steps:

the shipborne IMU sensor detects and collects swinging motion signals, and the swinging motion signals are transmitted to the control center for processing;

the control center outputs an instruction to control the hydraulic parallel device to act according to the swinging motion signal;

the hydraulic system in the hydraulic parallel device receives a control command signal from a control center, and the control command signal controls three-position four-way valves and hydraulic oil pumps in the 6 hydraulic subsystems to act, so that 6 hydraulic oil cylinders are driven to act;

the displacement sensor detects the action of the hydraulic oil cylinder and sends an action signal to the control center, the control center compares the action signal with a control command signal to obtain a feedback signal, and the feedback signal is output to the three-position four-way valve and the hydraulic oil pump to form a feedback control loop.

Further, the pulley mechanism, the vertical section of the main sling, the lifting hook mechanism and the lifting weight are always kept on the same vertical line through the action of the hydraulic oil cylinder, so that follow-up compensation of the swinging motion of the main sling is realized.

Further, the heave motion compensation method is as follows:

the shipborne IMU sensor detects and collects heave motion signals, and the heave motion signals are transmitted to the control center for processing;

the control center outputs an instruction to control the hydraulic parallel device to act according to the heave motion signal;

Further, the heights of the pulley mechanism, the vertical section of the main sling, the lifting hook mechanism and the lifting weight are changed through the action of the hydraulic oil cylinder, so that the original rising or falling trend of the rising and falling motion is counteracted, and further, the compensation of the rising and falling motion of the main sling is realized.

Compared with the prior art, the invention has the following advantages:

1. the compensation effect is good. Firstly, compared with other compensation control schemes, the scheme can compensate the two movements at the same time, and the compensation effect is originally better than that of other single schemes. Secondly, in the aspect of swing compensation, the scheme is essentially a follow compensation control scheme, belongs to a current more advanced electronic compensation scheme, and has excellent compensation effect by controlling the translation of the lower plate of the disc to ensure that the main sling and the sling weight are always on the same vertical line; in terms of heave compensation, the scheme should be classified as one of active heave compensation schemes, and the compensation effect is better than that of passive compensation schemes. Therefore, the crane adopting the scheme has an excellent compensation effect, and the lifting work is more stable, efficient and safe.

2. The economy is good. According to the invention, targeted follow-up compensation and offset compensation are carried out according to the swinging motion signal and the heave motion signal measured by the IMU sensor, and the follow-up compensation and offset compensation are realized through a parallel device driven by a hydraulic system, so that the invention not only has good compensation effect, but also achieves the aim of saving power consumption, and has better economy.

3. The safety is high. In the invention, as the swinging motion and the heave motion of the hanging weight are compensated, the hanging weight operates stably, the potential safety hazard caused by the uncontrolled large-amplitude swinging of the hanging weight is eliminated, and the operation safety of the shipborne crane is higher. An overflow valve oil return oil way is arranged in the hydraulic system to ensure that the oil pressure of the oil supply oil way is not higher than a set value, and the operation safety of the oil way is ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.

FIG. 1 is a schematic diagram of a control system scheme of the present invention.

FIG. 2 is a schematic diagram of a feedback closed-loop control circuit according to the present invention.

Fig. 3 is a general schematic diagram of the shipborne crane of the present invention.

Fig. 4 is a schematic view of a main body portion of the shipboard crane of the present invention.

FIG. 5 is a schematic view of a boom structure according to the present invention.

Fig. 6 is a schematic view of a hydraulic parallel device according to the present invention.

Fig. 7 is a schematic diagram of a hydraulic system of the hydraulic parallel arrangement of the present invention.

Fig. 8 is a schematic diagram of a hydraulic system subsystem of the hydraulic parallel arrangement of the present invention.

