CN205507452U - A motion control system for overhead all alone replenishing device - Google Patents

Abstract

The utility model provides a motion control system for overhead all alone replenishing device, include: treater, electrical power generating system, detecting system and actuating system, the treater respectively with electrical power generating system detecting system with the actuating system is connected, the actuating system includes overhead all alone winch frequency conversion driver, outer index winch frequency conversion driver, interior index winch frequency conversion driver, hauling winch frequency conversion driver and servo cylinder driver. The advantage does: because the treater is connected with a plurality of check out test sets and a plurality of driver, can control the supply process comprehensively, the supply process does not need artifical the participation, has improved supply efficiency.

Description

Kinetic control system for highline device for supplying

Technical field

This utility model belongs to seaborne supply technical field, is specifically related to a kind of for highline device for supplying Kinetic control system.

Background technology

Along with progressively going deep into of ocean development strategy, owing to the many factors such as harbour, navigation channel, sea situation limit, Boats and ships tend not to approach and pull in shore to feed, accordingly, it would be desirable to naval vessel, ocean platform are carried out seaborne supply, from And extend naval vessel endurance.

Seaborne supply refers to: utilize the device for supplying on tender to carry out marine material supply to accepting ship, and Time to supplement the material storages such as the food needed for accepting ship, fuel oil, fresh water, spare part, material standby, extend and accept ship The afloat time of staying and range of activity, meet long-time offshore activities on a large scale.

China's seaborne supply originates in the eighties in 20th century, and the research starting of seaborne supply technology is late, but uses for reference External supply technology, quickly grows.Initial supply scope is only limitted to liquid goods, such as the liquid such as fuel oil and fresh water State material.Through the continuous exploration and practice of nearly 10 years, on the basis of foreign advanced technology, 90 years The seaborne supply technology in generation has obtained rapid progress, it is achieved that horizontal, longitudinal and vertical is the most three-dimensional Supply pattern, supply range expansion is to dried food and nuts supplies such as food, ammunition, goods and materials, and feeding distance is also to remotely Development.

But, during realizing this utility model, inventor finds, below prior art at least exists Problem:

The automatization level of existing seaborne supply system is the highest, and supply process needs artificial participation just can complete, Supply efficiency is low.

Utility model content

The defect existed for prior art, this utility model provides a kind of fortune for highline device for supplying Autocontrol system, can effectively solve the problems referred to above.

The technical solution adopted in the utility model is as follows:

This utility model provides a kind of kinetic control system for highline device for supplying, including: processor, Power-supply system, detecting system and drive system；Described processor respectively with described power-supply system, described detection System and described drive system connect；

Wherein, described detecting system includes:

Highline tension pick-up, for detecting the tension value of highline；

Highline spool shaft encoder, for detecting length and the velocity amplitude of highline；

Outboard guy spool shaft encoder, for detecting length and the velocity amplitude of outboard guy；

Inhaul line spool shaft encoder, for detecting length and the velocity amplitude of inhaul line；

Servo-cylinder stroke detector, is used for detecting the actual stroke value of stretching of servo-cylinder；

Boats and ships lifting acceleration transducer, for detecting the elevating movement state of hull；

Brake open/close state detection equipment, clutch open/close state detection equipment, click fastening device Open/close state detection equipment；

Described drive system includes highline winch variable frequency drives, outer index winch variable frequency drives, interior rope Draw winch variable frequency drives, hauling winch variable frequency drives and servo-cylinder driver.

Preferably, described highline winch variable frequency drives, described outer index winch variable frequency drives, described Interior index winch variable frequency drives, described hauling winch variable frequency drives and described servo-cylinder driver use Common DC bus structure.

Preferably, described hauling winch variable frequency drives links with hauling winch servomotor, for by driving Move hauling winch action and control the elevating movement of elevator (13).

