CN204150975U - Secondary motor control wave compensation system - Google Patents
Secondary motor control wave compensation system Download PDFInfo
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- CN204150975U CN204150975U CN201420599459.3U CN201420599459U CN204150975U CN 204150975 U CN204150975 U CN 204150975U CN 201420599459 U CN201420599459 U CN 201420599459U CN 204150975 U CN204150975 U CN 204150975U
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Abstract
The utility model discloses a kind of secondary motor control wave compensation system, have compensation response high, energy consumption is little, workable, compensation precision is high, the large feature of stability height adjustable extent, be applicable to multiple tonnage with the hoisting crane wave compensation system of operation under different sea situation.Its technical scheme is: adopt secondary motor to control, rotating compensation is carried out by swinging secondary motor pivot angle, increase speed of response, the closed loop that the actual wave displacement of the angular transposition that secondary motor angular velocity sensor exports and servo-cylinder displacement sensor feedback is formed carries out closed loop control compensation, improves compensation precision.The energy storage of secondary motor servo cylinder control unit guarantees the stability controlled.Brake unit adopts two solenoid directional control valve to increase system safety.The main hydraulic fluid port of secondary motor adopts two-way plug-in valve to control to reduce crushing while guarantee safety.Storage pressure is regulated to adapt to multiple sea situation operation by inflated with nitrogen control unit.
Description
Technical field
The utility model relates to the Active Heave Compensation System field that electrohydraulic control technology is feature, particularly relates to and adopts secondary motor to carry out the Active Heave Compensation System controlled.
Background technology
Compensation of undulation refers to the compensation correction carried out because shifting causes working equipment to produce fluctuation.Be mainly used in replenishment at sea, marine drilling, have the aspects such as cable seafloor robot installation exercise, deep-sea detecting.Due to the impact of the heave of waves, crane load produces relative motion along with wave, and load goods and materials may cause collision or increase marine operation difficulty, thus can not effective and safe operation.
The hoisting equipment possessing compensation of undulation function can well address this problem, and widens each sea situation production time more, strengthens the safety of marine operation, high efficiency and reliability.Existing wave compensation system mainly contains passive compensation and Active Compensation two kinds of forms.Passive charging system purchases the class spring installation that oil cylinder connects energy storage composition usually, this apparatus structure is simple, manufacturing cost is lower, but the low adjustable extent of stability is little, marine adaptivity is poor, generally be applied in sea situation grade low, compensation precision is less demanding, on the hoisting crane that lifting tonnage is less.
Active Compensation system provides the propulsion source of both forward and reverse directions usually according to heave of the sea, realize the object compensating hull straight-line displacement, this method tonnage of can installing is large, adapt to sea situation ability higher, setting range is large, workable, but compensation low-response, complete machine manufacturing cost is expensive, and system energy consumption is large, is not suitable for degree of precision operation and uses.
Utility model content
Below provide the brief overview of one or more aspect to provide the basic comprehension to these aspects.Detailed the combining of this not all aspect contemplated of general introduction is look at, and both not intended to be pointed out out the scope of key or decisive any or all aspect of elements nor delineate of all aspects.Its unique object is the sequence that some concepts that will provide one or more aspect in simplified form think the more detailed description provided after a while.
The purpose of this utility model is to solve the problem, provide a kind of secondary motor control wave compensation system, there is compensation response high, energy consumption is little, workable, compensation precision is high, the large feature of stability height adjustable extent, be applicable to multiple tonnage with the hoisting crane wave compensation system of operation under different sea situation.
The technical solution of the utility model is: the utility model discloses a kind of secondary motor control wave compensation system, comprise hydraulic efficiency power unit, secondary motor brake unit, secondary motor servo cylinder control unit, energy storage compensating unit, secondary motor A/B mouth oil path control unit, hydraulic efficiency power unit is connecting secondary motor brake unit and secondary motor servo cylinder control unit respectively.