In the figure: 1. a crane body; 11. a tower tube wire guide wheel; 12. a crane tower; 13. a crane base; 14. a boom structure seat; 2. a boom structure; 21. a pose control cable; 22. a luffing control cable; 23. a main sling; 24. a main boom; 25. lifting a wire guide wheel; 26. a variable amplitude wire guide wheel; 27. an auxiliary boom; 28. a sliding plate; 29. a pose wire guiding wheel; 3. a hydraulic parallel device; 31. a hexagonal upper plate; 32. a universal twisting structure; 33. a hydraulic cylinder; 34. a disc lower plate; 35. a pulley mechanism; 36. a hook mechanism; 41. a displacement sensor; 42. a three-position four-way valve; 43. an oil tank; 44. a hydraulic oil pump; 45. a motor; 46. an overflow valve; 47. and a feedback control loop.

Detailed Description

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The invention designs a six-degree-of-freedom wave compensation shipborne crane control system based on a hydraulic parallel device, which can control the six-degree-of-freedom wave compensation shipborne crane based on the hydraulic parallel device to compensate the swinging motion and the heave motion when the swinging motion and the heave motion of the shipborne crane occur. Firstly, a control center obtains and processes ship motion signals through a ship-borne IMU sensor, sends hydraulic parallel device control signals (target action signals) to a hydraulic system of the hydraulic parallel device 3, and sends the signals to 6 groups of three-position four-way valves 42 and hydraulic oil pumps 44 through different function processing, so that the action control of the hydraulic oil cylinders 33 is realized. The hydraulic cylinder 33 is provided with a displacement sensor 41 for monitoring the action condition of the hydraulic cylinder 33, and the displacement signal is transmitted to a control center to be compared with a target action signal to generate a new control signal, and the new control signal is transmitted to a hydraulic system of the hydraulic parallel device 3 to form a feedback control loop 47.

In the invention, the motion rules of the six hydraulic cylinders 33 are changed by the action of the hydraulic system, so that the follow-up swing compensation function and the heave compensation function are realized. For the compensation of the swinging motion, the invention controls the hydraulic parallel device 3 to follow the swinging motion of the hanging weight, so that the pulley mechanism 35, the main sling 23 passing through the pulley mechanism 35, the lifting hook mechanism 36 and the hanging weight are always kept on a vertical straight line, and the hanging weight is further kept in a stable state all the time. For the compensation of the heave motion, the hydraulic parallel device 3 is controlled to counteract the heave motion of the hoisting weight, namely when the ship heave motion causes the hoisting weight to move upwards, the hydraulic parallel device 3 is caused to move downwards, so as to counteract the upward motion of the hoisting weight; when the ship heave motion causes the lifting weight to move downwards, the hydraulic parallel device 3 causes the lifting weight to move upwards, so as to counteract the downward motion of the lifting weight. When the existing swing motion and heave motion occur simultaneously, the hydraulic parallel device 3 acts in the horizontal direction and also acts in the vertical direction, so that adverse effects of the swing motion and the heave motion on normal operation of the ship-borne crane are avoided. In addition, the process of compensating the swinging and the heave motions of the device does not influence the lifting operation motion, the luffing motion and the turning motion of the crane.

As shown in fig. 1, the present invention provides a wave compensation shipboard crane control system based on a hydraulic parallel device, comprising:

the control center is used for receiving and processing the motion signals, generating corresponding compensation signals and sending the corresponding compensation signals to the hydraulic system of the hydraulic parallel device 3; the control center sends control signals to the hydraulic systems of the crane main body 1 and the suspension arm structure 2;

the hydraulic system of the hydraulic parallel device 3 is used for receiving the compensation signal and controlling the hydraulic parallel device 3 according to the compensation signal to realize the swing compensation or heave compensation of the shipborne crane;

the hydraulic system of the crane main body 1 and the boom structure 2 is used for receiving the control signals and controlling the shipborne crane main body 1 and the boom structure 2 according to the control signals to complete the rotation action of the crane tower 12, the winch winding and unwinding the main sling 23, the luffing control rope 22 and the pose control rope 21, and further realize the winding and unwinding action of the main sling 23, the luffing action of the main boom 24 and the pose adjustment action of the auxiliary boom 27.