Preferably, described elevator (13) automatically feeds system for goods；Described goods automatically feeds and is System also includes automated storage and retrieval system (12) and delivery vehicle (14)；

Wherein, described automated storage and retrieval system (12) including: storied 3-D shelf, goods access arrangement, goes out Warehouse-in conveying equipment and warehouse control system；

Described storied 3-D shelf are the shelf for depositing goods, including unit shelf, movable goods shelf with pick Select formula warehouse；

Described goods access arrangement is the equipment carrying out accessing goods for shuttling back and forth between shelf；

Described go out put in storage conveying equipment be coordinate shipment, transmitting-receiving operation setting, be used for placing goods onto goods Thing access arrangement, or, take out goods from goods access arrangement and transfer to described storied 3-D shelf.

The kinetic control system for highline device for supplying that this utility model provides has the advantage that

Owing to processor is connected with multiple detection equipment and multiple driver, can supply process be carried out comprehensively Controlling, supply process is not required to manually participate in, improves supply efficiency.

Accompanying drawing explanation

The overall structure schematic diagram of the highline device for supplying that Fig. 1 provides for this utility model；

The structural representation of the kinetic control system that Fig. 2 provides for this utility model；

The kinetic control system Common DC Profibus Control System line chart that Fig. 3 provides for this utility model；

The structural representation of the automated storage and retrieval system that Fig. 4 provides for this utility model；

Fig. 5 shows for the flow process of the identical tension highline sea Self Adaptive Control replenishing method that this utility model provides It is intended to.

Detailed description of the invention

In order to make this utility model be solved the technical problem that, technical scheme and beneficial effect clearer, Below in conjunction with drawings and Examples, this utility model is further elaborated.Should be appreciated that herein Described specific embodiment, only in order to explain this utility model, is not used to limit this utility model.

Seaborne supply is the logistics support that naval vessel, ocean, ocean platform are important, and world Navy is the heaviest Depending on seaborne supply technology, become and determine it is ocean platform work and the key factor of naval vessel endurance.This practicality Novel purpose is to provide a kind of kinetic control system for highline device for supplying, can be applicable to Fig. 1 institute In the highline device for supplying shown, for convenience of kinetic control system is understood, first introduce Fig. 1 overhead The concrete structure of rope device for supplying:

Highline device for supplying includes the 1st support column the 1, the 2nd support column 2, outer index winch 3, interior index winch 4, highline winch 5, wave compensating device 6, leading block group and hoisting device 7；

Wherein, outer index winch 3, interior index winch 4, highline winch 5, wave compensating device 6 and the 1st Dagger 1 is all arranged in tender, and the 2nd support column 2 is arranged in and accepts ship；Hoisting device 7 is arranged in the 1st support column Between 1 and the 2nd support column 2；

Leading block group includes the 1st leading block 8-1, the 2nd leading block 8-2, the 3rd leading block 8-3 and the 4th Leading block 8-4；1st leading block 8-1, the 2nd leading block 8-2 and the 3rd leading block 8-3 are by from top to bottom side To, it is in turn secured to the top of the 1st support column 1；4th leading block 8-4 is fixed on the 2nd support column 2；

After the outboard guy 9 of outer index winch 3 walks around the 1st leading block 8-1 and the 4th leading block 8-4 successively, fixing The 1st fixing end 7-1 to hoisting device 7；After the inhaul line 10 of interior index winch 4 walks around the 3rd leading block 8-3, It is fixed to the 2nd fixing end 7-2 of hoisting device 7；Compensation of undulation dress walked around successively by the highline 11 of highline winch 5 After putting the 3rd fixing end 7-3 of the 6, the 2nd leading block 8-2, hoisting device 7, it is fixed to the 4th leading block 8-4's On bracing frame.

On the basis of Fig. 1, kinetic control system structure is as in figure 2 it is shown, include: processor, power-supply system, Detecting system and drive system；Described processor respectively with described power-supply system, described detecting system and described Drive system connects.

