CN204150975U - Secondary motor control wave compensation system - Google Patents

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

Secondary Motor Control Heave Compensation System

technical field

The utility model relates to the field of an active wave compensation system characterized by electro-hydraulic control technology, in particular to an active wave compensation system controlled by a secondary motor.

Background technique

Wave compensation refers to the compensation and correction of operating equipment caused by fluctuations in the sea surface. It is mainly used in marine replenishment, marine drilling, cable submarine robot installation operations, deep sea exploration, etc. Due to the influence of wave fluctuations, the load of the crane moves relative to the waves, and the loaded materials may cause collisions or increase difficulties in offshore operations, so that effective and safe operations cannot be performed.

Lifting equipment with wave compensation function can solve this problem well, extend the operation time in various sea conditions to a greater extent, and enhance the safety, efficiency and reliability of offshore operations. The existing heave compensation systems mainly have two forms: passive compensation and active compensation. The passive compensation system usually purchases a spring-like device composed of an oil cylinder connected to an accumulator. This device has a simple structure and low manufacturing cost, but has low stability, a small adjustable range, and poor sea adaptability. It is generally used in low-level sea conditions and compensation accuracy. On cranes with low requirements and small lifting tonnage.

The active compensation system usually provides positive and negative power sources according to wave fluctuations to achieve the purpose of compensating for the linear displacement of the hull. This method has a large installed tonnage, a high ability to adapt to sea conditions, a large adjustment range, and strong operability, but the compensation response is slow. , the manufacturing cost of the whole machine is expensive, and the system consumes a lot of energy, so it is not suitable for high-precision operations.

Utility model content

A brief summary of one or more aspects is presented below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all contemplated aspects and is intended to neither identify key or critical elements of all aspects nor attempt to delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

The purpose of this utility model is to solve the above problems and provide a secondary motor control wave compensation system, which has the characteristics of high compensation response, low energy consumption, strong operability, high compensation precision, high stability and large adjustable range, suitable for Heave compensation system for cranes with various tonnages and different sea conditions.

The technical solution of the utility model is: the utility model discloses a secondary motor control wave compensation system, including a hydraulic power source, a secondary motor braking unit, a secondary motor servo cylinder control unit, an accumulator compensation unit, a secondary The secondary motor A/B port oil circuit control unit and the hydraulic power source are respectively connected to the secondary motor brake unit and the secondary motor servo cylinder control unit.

According to an embodiment of the secondary motor control wave compensation system of the present invention, the hydraulic power source fills the accumulator of the secondary motor braking unit to store hydraulic energy, and the outlet of the accumulator of the secondary motor braking unit is connected in parallel Connect the pressure relay, relief valve and ball valve, and install a pressure reducing valve after the accumulator of the secondary motor braking unit. It is connected in parallel to the stop valve, and the outlet of the one-way stop valve is connected in parallel with the pressure relay and the secondary motor brake.

According to an embodiment of the secondary motor control wave compensation system of the present invention, in the secondary motor servo cylinder control unit, the outlet of the check valve is connected to a high-pressure filter, and the outlet of the high-pressure filter is connected to an accumulator group, a two-position four Through the reversing valve and the servo valve, the servo valve is connected to the servo cylinder of the control motor.

According to an embodiment of the secondary motor control heave compensation system of the present invention, an angular velocity sensor and a servo cylinder displacement sensor are installed on the motor at the same time.

According to an embodiment of the secondary motor control wave compensation system of the present invention, the accumulator compensation unit uses a piston accumulator to connect with the nitrogen cylinder, and a pressure valve pressure sensor is installed at the same time, and the accumulator compensation unit is also equipped with a nitrogen control module.

According to an embodiment of the secondary motor control wave compensation system of the present invention, the two-position four-way reversing valve in the A/B port oil circuit control unit of the secondary motor controls the opening and closing of the two-way cartridge valve, and the two-way plug-in valve Two one-way valves are installed at the outlet of the valve to supply oil to the low-pressure side of the secondary motor, and the pressure sensor detects the pressure of the high-pressure side of the secondary motor in real time.

According to an embodiment of the secondary motor control heave compensation system of the present invention, the system is also equipped with a cooling oil supply unit.

Compared with the prior art, the utility model has the following beneficial effects: the utility model adopts the secondary motor for control, performs forward and reverse compensation by swinging the swing angle of the secondary motor, increases the response speed, and the output angle of the secondary motor angular velocity sensor The closed-loop circuit formed by the displacement and the actual wave displacement fed back by the servo cylinder displacement sensor performs closed-loop control compensation, which improves the compensation accuracy. The accumulator of the secondary motor servo cylinder control unit ensures the stability of the control. The brake unit adopts double electromagnetic reversing valves to increase system safety. The main oil port of the secondary motor is controlled by a two-way cartridge valve to reduce pressure loss while ensuring safety. Adjust the cylinder pressure through the nitrogen filling control unit to adapt to various sea conditions. Compared with the traditional technology, the utility model has the functions of constant tension and wave compensation in addition to the functions of ordinary cranes.