The hydraulic parallel device 3 comprises 6 hydraulic cylinders 33, and a crane is arranged at the lower part of the hydraulic parallel device 3; the control signals respectively control each hydraulic oil cylinder 33 to enable the hydraulic oil cylinders 33 to extend or retract, so that the whole hydraulic parallel device 3 carries out following compensation actions in the horizontal direction and counteracting compensation actions in the vertical direction on the swinging motion of the crane, and the compensation of the swinging motion and the heave motion of the crane is achieved.

The hydraulic parallel device 3 is provided with a displacement sensor 41 for monitoring the action condition of the hydraulic parallel device 3, the displacement sensor 41 sends a displacement signal to a control center, the control center compares a compensation signal with the displacement signal, and when the displacement amount generated by the displacement signal is unequal to the displacement amount required by the compensation signal, the control center generates a new compensation signal and sends the new compensation signal to a hydraulic system of the hydraulic parallel device 3.

The control center includes:

a wireless remote control unit for performing telescopic control on the hydraulic cylinder 33; the wireless remote control unit is electrically connected with the signal processing chip; the wireless remote control unit can control six groups of three-position four-way valves 42 and hydraulic oil pumps 44 in the hydraulic system of the hydraulic parallel device 3 so as to control six hydraulic oil cylinders 33.

The wired control unit is used for controlling the crane main body 1 and the suspension arm structure 2; the wired control unit is arranged on a built-in line for connecting the ship and the shipborne crane.

The power supply unit, the signal processing chip, the wired control unit and the wireless remote control unit are integrated in the control center, and the control of the hydraulic system of the shipborne crane main body 1 and the boom structure 2 and the hydraulic system of the hydraulic parallel device 3 can be completed through the operation of the control center.

The hydraulic system of the crane body 1 and the boom structure 2 comprises:

the amplitude changing loop is used for realizing the winding and unwinding actions of the amplitude changing control wire by the winch, and the amplitude changing control wire is connected to the amplitude changing wire wheel through the tower wire wheel, so that the lifting amplitude changing action of the main boom 24 is controlled;

the pose control loop is used for realizing the retraction and release actions of the winch pose control wires, the pose control wires pass through the tower tube wire guide wheel and are fixed on the pose wire guide wheel, so that the adjustment of the pose of the auxiliary boom 27 is realized, and the amplitude control wires are assisted to finish the amplitude action of the main boom 24;

and the rotary loop is used for realizing the rotary action of the tower rotary joint relative to the crane base 13.

As shown in fig. 3-5, the on-board crane is fixed to the deck of the vessel by means of a crane base 13. The crane tower 12 is fixed on the crane base 13, and can realize a turning function. The boom seat 14 is also fixed on the crane base 13 and is positioned at two sides of the crane tower 12 and can rotate together with the crane tower 12. The tower wire wheel 11 is fixed on the crane tower 12, wherein a pose control wire 21, an amplitude control wire 22 and a main sling 23 are sequentially connected from top to bottom. The other end of the pose control cable 21 is connected to a pose wire guide wheel 29; the other end of the amplitude changing control wire 22 is connected to an amplitude changing wire wheel 26; the other end of the main sling 23 is finally connected to a hook mechanism 36 via a lifting wire wheel 25 and a pulley mechanism 35. One end of the main boom 24 is fixed to the boom seat 14 for luffing motion. The distal end of the main boom 24 is provided with a lifting wire wheel 25, the tail end is connected with an auxiliary boom 27, and the connection is provided with a luffing wire wheel 26. The auxiliary boom 27 has one end connected to the main boom 24 and the other end provided with a pose wire guide wheel 29, and a sliding plate 28 in the middle for connecting a hexagonal upper plate 31 of the hydraulic parallel device 3. The auxiliary boom 27 can always maintain a horizontal posture in the amplitude-changing process by traction of the pose wire guide wheel 29 by the pose control wire 21. The main boom 24, the auxiliary boom 27 and the hydraulic parallel device 3 can realize the luffing function by pulling the luffing guide wire wheel 26 by the luffing control wire 22. The main slings 23 hoist and lower the hoist after passing through the hoist wire guide wheel 25 and the pulley mechanism 35.