(1) detecting system

Described detecting system includes:

Highline tension pick-up, for detecting the tension value of highline；

Highline spool shaft encoder, for detecting length and the velocity amplitude of highline；

Outboard guy spool shaft encoder, for detecting length and the velocity amplitude of outboard guy；

Inhaul line spool shaft encoder, for detecting length and the velocity amplitude of inhaul line；

Servo-cylinder stroke detector, is used for detecting the actual stroke value of stretching of servo-cylinder；

Boats and ships lifting acceleration transducer, for detecting the elevating movement state of hull；

Brake open/close state detection equipment, clutch open/close state detection equipment, click fastening device Open/close state detection equipment.

Wherein, for brake, high speed level brake, pneumatic water-cooled dynamic brake can be used, therefore, The bleed pressure sensor of pneumatic water-cooled dynamic brake, pneumatic water-cooled dynamic brake can be configured simultaneously The cooling-water temperature sensor of the gentle dynamic water-cooled dynamic brake of cooling water pressure force transducer.

By tension pick-up detection pull-cord and the tension value of tensioning hawser；The speed of hawser measured by encoder Degree and length；Proximity switch detection brake, click open/close position；Reserved Hydraulic Station and pneumatic The sensor signal interface of system, gathers the information such as pressure, temperature, liquid level, flow, the letter that will collect Breath, through processing, carries out showing and record, exceedes setting value alert and protect.

(2) processor

Processor as the core of control system, control outer index winch, interior pulling winch, highline winch, Other aid systems such as servo-cylinder, automated storage and retrieval system, hydraulic pressure and gas pressure station system, elevator；Simultaneously CPU acquisition process servo-cylinder stroke, tension force, length and the signal of other aid systems of system, real Now the whole-course automation of seaborne supply process is controlled.

In actual application, outer index winch 3, interior index winch 4 and highline winch 5 all include hoist engine, watch Take driver, servomotor and winch attachment device；Servomotor is joined with hoist engine by servo-driver Dynamic；Winch attachment device includes click fastening device, brake, clutch and rope processing device.

(3) drive system

(3.1) servo-driver

Servo-driver, its dynamic characteristic is high, and the balance of driving force and dynamic characteristic reaches optimum state, body Long-pending compact, there is high-grade protection, durable design bearing and the structure of anti-vibration.Servomotor both made It is still that preferable solution in the presence of a harsh environment.The KTY84 temperature sensor being internally integrated can additionally be protected Protect servomotor insulation winding.Permanent-magnet servo motor utilizes up-to-date magnet technology, than traditional three phase electric machine There is higher efficiency, during servomotor speed governing, there is no excitation loss.

Servo drive system direct torque performance parameter: controller cycle period is 125 μ s, total acceleration time

For 0.5ms, frequency range is 650Hz, torque ripple 0.6%, torque precision ± 1.5%.

Servo drive system speed controlling performance parameter: controller cycle period is 125 μ s, and total acceleration time is 2.3ms, frequency range is 250Hz, velocity perturbation 0.5%, velocity accuracy≤0.001%.

Servo drive system harmonic wave: THD (I) ＜ 2.6%, THD (V) ＜ 2.3%, THD (Total) ＜ 5%.

Servo-driver includes that outer index winch driver, interior index winch driver, highline winch drive Device and hauling winch driver:

(3.1.1) winch variable frequency drives is indexed outward

Processor is controlled by externally index winch variable frequency drives, finally controls the outer fortune indexing winch motor Dynamic, it is achieved outer pulling winch constant tensile control function.When transmitting goods, the actively traction of outer pulling winch, draw Dynamic transfer bogie moves to accepting ship from tender；During backhaul, outer pulling winch is operated in constant tensile control mould Formula, keeps outer hauling rope constant tension.

Outer pulling winch constant tensile control mathematical model is: CPU presets mathematical model control according to system Outer pulling winch so that it is be operated under traction mode or identical tension pattern, CPU passes through according to different operating modes Control the outer direction of pulling winch of Serve Motor Control, speed and acceleration, it is ensured that goods is quick, steady, peace Full transmission.

