CN205787682U - Identical tension highline sea Self Adaptive Control make-up system - Google Patents

Abstract

This utility model provides a kind of identical tension highline sea Self Adaptive Control make-up system, and system includes identical tension highline seaborne supply subsystem and identical tension highline sea Self Adaptive Control subsystem；Identical tension highline sea Self Adaptive Control subsystem is used for driving that control is outer indexes winch (3), interior index winch (4), highline winch (5) and wave compensating device (6) action, and then realizes hoisting device (7) and at tender and accept motion between ship.Advantage is: (1) highline uses identical tension Self Adaptive Control, and supply process is not required to manually participate in, and reduces goods and vibrates on cableway, improves supply efficiency.(2) application compensation of undulation technology carries out compensation of undulation, keeps the double-closed-loop control of highline constant tension highline, compensates the relative motion of two ships；Ensure that goods lifts by crane safely and smoothly under the conditions of Ship Swaying and lands, prevent goods from mutually colliding with operation ship between decks.

Description

Identical tension highline sea Self Adaptive Control make-up system

Technical field

This utility model belongs to seaborne supply technical field, is specifically related to a kind of identical tension highline sea Self Adaptive Control Make-up 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 are past Pull in shore toward not approaching to feed, accordingly, it would be desirable to naval vessel, ocean platform are carried out seaborne supply, thus extend naval vessel endurance.

Seaborne supply refers to: utilizes the device for supplying on tender to carry out marine material supply to accepting ship, supplements in time The material storages such as food needed for accepting ship, fuel oil, fresh water, spare part, material are standby, extend and accept the ship afloat time of staying and work Dynamic scope, meets 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 foreign Supply technology, quickly grows.Initial supply scope is only limitted to liquid goods, such as the liquid such as fuel oil and fresh water.Through nearly 10 years Continuous exploration and practice, on the basis of foreign advanced technology, the seaborne supply technology of the nineties obtained considerable enter Step, it is achieved that horizontal, longitudinal and vertical comprehensive three-dimensional supply pattern, supply range expansion is to food, ammunition, goods and materials etc. Dried food and nuts feeds, and feeding distance is also to remotely development.

But, during realizing this utility model, inventor finds, prior art at least there is problems in that

In carrying out seaborne supply operation process, need to make tender with accept ship keep safety feeding distance, but, Affected by the factor such as marine environment and device for supplying, two ship generation relative motioies can be caused, thus cause replenishment operation to lose Lose.It addition, the automatization level of existing seaborne supply technology is the highest, supply process needs artificial participation just can complete, supply effect Rate is low.

Utility model content

The defect existed for prior art, this utility model provides the Self Adaptive Control of a kind of identical tension highline sea to mend To 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 identical tension highline sea Self Adaptive Control make-up system, including: identical tension is overhead Rope seaborne supply subsystem and identical tension highline sea Self Adaptive Control subsystem；

Described identical tension highline seaborne supply subsystem includes the 1st support column (1), the 2nd support column (2), outer index strand Car (3), interior index winch (4), highline winch (5), wave compensating device (6), leading block group and hoisting device (7)；

Wherein, described outer index winch (3), described interior index winch (4), described highline winch (5), described wave are mended Repaying device (6) and described 1st support column (1) is all arranged in tender, described 2nd support column (2) is arranged in and accepts ship；Described hang Car device (7) is arranged between described 1st support column (1) and described 2nd support column (2)；

Described leading block group includes the 1st leading block (8-1), the 2nd leading block (8-2), the 3rd leading block (8-3) With the 4th leading block (8-4)；Described 1st leading block (8-1), described 2nd leading block (8-2) and described 3rd leading block (8-3) by from top to bottom direction, it is in turn secured to the top of described 1st support column (1)；Described 4th leading block (8-4) is fixed In described 2nd support column (2)；

The outboard guy (9) of described outer index winch (3) is walked around described 1st leading block (8-1) and the described 4th successively and is guided After pulley (8-4), it is fixed to the 1st fixing end (7-1) of described hoisting device (7)；The inhaul line of described interior index winch (4) (10), after walking around described 3rd leading block (8-3), it is fixed to the 2nd fixing end (7-2) of described hoisting device (7)；Described overhead The highline (11) of rope winch (5) walk around successively described wave compensating device (6), described 2nd leading block (8-2), described in hang After the fixing end (7-3) in the 3rd of car device (7), it is fixed on the bracing frame of described 4th leading block (8-4)；

Described identical tension highline sea Self Adaptive Control subsystem is used for driving control described outer index winch (3), institute State interior index winch (4), described highline winch (5) and described wave compensating device (6) action, and then realize hoisting device (7) tender and accept between ship move.