As shown in fig. 6, the hydraulic parallel device 3 is suspended under the auxiliary boom 27 by the connection of the hexagonal upper plate 31 and the sliding plate 28. One end of the cylinder body of the 6 hydraulic cylinders 33 is fixed on the hexagonal upper flat plate 31,6 through the 6 universal twisting structures 32 respectively, and one end of the piston rod of the 6 hydraulic cylinders 33 is fixed on the disc lower flat plate 34 through the 6 universal twisting structures 32 respectively. The disc lower plate 34 can realize six degrees of freedom of movement under the drive of 6 hydraulic cylinders 33. The pulley mechanism 35 is fixed below the lower disc plate 34 and can displace when the lower disc plate 34 moves, thereby changing the horizontal position and height of the main sling 24. A hook mechanism 36 is suspended by the main slings 24 below the lower disc plate 34 for securing the sling.

Specifically, the control center receives a manual operation signal from a crane operator, processes the manual operation signal, sends out a crane control signal, and sends the crane control signal to the lifting loop to control the lifting winch to retract the main sling 23. The main sling 23 is connected with the lifting hook mechanism 36 through the tower wire guide wheel 11, the lifting wire guide wheel 25 and the pulley mechanism 35 in sequence, and the lifting weight is suspended below the hydraulic parallel device 3 through the lifting hook mechanism 36, so that the shipborne crane can carry out transferring or hovering operation after lifting the lifting hook mechanism 36 and the lifting weight through the main sling 23.

Specifically, the control center receives a manual operation signal from a crane operator, processes the manual operation signal, sends out a crane control signal, and sends the crane control signal to the luffing loop to control the luffing winch to retract and release the luffing control cable 22. The luffing control cable 22 is connected to the luffing wire wheel 26 through the tower wire wheel 11, the luffing wire wheel 26 is fixed on the main boom 24, and the hoisting weight and hydraulic parallel device 3 are connected with the main boom 24 through the auxiliary boom 27, so that the luffing motion of the whole crane system can be realized through the luffing control cable 22.

Specifically, the control center analyzes the pose adjustment motion of the auxiliary boom 27 required to be performed simultaneously according to the amplitude variation motion of the main boom 24, and sends out a crane control signal to the pose control loop, so that the pose control winch can retract and retract the pose control wire 21. The pose control wire 21 is connected to the pose wire wheel 29 through the tower wire wheel 11, the pose wire wheel 29 is fixed on the auxiliary boom 27, and the pose control wire 21 also performs certain retraction movement according to the retraction or lowering condition of the amplitude control wire 22 while the amplitude control wire 22 moves, so that the auxiliary boom 27 and the hydraulic parallel device fixed below the auxiliary boom 27 are ensured to always maintain the horizontal posture.

When the ship is subjected to wave to generate heave motion or sway motion, in order to avoid the influence of sway motion and heave motion on ship lifting work, the hydraulic parallel device 3 is matched with the amplitude variation motion of the main boom 24 of the shipborne crane, the lifting motion of the main sling 23 and the posture adjustment motion of the auxiliary boom 27, and the swing motion of the crane tower 12, so that the shipborne crane stably, safely and efficiently lifts the goods. The motion compensation function does not affect the original lifting function of the shipborne crane.

The key to compensate for the rocking and heave motions is the six sets of hydraulic cylinders 33 arranged in parallel in the hydraulic parallel arrangement. The hydraulic parallel device 3 is suspended under the auxiliary boom 27 by the connection of the hexagonal upper plate 31 and the sliding plate 28. One end of the cylinder body of the 6 hydraulic cylinders 33 is fixed on the hexagonal upper flat plate 31,6 through the 6 universal twisting structures 32 respectively, and one end of the piston rod of the 6 hydraulic cylinders 33 is fixed on the disc lower flat plate 34 through the 6 universal twisting structures 32 respectively. The disc lower plate 34 can realize six degrees of freedom of movement under the drive of 6 hydraulic cylinders 33. The pulley mechanism 35 is fixed below the lower disc plate 34, and can be displaced when the lower disc plate 34 is operated, thereby changing the horizontal position and height of the main slings 23. A hook mechanism 36 is suspended by the main slings 23 below the lower disc plate 34 for securing the sling. The disc lower plate 34 can realize six degrees of freedom actions through the cooperative action of 6 groups of hydraulic cylinders 33 which are arranged in parallel, so that the compensation of swinging motion and heave motion is realized.