(3.1.2) index winch variable frequency drives in

Processor is controlled by internally index winch variable frequency drives, the fortune of index winch motor in finally controlling Dynamic, it is achieved interior pulling winch constant tensile control function.When transmitting goods, interior pulling winch is operated in identical tension Control model, it is ensured that interior hauling rope constant tension；During backhaul, the actively traction of interior pulling winch, pull little Car is drawn to tender from accepting ship.

Interior pulling winch constant tensile control mathematical model is: CPU presets mathematical model control according to system Interior pulling winch so that it is be operated under traction mode or identical tension pattern, CPU passes through according to different operating modes Control servomotor and control the direction of winch, speed, acceleration and pulling force, it is ensured that goods quickly, steadily, The transmission of safety.

Visible, inside and outside pulling winch is provided with identical tension function: when transmitting goods, and perseverance implemented by interior pulling winch Tension force controls, and the adjustment amount that CPU based on motor control calculates outputs a control signal to servo-driver, Interior pulling winch motor torque of adjusting limits input value.After outer pulling winch starts, interlocking leads in unclamping Drawing winch stop assembly, interior pulling winch i.e. runs in this torque limit pattern, when external force is less than torque limit Value, interior pulling winch rotate forward electronic take-up, cable tension reach torque adjust valley time motor carry out position Servo condition；When external force inverts automatic cable laying more than torque limit value, interior winch, and cable tension reaches torque Adjust peak value time motor carry out position servo state, it is achieved constant tensile control.

During backhaul, outer pulling winch implements constant tensile control, the adjustment that CPU based on motor control calculates Amount outputs a control signal to servo-driver, and outer pulling winch motor torque of adjusting limits input value.When interior After pulling winch starts, interlocking unclamps outer pulling winch brake, and outer pulling winch is i.e. at this torque limit mould Formula is run, when external force rotates forward electronic take-up less than torque limit value, outer pulling winch, and cable tension reaches Torque adjust valley time motor in-position servo condition；When external force is more than torque limit value, and outer winch is anti- Turn automatic cable laying, cable tension reach torque adjust peak value time motor in-position servo condition, it is achieved permanent Tension force controls.

(3.1.3) highline winch variable frequency drives

Processor, by controlling highline winch variable frequency drives, finally controls the fortune of highline winch motor Dynamic, it is achieved highline winch constant tensile control function.

Highline winch constant tensile control mathematical model is: CPU presets mathematical model according to system and coordinates Servo-cylinder so that it is be operated under identical tension pattern, concrete: CPU to detect highline length, The speed of highline, the elevating movement state of hull, highline tension value calculate, according to different operating modes By controlling the direction of Serve Motor Control winch, speed, acceleration and pulling force, it is ensured that highline tension force is tieed up Hold in set point.

(3.1.4) hauling winch variable frequency drives

Hauling winch variable frequency drives is applied to goods and automatically feeds in system, and processor is by hauling winch Driver and goods automatically feed the control of system, can realize goods and automatically feed and transmit.

Goods automatically feeds system and includes automated storage and retrieval system 12, elevator 13 and delivery vehicle 14；

For automated storage and retrieval system 12, its major design principle reference Fig. 4: arrange in inside and cargo hold designs On, enable supplies extract the most rapidly and move as far as possible, and use automated warehouse technology, pass through System CPU controls and management transporter and supply goods and materials.Automated storage and retrieval system automatic Memory cargo storage position Put, utilize AGVS, automatic access fork truck and bar code scanning device, can be with automatic access goods Thing.

Automated storage and retrieval system is by storied 3-D shelf, goods access arrangement, goes out to put in storage conveying equipment, control System and the automated system of peripheral equipment composition.Automated storage and retrieval system can make full use of memory space, passes through Computer can realize the online control of equipment, with the principle of FIFO, deposits, withdraws article quickly and accurately.