According to an embodiment of secondary motor control wave compensation system of the present utility model, hydraulic efficiency power unit is to the energy storage topping up storing solution pressure energy of secondary motor brake unit, the outlet of the energy storage of secondary motor brake unit is connected in parallel pressure relay, by pass valve and ball valve, after the energy storage of secondary motor brake unit, reducing valve is installed, the outlet of reducing valve connects two-position four way change valve, two-position four way change valve and unidirectional stop valve are connected in parallel, and the outlet of unidirectional stop valve is connected in parallel pressure relay and secondary motor brake.
According to an embodiment of secondary motor control wave compensation system of the present utility model, in secondary motor servo cylinder control unit, one-way valved outlet connects high pressure filter, the outlet of high pressure filter connects Accumulator arrangements, two-position four way change valve and servovalve, servovalve connection control motor servo cylinder.
According to an embodiment of secondary motor control wave compensation system of the present utility model, stagger angle speed sensor and servo-cylinder displacement sensor while of on motor.
According to an embodiment of secondary motor control wave compensation system of the present utility model, energy storage compensating unit adopts piston power accumulator to be connected with nitrogen gas cylinder, and setting pressure valve pressure sensor, is also provided with in energy storage compensating unit and fills nitrogen control module simultaneously.
According to an embodiment of secondary motor control wave compensation system of the present utility model, two-position four way change valve in secondary motor A/B mouth oil path control unit controls the keying of two-way plug-in valve, the outlet of two-way plug-in valve is installed two check valves and is carried out repairing to secondary motor low pressure side, and pressure sensor detects secondary motor high side pressure in real time.
According to an embodiment of secondary motor control wave compensation system of the present utility model, system is also equipped with cooling repairing unit.
The utility model contrast prior art has following beneficial effect: the utility model adopts secondary motor to control, rotating compensation is carried out by swinging secondary motor pivot angle, increase speed of response, the closed loop that the actual wave displacement of the angular transposition that secondary motor angular velocity sensor exports and servo-cylinder displacement sensor feedback is formed carries out closed loop control compensation, improves compensation precision.The energy storage of secondary motor servo cylinder control unit guarantees the stability controlled.Brake unit adopts two solenoid directional control valve to increase system safety.The main hydraulic fluid port of secondary motor adopts two-way plug-in valve to control to reduce crushing while guarantee safety.Storage pressure is regulated to adapt to multiple sea situation operation by inflated with nitrogen control unit.Compare conventional art, the utility model has common crane functions and possesses identical tension function and compensation of undulation function outward simultaneously.
Accompanying drawing explanation
Fig. 1 shows the hydraulic schematic diagram of the preferred embodiment of secondary motor control wave compensation system of the present utility model.
Fig. 2 shows secondary motor control figure of the present utility model.
Fig. 3 A and 3B shows the schematic diagram of wave compensation system loop wheel machine mechanism of the present utility model.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further described.
As shown in Figure 1, secondary motor control wave compensation system comprises hydraulic efficiency power unit, secondary motor brake unit, secondary motor servo cylinder control unit, energy storage compensating unit, secondary motor A/B mouth oil path control unit, and hydraulic efficiency power unit is connecting secondary motor brake unit and secondary motor servo cylinder control unit respectively.Preferably, system is also equipped with cooling repairing unit 13.
Hydraulic efficiency power unit is to the energy storage topping up storing solution pressure energy of secondary motor brake unit, the outlet of the energy storage 111 of secondary motor brake unit is connected in parallel pressure relay 91, by pass valve and ball valve, after the energy storage 112 of secondary motor brake unit, reducing valve 6 is installed, the outlet of reducing valve 6 connects two-position four way change valve 21 (also referred to as two-position four-way solenoid directional control valve), two-position four way change valve 21 and unidirectional stop valve 14 are connected in parallel, and the outlet of unidirectional stop valve 14 is connected in parallel pressure relay 91 and secondary motor brake.
In secondary motor servo cylinder control unit, one-way valved outlet connects high pressure filter 4, and the outlet of high pressure filter 4 connects Accumulator arrangements, two-position four way change valve 21 and servovalve, servovalve connection control motor servo cylinder.Stagger angle speed sensor and servo-cylinder displacement sensor while of on motor.