When only the swinging motion occurs, the disc lower plate 34 can be driven by the 6 groups of hydraulic cylinders 33 to carry out following compensation in the horizontal direction; when only heave motions occur, the disc lower plate 34 can be offset compensated in the vertical direction by the drive of the 6 sets of hydraulic rams 33. When the swing motion and the heave motion occur simultaneously, the disc lower plate 34 may be driven by the 6 sets of hydraulic cylinders 33 to move in both the horizontal and vertical directions.

As shown in fig. 7 and 8, in the compensation operation performed by the hydraulic parallel device 3, the ship is caught by the ship-borne IMU sensor during the sway motion and heave motion, the control center receives and processes the motion signal from the IMU sensor, and sends a hydraulic parallel device control signal (target operation signal) to the hydraulic system of the hydraulic parallel device, and the control signal is subjected to different function processing and PID processing to reach 6 sets (6 sub-systems) of the three-position four-way valve 42 and the hydraulic oil pump 44, thereby controlling the 6 sets of hydraulic cylinders 33 to operate. The displacement sensor 41 detects the action of the hydraulic cylinder 33, sends back an action signal to the control center to be compared with the control signal of the original hydraulic parallel device, and sends out a new control signal to the 6 groups of three-position four-way valves 42 and the hydraulic oil pump 44 to form a feedback control loop 47, as shown in fig. 2. The hydraulic system of the hydraulic parallel device 3 specifically works in the process that the motor 45 drives the hydraulic oil pump 44 to pump hydraulic oil from the oil tank 43 to an oil supply path, the hydraulic oil stops at a valve part of the three-position four-way valve 42 or goes to a rodless cavity and a rod cavity of the hydraulic oil cylinder 33 through the adjustment of the three-position four-way valve 42, the hydraulic oil cylinder 33 is driven to act, and the hydraulic oil in the oil return path is extruded from the rodless cavity or the rod cavity of the hydraulic oil cylinder 33 back to the oil tank 43. The relief valve 46 is opened when the oil pressure in the oil supply passage is excessively high, and returns the hydraulic oil to the oil tank 43.

The motion signal sent by the IMU sensor can be divided into three cases according to the different motion forms of the ship.

In the first case, the ship is affected by waves and only swings, the control center receives swinging signals from the IMU sensor, the swinging signals are processed through the signal processing unit, swinging motion compensation control signals are sent to the hydraulic system of the hydraulic parallel device through the wireless remote control unit, the hydraulic parallel device control signals are processed through different functions and PID (proportion integration differentiation) to reach 6 groups (6 subsystems) of three-position four-way valves 42 and hydraulic oil pumps 44, and then the 6 groups of hydraulic oil cylinders 33 are controlled to perform swinging compensation actions, and the 6 groups of hydraulic oil cylinders 33 perform cooperative actions under the adjustment of the three-position four-way valves 42 and the hydraulic oil pumps 44 and the adjustment of a feedback control loop 47. The disc lower plate 34 is made to move in various directions in the horizontal direction while maintaining the horizontal posture, with the hexagonal upper plate 31, the auxiliary boom 27, and the like held relatively stationary with respect to the crane main body. The pulley mechanism 35, the vertical section of the main sling 23, the lifting hook mechanism 36 and the sling weight are driven to move in the horizontal direction towards all directions, follow the swinging of the sling system and keep the stability of the sling system to compensate the trend of swinging movement.