Description of drawings

Fig. 1 shows the hydraulic principle diagram of a preferred embodiment of the secondary motor control heave compensation system of the present invention.

Fig. 2 shows the secondary motor control diagram of the utility model.

3A and 3B show schematic diagrams of the crane mechanism of the heave compensation system of the present invention.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is described further.

As shown in Figure 1, the secondary motor control wave compensation system includes a hydraulic power source, a secondary motor braking unit, a secondary motor servo cylinder control unit, an accumulator compensation unit, and a secondary motor A/B port oil circuit control unit , the hydraulic power source is respectively connected to the secondary motor braking unit and the secondary motor servo cylinder control unit. Preferably, the system is also equipped with a cooling oil supplement unit 13 .

The hydraulic power source fills the accumulator of the secondary motor braking unit to store hydraulic energy, and the outlet of the accumulator 111 of the secondary motor braking unit is connected in parallel with the pressure relay 91, the overflow valve and the ball valve. The pressure reducing valve 6 is installed behind the accumulator 112 of the moving unit, and the outlet of the pressure reducing valve 6 is connected to the two-position four-way reversing valve 21 (also called the two-position four-way electromagnetic reversing valve), and the two-position four-way reversing valve 21 is connected in parallel with the one-way shut-off valve 14, and the outlet of the one-way shut-off valve 14 is connected in parallel with the pressure relay 91 and the secondary motor brake.

In the secondary motor servo cylinder control unit, the outlet of the check valve is connected to the high-pressure filter 4, and the outlet of the high-pressure filter 4 is connected to the accumulator group, the two-position four-way reversing valve 21 and the servo valve, and the servo valve is connected to the control motor servo cylinder. An angular velocity sensor and a servo cylinder displacement sensor are installed on the motor at the same time.

The accumulator compensation unit uses a piston accumulator 12 to connect with the nitrogen cylinder 2, and a pressure valve pressure sensor is installed at the same time, and a nitrogen charging control module 10 is also installed in the accumulator compensation unit.

The two-position four-way electromagnetic reversing valve 21 in the A/B port oil circuit control unit of the secondary motor controls the opening and closing of the two-way cartridge valves 161 and 162, and the outlets of the two-way cartridge valves 161 and 162 are installed with two one-way The valve supplies oil to the low-pressure side of the secondary motor 17, and the pressure sensor detects the pressure on the high-pressure side of the secondary motor 17 in real time.

Installing a high-pressure filter 4 at the inlet of the secondary motor 17 to control the oil source can not only maintain the cleanliness of the control oil source and increase the life of the control components, but also help to maintain the control accuracy of wave compensation and the sensitivity of the system. In addition to storing hydraulic energy, the accumulator 111 can also absorb fluctuating hydraulic power to ensure the stability of the control of the secondary motor proportional valve 22, and use the pressure relay 91 to detect whether the control oil source pressure is satisfied. The two-position four-way electromagnetic reversing valve 21 is used as the enabling signal for the control of the secondary motor servo cylinder, and the pressure suitable for the brake 18 can be obtained through the pressure reducing valve 6 . The accumulator 112 is installed at the inlet of the pressure reducing valve 6 to maximize the energy storage capacity of the accumulator. Electromagnetic reversing valves 151 and 152 simultaneously control the brakes to ensure system safety. One-way cut-off valve 14 to slow down the brake closing time to prevent impact. The pressure relay 93 automatically detects the opening and closing state of the brake. Use the cooling oil supply unit 13 to supply oil to the low-pressure side of the hydraulic secondary motor and cool the system temperature. The specifications and quantities of the corresponding nitrogen cylinder 2 and secondary motor 17 can be configured by calculating the cranes of different tonnages. The nitrogen filling control module 10 fills the nitrogen cylinder 2 with nitrogen of corresponding pressure according to different sea conditions and compensation accuracy. The outlet of the nitrogen cylinder 2 is connected to the piston accumulator 12, the pressure sensor 84 collects the current nitrogen pressure in real time and the pressure sensor 81 collects the pressure value of the oil stored in the piston accumulator 12 in real time. The solenoid reversing valves 153 and 154 respectively control the opening and closing of the two-way cartridge valves 161 and 162 . The outlet of the two-way cartridge valve 161 is connected to the pressure sensor 83 and the outlet of the two-way cartridge valve 162 is connected to the pressure sensor 82 to collect the pressure at the high pressure end and the low pressure end of the secondary motor, and the secondary motor can be accurately calculated according to the pressure difference between the high and low ends of the secondary motor. The secondary motor outputs torque, and a check valve 33 and a check valve 34 are installed at the front end of the secondary motor to supply oil to the low-pressure end of the motor, effectively preventing the motor from cavitating. The speed sensor 19 of the secondary motor and the displacement sensor 20 of the servo cylinder of the secondary motor accurately feed back the control and operating status of the secondary motor. The block diagram of the feedback control is shown in Figure 2. When the system needs maintenance in the non-working state, the ball valve 71 can be operated. 73 and 75 bleed off corresponding accumulator pressure and carry out maintenance under safe situation.