Concrete, including: storied 3-D shelf, goods access arrangement, go out to put in storage conveying equipment and storage Control system；

Storied 3-D shelf are the base components of automated storage and retrieval system, mainly deposit the shelf composition machine of goods Structure, in general, shelf are the highest, it is possible to sufficiently utilize warehouse space.At design memory structure Time, need the Discussing Convenience in view of goods access, it is contemplated that fire prevention, moistureproof, the requirement of Anti-inclining. Mainly being made up of unit shelf, movable goods shelf, selection formula warehouse, unit shelf are used for depositing goods, movable The shelf that shelf mainly can merge and split, it is possible to save substantial amounts of space, choose formula shelf Personnel are mainly facilitated to choose and design.

Goods access arrangement mainly shuttles back and forth between shelf for accessing the equipment of goods, is also piler, There is advantage accurate, safe and efficient, it is possible to shuttle between various tunnels, it is possible to adapt to various The useful load of goods and workload, it is possible to be designed to different size size to adapt to access according to concrete requirement Demand.

Go out to put in storage conveying equipment and be mainly the equipment that goods is delivered into out warehouse, with goods access arrangement, deposit Storage equipment connects into a system entirety, according to the size of conveying capacity, select appropriate size belt conveyor or The equipment such as person's elevator are to coordinate a series of work flows such as shipment, transmitting-receiving.

Warehouse control system is mainly used in controlling all devices, uses computer control mode to show, it is possible to carry The precision that high equipment controls, it is possible to help to realize the Effec-tive Function of whole control system.

In this utility model, tender is equipped with walk in orbit forklift, belt conveyor, lifting The Mechanized Handling Equipments such as machine, arrange in inside and in cargo hold design, use automated warehouse technology, make supply Article can extract the most rapidly and move, and system makes to computerized control and manage transporter and supply Goods and materials, it is possible to goods is directly fed to from the holding bay of tender the reception cabin of receiving ship.Therefore, this reality By the novel quick efficiency of transmission that improve goods and materials in cabin and the automaticity of supply process, improve supply speed Spend, shorten pipeline time, strengthen sealift safety and reliability.

This utility model devises kinetic control system for multi-shaft interlocked, by motor control, logic control and Technology controlling and process function is integrated, provides total solution for multiaxis compound movement.Highline supply dress The motor control put is complicated, and the requirement to speed and precision is the highest, kinetic control system solution of the present utility model Certainly the compound movement of highline device for supplying, is completed all of motor control task by a kinetic control system, It is applicable to the equipment with many moving components.

This utility model kinetic control system has three ingredients:

1. Engineering Develop System for MSC

Realize being solved all motor controles, logic and the problem of technology controlling and process by a system, and also can The instrument being necessary is provided, sets, from test and debugging to fault diagnosis from being programmed into parameter.

2. real-time software module

Real-time software module provides numerous motor controles and technology controlling and process function, specifically sets for a certain Standby required function, selects the module being correlated with neatly.

3. hardware platform

As the basis of kinetic control system, Engineering Develop System for MSC developed and employed real-time software, mould The application program of block may operate on different hardware platforms, can be according to highline device for supplying control system Feature select optimal hardware platform.

Drive system of the present utility model integrates V/F, vector SERVO CONTROL, multiaxis resource-sharing, mould Massing designs, and can realize efficient and complicated motor control.Current feedback link is had inside this drive system, Starting performance is good, is quick on the draw, can quickly export corresponding starting current according to load, without departing from Rated current, to electrical network without impact, have be adapted to the short-time overload function of motor ability and power phase shortage, Output phase shortage, power supply overvoltage, cross the defencive functions such as stream, under-voltage, ground connection, converter be overheated.