In the second case, the ship is affected by waves and only performs heave motion, the control center receives heave motion signals from the IMU sensor, the heave motion signals are processed through the signal processing unit, heave motion compensation control signals are sent to the hydraulic system of the hydraulic parallel device through the wireless remote control unit, the hydraulic parallel device control signals are processed through different functions and PID (proportion integration differentiation) to reach 6 groups (6 subsystems) of three-position four-way valves 42 and hydraulic oil pumps 44, the 6 groups of hydraulic oil cylinders 33 are further controlled to perform heave compensation, and the 6 groups of hydraulic oil cylinders 33 synchronously operate under the adjustment of the three-position four-way valves 42 and the hydraulic oil pumps 44 and the adjustment of a feedback control loop 47. The disc lower plate 34 is made to move upward or downward in the vertical direction while maintaining the horizontal posture, with the hexagonal upper plate 31, the auxiliary boom 27, and the like held relatively stationary with respect to the crane main body. When the heave motion is to cause the vessel to move upwards, the lower disc plate 34 moves downwards in the vertical direction under the condition of maintaining the horizontal posture, and drives the pulley mechanism 35, the vertical section of the main sling 23, the lifting hook mechanism 36 and the lifting weight to move downwards so as to compensate the trend of the vessel to move upwards. When the heave motion is to cause the vessel to move downwards, the lower disc plate 34 moves upwards in the vertical direction under the condition of maintaining the horizontal posture, and drives the pulley mechanism 35, the vertical section of the main sling 23, the lifting hook mechanism 36 and the lifting weight to move upwards so as to compensate the trend of the vessel to move downwards.

The third condition is that the ship is affected by waves and is subjected to swinging motion and heave motion simultaneously, the control center receives wave motion signals from the IMU sensor, the wave motion signals are processed through the signal processing unit, wave motion compensation control signals are sent to a hydraulic system of the hydraulic parallel device through the wireless remote control unit, the hydraulic parallel device control signals are processed through different functions and PID (proportion integration differentiation) to reach 6 groups (6 subsystems) of three-position four-way valves 42 and hydraulic oil pumps 44, the 6 groups of hydraulic oil cylinders 33 are further controlled to perform compensation actions, and the 6 groups of hydraulic oil cylinders 33 perform cooperative actions under the adjustment of the three-position four-way valves 42 and the hydraulic oil pumps 44 and the adjustment of a feedback control loop 47. In the case where the hexagonal upper plate 31, the auxiliary boom 27, and the like are held relatively stationary with respect to the crane main body, the disc lower plate 34 is caused to move in various orientations in the horizontal direction while changing the height in the vertical direction while maintaining the horizontal posture. The pulley mechanism 35, the vertical section of the main sling 23, the lifting hook mechanism 36 and the lifting weight are driven to move in the horizontal direction towards all directions and move up and down in the vertical direction under the condition that the same vertical line is kept, the swinging of the lifting weight system is followed, the lifting motion of the lifting weight system is counteracted, and the stability of the lifting weight system is kept to compensate the trend of wave motion.