Before operation, confirm whether the components and electrical signals are normal, and according to the current sea conditions, fill the nitrogen cylinder set 2 with nitrogen of a certain pressure value through the nitrogen filling module 10, and check whether the nitrogen has been filled to an appropriate pressure through the pressure sensor 84. Start the power source 1 of the pumping station, and the pumping station preloads the system. It can be known that the oil source accumulator 111 is loaded through the normally closed signal of the pressure relay 91, and the loading of the accumulator 112 of the motor braking unit can be known by the normally closed signal of the pressure relay 92. Finish. The pressure sensor 81 collects the liquid filling pressure of the piston accumulator 12 in real time. When the pressure reaches the set value, the power source 1 is in the standby state, and the energy consumption is less at this time. When any pressure relay is normally open or the pressure sensor 81 collects the pressure of the piston accumulator is too low, the power source 1 resumes the loading state, until the required pressure condition is met and the delay enters the standby state according to the actual situation. During the operation of the equipment, you can choose the main hoisting modes of the crane: "Crane Normal Mode", "Constant Tension Mode" and "Wave Compensation Control Mode":

After the driver presses the button of "ordinary crane mode", the "ordinary crane mode" is activated, the green indicator light is on, and at the same time the pressure collected by the pressure sensor 81 reaches the set value. Electromagnetic valves 153, 154 and 21 are energized, and now the motor is in a controllable state. Receive the driver's operating handle and send it to the proportional valve 22 through a ramp signal, and at the same time, the electromagnetic reversing valves 151 and 152 are energized, and the pressure relay 93 is closed to send a signal. The brake 18 is opened, and the crane performs speed control along with the output of the handle.

After the driver presses the "constant tension mode" button, the "constant tension mode" is activated, the green indicator light is on, and when the pressure collected by the pressure sensor 81 reaches the set value, the solenoid valves 153, 154 and 21 are energized. The driver inputs to the PLC through the potentiometer knob, and the torque command control signal sent by the PLC is used for closed-loop torque control of the winch. Simultaneously, the electromagnetic reversing valves 151 and 152 are energized, the pressure relay 93 is closed and sends a signal, and the brake 18 is opened. The PLC collects the value of the weight sensor of the crane and the number of turns of the wire rope to calculate the actual torque, and controls the swing angle of the secondary motor according to the command value and the actual feedback value input by the PLC.

Before using the "wave compensation mode" on the crane, you need to use the "normal mode" of the crane to lift the cargo, adjust the nitrogen pressure in the nitrogen cylinder of the system to the predetermined value, and then start the "wave compensation mode". In this mode, the signal output by the motion controller MRU that detects the attitude of the ship is used to control the speed of the PLC. When the driver presses the "wave compensation mode" button, the "wave compensation mode" is activated and the green indicator light is on. When the pressure collected by the pressure sensor 81 reaches the set value, the solenoid valves 153, 154 and 21 are energized, and at the same time the electromagnetic reversing valves 151 and 152 are energized, the pressure relay 93 is closed and the signal is sent, the brake 18 is opened, and the driver control handle is sent by PLC. The speed command control signal is used for the closed-loop control of the speed control of the crane. When the motion controller MRU detects that the hull descends with the waves, the swing angle of the motor increases, and the crane performs the action of pulling in the rope. When the motion controller MRU detects that the hull rises with the waves, the swing angle of the motor is small, and the crane moves to release the rope. By changing the swing angle of the motor, the up and down fluctuation of the object caused by the waves is quickly compensated, so as to ensure that the relative position of the heavy object remains unchanged within a certain range.

3A and 3B show the crane mechanism of the wave compensation system of the present invention. This crane structure includes a boom 1a, a slewing structure 2a, a crane base 3a, a hoisting mechanism 4a, a slewing mechanism 5a, and a main transformer. Wide oil cylinder 6a, lifting winding system 7a, auxiliary luffing oil cylinder 8a, driver's cab 9a and hydraulic station 10a.

The wave compensation system of the utility model realizes the displacement compensation of heavy objects by changing the closed-loop control of the swing angle of the motor. It not only has the function of an ordinary crane, but also can effectively realize constant tension control and wave compensation control with fast response and high precision. The hydraulic system adopted is simple in operation, high in compensation response, low in energy consumption, strong in operability, high in compensation accuracy and good in stability, and can meet various sea conditions.

The previous description of the present disclosure is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to the present disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the present disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

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.