This kinetic control system uses the common DC bus DC/AC driver of multijoint control to feed for highline The driving of device controls, and in the course of the work, some mechanism is operated in motoring condition to highline device for supplying, Some mechanism is operated in generating state；It is operated in the mechanism of generating state by back electrical energy to dc bus, Consumed by the mechanism being operated in motoring condition, be different from traditional driver by external braking resistor The power consumption of feedback is fallen, the most not only energy-conserving and environment-protective but also improve the utilization rate of system power, reduce simultaneously The investment of braking resistor, it is to avoid the problem of braking resistor heat radiation；When be operated in the mechanism of motoring condition without Or can select to be consumed by braking resistor the most anti-when the power consumption of feedback is fallen by method as the case may be It is fed to electrical network.

Drive system performance parameter: the IPO clock cycle is 0.25-0.5ms, the servo clock cycle is 0.25ms, The interpolation clock cycle is to be to be 0.25ms 1ms, the Profinet clock cycle 0.25ms, the Profibus clock cycle, Running memory is 128MB.

Kinetic control system also has the advantage that power factor is high, up to more than 95%；Become by 12 arteries and veins rectifications Depressor and rectification unit are substantially reduced mains by harmonics；System dynamics response height, it is allowed to highline device for supplying frequency Numerous action.Kinetic control system Common DC Profibus Control System line chart is as shown in Figure 3: including: including: 12 arteries and veins Rectifier transformer, commutator, the 1st inverter, the 2nd inverter, the 3rd inverter, the 4th inverter, overhead Rope winch variable frequency drives, outer index winch variable frequency drives, interior index winch variable frequency drives, lifting strand Car variable frequency drives, brake unit, braking resistor and dc bus；The input of commutator passes through 12 arteries and veins Rectifier transformer is connected to electrical network；The outfan of commutator is parallel to dc bus；Dc bus is also in parallel even Receiving one end of the 1st inverter, the other end of the 1st inverter is for being connected with highline winch variable frequency drives； Dc bus is also parallel-connected to one end of the 2nd inverter, and the other end of the 2nd inverter is for twisting with outer index Car variable frequency drives connects；Dc bus is also parallel-connected to one end of the 3rd inverter, the 3rd inverter another One end is for being connected with interior index winch variable frequency drives；Dc bus is also parallel-connected to the one of the 4th inverter End, the other end of the 4th inverter is for being connected with hauling winch variable frequency drives；Dc bus is also connected in parallel To one end of brake unit, the other end of brake unit is connected with braking resistor.

The kinetic control system that application this utility model provides carries out sealift process, as it is shown in figure 5, bag Include following steps:

Step 1, system electrification initializes and automatically carries out System self-test, HMI interface shows self-inspection automatically Information；

When needing supply, tender with accept ship and need first to carry out information butt joint, the detection of boats and ships movable information with Share, the steel wire rope constant tensile control of replenishing-at-sea gear transmits and anti-with detection, winch dynamic equilibrium information Feedback, clutch precise motion and servo-drive information, carry out the Collaborative Control between two ships.Then will supply Outer hauling rope on ship, interior hauling rope and highline are connected to accept on ship, and two ships enter supply starting state.

Step 2, the automated storage and retrieval system work of tender, prepare supply goods；Accept on ship is automatic stored System works, and prepares to receive goods；

That is: control tender automated storage and retrieval system 12 action, make tender goods access arrangement automatically from high level The correspondence position of stereo storage rack takes out the supply goods that need to feed, and is transported by supply goods and be positioned at tender On delivery vehicle 14 within elevator 13；

Step 3, controls tender elevator 13 and carries out ascending motion, make tender elevator 13 by delivery vehicle 14 Rise to the position pre-established；Meanwhile, control to accept ship elevator 13 and arrive the reception goods pre-established Position；

Step 4, after the delivery vehicle 14 in tender elevator is fixed to hoisting device 7, starts outer rope automatically Draw winch 3, interior index winch 4, highline winch 5 and wave compensating device 6；Wherein, according to system in advance Setting index winch 3 outside mathematical model controls to be operated under traction mode, in controlling, index winch 4 is operated in perseverance Under tension mode, control highline winch 5 and coordinate wave compensating device 6 to be operated under identical tension pattern, finally Realize quick, steady, safe the transmitting from tender of delivery vehicle 14 to accepting ship；

Concrete, delivery vehicle and hoisting device are positioned on highline, the traction of inside and outside guy rope move reciprocatingly, Two pulling winch run-in synchronisms, keep guy rope tension force and speed in set point, traction hoisting device from Tender moves to accepting shipping；Wave compensating device and tension measuring device highline is carried out compensation of undulation and Highline constant tension controls, and adapts to Ship Swaying and the driftage impact on transmitting operation.