The hydraulic parallel arrangement 3 is controlled by a 4-hydraulic system comprising six sections, each section comprising: a displacement sensor 41, a three-position four-way valve 42, a hydraulic oil pump 44, a motor 45, a relief valve 46, an oil tank 43 and a feedback control loop 47. Comprises a cylinder body and a piston rod, and is provided with a rod cavity and a rodless cavity. The displacement sensor 41 is mounted on the hydraulic cylinder 33, and can monitor the distance of the piston rod movement using the principle of infrared induction. The three-position four-way valve 42 adopts an O type, three different working states can be carried out according to different received signals, when the valve element works in the middle position, an oil way is not communicated, when the valve element works in the right sliding position, an oil supply oil way is communicated with a rodless cavity of the hydraulic cylinder 33 corresponding to the valve element, an oil return oil way is communicated with a rod cavity of the hydraulic cylinder 33 corresponding to the valve element, and when the valve element works in the left sliding position, the oil supply oil way is communicated with the rodless cavity of the hydraulic cylinder 33 corresponding to the valve element, and the oil return oil way is communicated with the rod cavity of the hydraulic cylinder corresponding to the valve element. For any hydraulic cylinder 33, when a rod cavity is communicated with an oil supply oil path and a rodless cavity is communicated with an oil return oil path, contraction action is performed, namely a piston rod of the hydraulic cylinder 33 is retracted into a cylinder body; conversely, when the rod cavity is communicated with the oil return oil path and the rodless cavity is communicated with the oil supply oil path, the extension action is performed, namely, the piston rod of the hydraulic oil cylinder 33 extends out of the cylinder body to generate relative displacement. The hydraulic oil pump 44 is driven by a motor, and the pumping speed and volume can be changed according to the received control signal, so as to change the speed and distance of the corresponding hydraulic oil cylinder 33 of the hydraulic oil pump 44. And an overflow valve 46 is further arranged in the oil path to ensure the safety of the oil path and ensure that the oil pressure is not higher than a set value, and when the oil pressure of the oil supply oil path is higher than the set value, the overflow valve 46 is opened to send the hydraulic oil into the oil return tank 43 through the oil return oil path of the overflow valve 46. The control center processes the control signals to the three-position four-way valve 42 and the hydraulic oil pump 44, controls the two to act, further controls the action of the hydraulic oil cylinder 33, obtains the action feedback signal of the hydraulic oil cylinder 33 through the displacement sensor 41, compares the action feedback signal with the target action signal, obtains further feedback control signals, processes functions and the like, and transmits the further feedback control signals to the three-position four-way valve 42 and the hydraulic oil cylinder 33 to form a feedback control loop 47.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. Wave compensation shipborne crane control system based on hydraulic pressure parallel arrangement, characterized by comprising:

2. The wave compensation shipborne crane control system based on the hydraulic parallel device according to claim 1, wherein the hydraulic parallel device is provided with a displacement sensor for monitoring the action condition of the hydraulic parallel device, the displacement sensor sends a displacement signal to a control center, the control center compares the compensation signal with the displacement signal, and when the displacement amount generated by the displacement signal is unequal to the displacement amount required by the compensation signal, the control center generates a new compensation signal and sends the new compensation signal to a hydraulic system of the hydraulic parallel device.

3. The wave compensation shipboard crane control system based on the hydraulic parallel device according to claim 1, wherein the hydraulic parallel device comprises 6 hydraulic cylinders, and a crane is arranged at the lower part of the hydraulic parallel device; the control signals respectively control each hydraulic oil cylinder to extend and retract the hydraulic oil cylinders to different degrees, so that the whole hydraulic parallel device carries out follow compensation action on the swinging motion of the crane in the horizontal direction and offset compensation action on the vertical direction, and the compensation on the swinging motion and the heave motion of the crane is achieved.

4. The hydraulic parallel device-based wave compensated shipboard crane control system of claim 1, wherein the control center comprises:

5. The hydraulic parallel device-based wave compensation shipboard crane control system of claim 1, wherein: the hydraulic system of the boom structure includes:

6. A hydraulic parallel device-based wave compensation shipborne crane control method, realized on the basis of the hydraulic parallel device-based wave compensation shipborne crane control system according to any one of claims 1-5, characterized in that the compensation method comprises swing motion compensation, heave motion compensation and simultaneous swing heave compensation;

the swing motion compensation method comprises the following steps:

7. The control method of the wave compensation shipborne crane based on the hydraulic parallel device according to claim 6, wherein the pulley mechanism, the main sling vertical section, the lifting hook mechanism and the lifting weight are always kept on the same vertical line through the action of the hydraulic cylinder, so that the following compensation of the swinging motion of the main sling is realized.

8. The hydraulic parallel device-based wave compensation shipboard crane control method according to claim 6, wherein the heave motion compensation method is as follows:

9. The control method of the wave compensation shipborne crane based on the hydraulic parallel device according to claim 8, wherein the heights of the pulley mechanism, the main sling vertical section, the lifting hook mechanism and the lifting weight are changed through the action of the hydraulic cylinder, so that the original rising or falling trend of the rising and falling motion is counteracted, and the rising and falling motion compensation of the main sling is realized.