Energy storage compensating unit adopts piston power accumulator 12 to be connected with nitrogen gas cylinder 2, and setting pressure valve pressure sensor, is also provided with in energy storage compensating unit and fills nitrogen control module 10 simultaneously.
Two-position four-way solenoid directional control valve 21 in secondary motor A/B mouth oil path control unit controls the keying of two-way plug-in valve 161 and 162, the outlet of two-way plug-in valve 161 and 162 is installed two check valves and is carried out repairing to secondary motor 17 low pressure side, and pressure sensor detects secondary motor 17 high side pressure in real time.
Control oil sources inflow point installation high-voltage filter 4 at secondary motor 17 and not only the cleanliness level of retentive control oil sources can be conducive to increasing life-span of control element, and be conducive to keeping the control accuracy of compensation of undulation and the sensitieness of system.Whether energy storage 111 is gone back Absorbable rod fluctuation hydraulic power and is ensured the stationarity that secondary motor apportioning valve 22 controls except storing hydraulic energy, carry out detection control oil supply pressure meet with pressure relay 91.The enable signal that two-position four-way solenoid directional control valve 21 controls as secondary motor servo cylinder, can obtain the pressure of applicable drg 18 by reducing valve 6.Energy storage 112 is arranged on reducing valve 6 inflow point increases energy storage stored energy capacitance to greatest extent.System safety guaranteed by solenoid directional control valve 151 and 152 simultaneously control brake.Unidirectional stop valve 14 slow down the drg shut prevent impact.Pressure relay 93 detects drg open/close states automatically.Carry out repairing and cooling system temperature with cooling repairing unit 13 pairs of hydraulic pressure secondary motor low tension terminals, the hoisting crane by calculating different tonnage configures specification and the quantity of corresponding nitrogen gas cylinder 2 and secondary motor 17.Fill nitrogen control module 10 and fill the nitrogen of corresponding pressure according to different sea situation and compensation precision to nitrogen gas cylinder 2.Nitrogen gas cylinder 2 exports and connects piston power accumulator 12, and the current nitrogen pressure pressure sensor 81 of pressure sensor 84 Real-time Collection then Real-time Collection piston power accumulator 12 stores the force value of fluid.Solenoid directional control valve 153 and 154 controls two-way plug-in valve 161 and 162 respectively and opens and closes situation.Two-way plug-in valve 161 exports Bonding pressure sensor 83 and two-way plug-in valve 162 exports the pressure that Bonding pressure sensor 82 can gather secondary motor high-pressure side and low tension terminal, pressure reduction according to secondary motor height low side accurately can calculate secondary motor output torque, check valve 33 is installed in secondary motor front end and check valve 34 pairs of motor low tension terminals carry out repairing, effectively prevents motor from occurring emptying phenomenon.The control of secondary motor speed sensor 19 and the more accurate feedback secondary motor of secondary motor servo-cylinder displacement sensor 20 and running state, its controlled reset block diagram as shown in Figure 2, ball valve 71,73 and 75 can be operated bleed off under corresponding energy storage pressure guarantees security situation safeguard when off working state system needs to safeguard.
Whether normally to confirm each element and electric signal before operation, and according to current sea situation, filled the nitrogen of certain pressure value to nitrogen gas cylinder group 2 by inflated with nitrogen module 10, and check whether nitrogen is charged to convenient pressure by pressure sensor 84.Start pumping plant propulsion source 1, pumping plant is to system prestrain, and loaded by the normally closed sender of pressure relay 91 known control oil sources energy storage 111, the normally closed sender of pressure relay 92 known motor brake unit energy storage 112 has loaded.The supercharging pressure situation of pressure sensor 81 Real-time Collection piston accumulator 12.When pressure reaches setting value, propulsion source 1 is in readiness for action, now less energy intensive.When news often developed by any pressure relay or when pressure sensor 81 collects piston power accumulator hypotony, propulsion source 1 recovers stress state, until meet required pressure condition to enter readiness for action according to actual conditions time delay.Lifting main lifting " loop wheel machine general mode ", " identical tension pattern ", " compensation of undulation master mode " this several Main Patterns can be selected when equipment availability:
After driver presses " common loop wheel machine pattern " button, " common loop wheel machine pattern " is activated, and green indicating lamp is bright, and simultaneously pressure sensor 81 gathers pressure when reaching setting value.Electromagnetic valve 153,154 and 21 obtains electric, and now motor is in controllable state.Receiving driver operation handle sends to apportioning valve 22 by ramp signal, and solenoid directional control valve 151 and 152 obtains electric simultaneously, and pressure relay 93 closes sender.Drg 18 is opened, and hoisting crane does speeds control along with handle exports.