In this step, control highline winch 5 and coordinate wave compensating device 6 to be operated under identical tension pattern, tool Body is:

Step 4.1, sets highline length set-point, and highline length set-point is constant；Set highline Given tension value, highline given tension value is constant；

Step 4.2, in real time detection highline actual (tube) length angle value；Obtained by boats and ships lifting acceleration transducer in real time Obtain boats and ships real time position deviation value；

Highline length set-point inputs as the forward of the 1st comparator, and highline actual (tube) length angle value is as the 1st The negative sense input of comparator, boats and ships real time position deviation value inputs as the forward of the 1st comparator, and the 1st compares After device carries out computing to each input, the output valve of the 1st comparator is input to the 1st highline PID, after computing, Being input to the forward input of the 2nd comparator, meanwhile, highline that highline tension pick-up detects is actual to be opened Force value inputs as the negative sense of the 2nd comparator, and highline given tension value inputs as the forward of the 2nd comparator； It is input to the 2nd highline PID after the 2nd comparator computing；

The output of the 2nd highline PID inputs as the forward of the 3rd comparator, and boats and ships lift acceleration transducer institute The boats and ships real time position deviation value obtained inputs as the forward of the 3rd comparator, the output action of the 3rd comparator In highline servo-driver, and then adjust highline winch velocity of rotation and rotation direction, it is achieved highline Identical tension；

Or:

Controlling highline winch 5 coordinates wave compensating device 6 to be operated under identical tension pattern, particularly as follows:

Step 4.a, control system obtains highline actual tension value in real time, and judges highline actual tension value Whether beyond setting tension range, if it is, perform step 4.b；

Step 4.b, controls the flexible stroke of servo-cylinder according to mathematical model set in advance, and servo-cylinder is adjusted Whole compensating for one-level, the compensation magnitude that is swift in response is little, and stretches during stroke controlling servo-cylinder, Whether real-time judge following two condition occurs, and when occurrence condition 1, performs step 4.c；When occurrence condition 2 Time, process ends；

Condition 1: servo-cylinder stroke is beyond setting stroke range；

Condition 2, within highline actual tension value is positioned at setting tension range；

Step 4.c, stops servo-cylinder Traffic control system, is controlled highline winch, and highline winch is adjusted Whole is two grades of compensation, response lag, but compensation magnitude is big, and concrete control method is:

System is entered according to presetting the mathematical model direction to highline winch, speed, acceleration and pulling force Row controls, and whether real-time judge following two condition occurs, and when occurrence condition 3, performs step 4.d；When sending out During carded sliver part 4, process ends；

Condition 3, highline length is beyond allowed band；

Condition 4, highline tension force recovers to adjust in setting tension range；

Step 4.d, now, system automatically adjusts and could not reach requirement and beyond automatic adjusting range, then switch For manually adjusting pattern, operator adjusted by fine motion method, until making highline tension force recover to adjust In setting tension range.Wherein, manual mode is also emergency mode of operation, must protect in any automatic system Stay manual mode.

Step 5, at delivery vehicle 14 from tender to accepting ship transmitting procedure, by outboard guy 9 with interior lead The detection of rope 10 length, it is judged that whether delivery vehicle 14 is delivered to accept ship, if goods arrives the system in advance accepting ship Determine position, then the goods in delivery vehicle 14 is unloaded to accept the inside of ship elevator, then, control automatically System accepts ship elevator and carries out descending motion, makes to accept ship elevator and goods declines transport to pre-establishing Position；

Control to accept ship automated storage and retrieval system action, make taken-over vessel goods access arrangement automatically take off from elevator Goods, and it is transported to accept the correspondence position of height layer stereo storage rack.

Delivery vehicle backhaul controls process:

The winch reversion of tender, transmits crane and returns to the position that tender pre-establishes, now on tender Automated storage and retrieval system and elevator prepare goods to wait that in the position that pre-establishes transmitting crane loads goods Thing.Accept the elevator of ship goods is transferred to automated storage and retrieval system to carry out cargo transfer and piling.

It is emphasized that seaborne supply process described above, be only a kind of specific implementation, in reality In the application of border, it would however also be possible to employ other feed control flow, and this is not limiting as by this utility model.

The kinetic control system that this utility model provides, has the advantage that

(1) it is connected with multiple detection equipment and multiple driver due to processor, can be comprehensively to supply process Being controlled, supply process is not required to manually participate in, and improves supply efficiency.

(2) each variable frequency drives common DC bus, therefore, the mechanism being operated in generating state is anti-by electric energy It is fed on dc bus, the mechanism being operated in motoring condition is consumed, not only energy-conserving and environment-protective but also improve The utilization rate of system power, decrease the investment of braking resistor simultaneously, it is to avoid the problem of braking resistor heat radiation.

Below it is only preferred implementation of the present utility model, it is noted that common for the art For technical staff, on the premise of without departing from this utility model principle, it is also possible to make some improvement and profit Decorations, these improvements and modifications also should regard protection domain of the present utility model.

Claims (4)

1. the kinetic control system for highline device for supplying, it is characterised in that including: processor, Power-supply system, detecting system and drive system；Described processor respectively with described power-supply system, described detection System and described drive system connect；

Wherein, described detecting system includes:

Highline tension pick-up, for detecting the tension value of highline；

Highline spool shaft encoder, for detecting length and the velocity amplitude of highline；

Outboard guy spool shaft encoder, for detecting length and the velocity amplitude of outboard guy；

Inhaul line spool shaft encoder, for detecting length and the velocity amplitude of inhaul line；

Servo-cylinder stroke detector, is used for detecting the actual stroke value of stretching of servo-cylinder；

Boats and ships lifting acceleration transducer, for detecting the elevating movement state of hull；

Brake open/close state detection equipment, clutch open/close state detection equipment, click fastening device Open/close state detection equipment；

Described drive system includes highline winch variable frequency drives, outer index winch variable frequency drives, interior rope Draw winch variable frequency drives, hauling winch variable frequency drives and servo-cylinder driver.

Kinetic control system for highline device for supplying the most according to claim 1, its feature exists In, described highline winch variable frequency drives, described outer index winch variable frequency drives, described interior index strand Car variable frequency drives, described hauling winch variable frequency drives and described servo-cylinder driver use direct current altogether female Line structure.

Kinetic control system for highline device for supplying the most according to claim 2, its feature exists In, described hauling winch variable frequency drives links with hauling winch servomotor, for by driving lifting strand Car action and control the elevating movement of elevator (13).

Kinetic control system for highline device for supplying the most according to claim 3, its feature exists In, described elevator (13) automatically feeds system for goods；Described goods automatically feeds system and also includes Automated storage and retrieval system (12) and delivery vehicle (14)；

Wherein, described automated storage and retrieval system (12) including: storied 3-D shelf, goods access arrangement, goes out Warehouse-in conveying equipment and warehouse control system；

Described storied 3-D shelf are the shelf for depositing goods, including unit shelf, movable goods shelf with pick Select formula warehouse；

Described goods access arrangement is the equipment carrying out accessing goods for shuttling back and forth between shelf；

Described go out put in storage conveying equipment be coordinate shipment, transmitting-receiving operation setting, be used for placing goods onto goods Thing access arrangement, or, take out goods from goods access arrangement and transfer to described storied 3-D shelf.