After driver presses " identical tension pattern " button, " identical tension pattern " is activated, and green indicating lamp is bright, and simultaneously pressure sensor 81 gathers pressure when reaching setting value, electromagnetic valve 153,154 and 21 electric.Driver is input to PLC by potentiometer knob, the torque command control signal sent by PLC, does the moment of torsion closed loop control of winch.Solenoid directional control valve 151 and 152 obtains electric simultaneously, and pressure relay 93 closes sender, and drg 18 is opened.The numerical value of weight sensor, the number of turns of steel rope of PLC collection loop wheel machine carry out actual torque arithmetic, and the bid value inputted according to PLC and actual feedback do the swinging angle control of secondary motor.
Use " compensation of undulation pattern " front at loop wheel machine, need " general mode " lifting cargo first using loop wheel machine, adjust nitrogen pressure force value in the nitrogen gas cylinder of system to predetermined value, then just can start " compensation of undulation pattern ".The signal that the motion controller MRU detecting ship attitude in such a mode exports does speeds control to PLC, and after driver presses " compensation of undulation pattern " button, " compensation of undulation pattern " is activated, and green indicating lamp is bright.Pressure sensor 81 gathers pressure when reaching setting value, electromagnetic valve 153,154 and 21 must be electric, solenoid directional control valve 151 and 152 obtains electric simultaneously, pressure relay 93 closes sender, drg 18 is opened, the speed command control signal that driver's control handle is sent by PLC, does the speeds control closed loop control of hoisting crane.When motion controller MRU be checked through hull decline along with wave time, motor pivot angle increase, hoisting crane does rope closing action.When motion controller MRU be checked through hull rise along with wave time, motor pivot angle is less, and hoisting crane puts rope action.Compensate rapidly object that wave causes fluctuate up and down by changing motor pivot angle, thus reach and ensure that the relative position of weight is constant within the specific limits.
Fig. 3 A and 3B shows wave compensation system loop wheel machine mechanism of the present utility model, and this loop wheel machine structure includes jib 1a, revolving structure 2a, hoist base 3a, lifting mechanism 4a, swing type mechanism 5a, main amplitude oil cylinder 6a, lifting winding system 7a, secondary amplitude oil cylinder 8a, driver's cab 9a and Hydraulic Station 10a.
The utility model wave compensation system realizes the bit shift compensation of weight by the swinging closed loop control changing motor, not only has the function of common loop wheel machine, and can realize constant tensile control and respond the high compensation of undulation of fast precision controlling by actv..The hydraulic system operation adopted is simple, and compensate response high, energy consumption is little, workable, and compensation precision is high, and stability is better, can meet operation under multiple sea situation.
Thering is provided previous description of the present disclosure is for making any person skilled in the art all can make or use the disclosure.To be all apparent for a person skilled in the art to various amendment of the present disclosure, and generic principles as defined herein can be applied to other variants and can not depart from spirit or scope of the present disclosure.Thus, the disclosure not intended to be is defined to example described herein and design, but the widest scope consistent with principle disclosed herein and novel features should be awarded.
Claims (7)
1. a secondary motor control wave compensation system, it is characterized in that, comprise hydraulic efficiency power unit, secondary motor brake unit, secondary motor servo cylinder control unit, energy storage compensating unit, secondary motor A/B mouth oil path control unit, hydraulic efficiency power unit is connecting secondary motor brake unit and secondary motor servo cylinder control unit respectively.
2. secondary motor control wave compensation system according to claim 1, it is characterized in that, hydraulic efficiency power unit is to the energy storage topping up storing solution pressure energy of secondary motor brake unit, the outlet of the energy storage of secondary motor brake unit is connected in parallel pressure relay, by pass valve and ball valve, after the energy storage of secondary motor brake unit, reducing valve is installed, the outlet of reducing valve connects two-position four way change valve, two-position four way change valve and unidirectional stop valve are connected in parallel, and the outlet of unidirectional stop valve is connected in parallel pressure relay and secondary motor brake.
3. secondary motor control wave compensation system according to claim 1, it is characterized in that, in secondary motor servo cylinder control unit, one-way valved outlet connects high pressure filter, the outlet of high pressure filter connects Accumulator arrangements, two-position four way change valve and servovalve, servovalve connection control motor servo cylinder.
4. secondary motor control wave compensation system according to claim 3, is characterized in that, stagger angle speed sensor and servo-cylinder displacement sensor while of on motor.
5. secondary motor control wave compensation system according to claim 1, is characterized in that, energy storage compensating unit adopts piston power accumulator to be connected with nitrogen gas cylinder, and setting pressure valve pressure sensor, is also provided with in energy storage compensating unit and fills nitrogen control module simultaneously.
6. secondary motor control wave compensation system according to claim 1, it is characterized in that, two-position four way change valve in secondary motor A/B mouth oil path control unit controls the keying of two-way plug-in valve, the outlet of two-way plug-in valve is installed two check valves and is carried out repairing to secondary motor low pressure side, and pressure sensor detects secondary motor high side pressure in real time.
7. secondary motor control wave compensation system according to claim 1, is characterized in that, system is also equipped with cooling repairing unit.
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| CN201420599459.3U CN204150975U (en) | 2014-10-16 | 2014-10-16 | Secondary motor control wave compensation system |
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| CN201420599459.3U CN204150975U (en) | 2014-10-16 | 2014-10-16 | Secondary motor control wave compensation system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429840A (en) * | 2016-10-19 | 2017-02-22 | 上海振华重工(集团)股份有限公司 | Electric system of wave compensation crane |
| CN108116623A (en) * | 2017-10-30 | 2018-06-05 | 武汉船用机械有限责任公司 | Mining vehicle lays the control method and device of recovery system |
| CN112408200A (en) * | 2020-10-10 | 2021-02-26 | 武汉船用机械有限责任公司 | Lifting system of crane |
| CN112856151A (en) * | 2020-12-30 | 2021-05-28 | 李达平 | Foundation detection equipment with tripod horizontal support frame for building construction |
| CN113107911A (en) * | 2021-04-12 | 2021-07-13 | 山东大学 | Trestle pitching hydraulic system with energy recovery and wave compensation motion functions |
-
2014
- 2014-10-16 CN CN201420599459.3U patent/CN204150975U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106429840A (en) * | 2016-10-19 | 2017-02-22 | 上海振华重工(集团)股份有限公司 | Electric system of wave compensation crane |
| CN106429840B (en) * | 2016-10-19 | 2018-08-03 | 上海振华重工(集团)股份有限公司 | A kind of electrical system of heave compensation crane |
| CN108116623A (en) * | 2017-10-30 | 2018-06-05 | 武汉船用机械有限责任公司 | Mining vehicle lays the control method and device of recovery system |
| CN108116623B (en) * | 2017-10-30 | 2019-08-30 | 武汉船用机械有限责任公司 | Mining vehicle lays the control method and device of recovery system |
| CN112408200A (en) * | 2020-10-10 | 2021-02-26 | 武汉船用机械有限责任公司 | Lifting system of crane |
| CN112408200B (en) * | 2020-10-10 | 2022-11-22 | 武汉船用机械有限责任公司 | Lifting system of crane |
| CN112856151A (en) * | 2020-12-30 | 2021-05-28 | 李达平 | Foundation detection equipment with tripod horizontal support frame for building construction |
| CN113107911A (en) * | 2021-04-12 | 2021-07-13 | 山东大学 | Trestle pitching hydraulic system with energy recovery and wave compensation motion functions |
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