Preferably, described outer index winch (3), described interior index winch (4) and described highline winch (5) all include volume Raise machine, servo-driver, servomotor and winch attachment device；Described servomotor passes through described servo-driver with described Hoist engine links；

Wherein, described winch attachment device includes click fastening device, brake, clutch and rope processing device.

Preferably, described wave compensating device (6) is hydraulic servo oil cylinder, and described hydraulic servo oil cylinder includes expansion link, The highline drawn from described highline winch (5) is through the top of described expansion link, then further around crossing described 2nd leading block (8-2), after the 3rd fixing end (7-3) of described hoisting device (7), it is fixed on the bracing frame of described 4th leading block (8-4)； When the expansion link of described hydraulic servo oil cylinder carries out stretching motion, described highline can be driven to be synchronized with the movement, and then adjust The tension value of whole described highline.

Preferably, described identical tension highline sea Self Adaptive Control subsystem includes kinetic control system, power-supply system And detecting system；Described kinetic control system is connected with described power-supply system and described detecting system respectively.

Preferably, 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 ON/OFF Condition detecting device.

Preferably, described kinetic control system uses the common DC bus driver of multijoint control, including: 12 arteries and veins rectifications become Depressor, commutator, inverter, brake unit, braking resistor and dc bus；

The input of described commutator is connected to electrical network by described 12 arteries and veins rectifier transformers；The outfan of described commutator It is parallel to dc bus；

Described dc bus is also parallel-connected to one end of described inverter, and the other end of described inverter is used for and motor Converter connects；

Described dc bus is also parallel-connected to one end of described brake unit, and the other end of described brake unit is with described Braking resistor connects.

Preferably, the quantity that arranges of described inverter is 4, the respectively the 1st inverter, the 2nd inverter, the 3rd inverter With the 4th inverter；One end of described 1st inverter is connected with described dc bus, and the other end of described 1st inverter is with overhead Rope winch converter connects；One end of described 2nd inverter is connected with described dc bus, the other end of described 2nd inverter It is connected with outer index winch converter；One end of described 3rd inverter is connected with described dc bus, described 3rd inverter The other end is connected with interior index winch converter；One end of described 4th inverter is connected with described dc bus, described 4th inverse The other end becoming device is connected with hauling winch converter.

Preferably, also include: goods automatically feeds system；Described goods automatically feeds system and includes automated storage and retrieval system (12), elevator (13) and delivery vehicle (14)；

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

Described storied 3-D shelf are the shelf for depositing goods, including unit shelf, movable goods shelf and selection formula storehouse Storehouse；

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

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

The identical tension highline sea Self Adaptive Control make-up system that this utility model provides has the advantage that

(1) highline uses identical tension Self Adaptive Control, and supply process is not required to manually participate in, and reduces goods on cableway Vibration, improves supply efficiency.

(2) tender and accept between ship supply during use Collaborative Control, improve adapt to severe sea condition ability.

(3) application compensation of undulation technology and tonometry feedback control technology carry out compensation of undulation, keep height highline The double-closed-loop control that frame rope tensility is constant, compensates the relative motion of two ships；Ensure that goods is safe under the conditions of Ship Swaying, steadily Ground lifting and landing, prevent goods from mutually colliding with operation ship between decks.

Accompanying drawing explanation

The overall structure signal of the identical tension highline sea Self Adaptive Control make-up system that Fig. 1 provides for this utility model Figure；

The structural representation of the identical tension highline sea Self Adaptive Control subsystem that Fig. 2 provides for this utility model；

The outer pulling winch constant tensile control mathematical modeling principles block diagram that Fig. 3 provides for this utility model；

The interior pulling winch constant tensile control mathematical modeling principles block diagram that Fig. 4 provides for this utility model；

The highline winch constant tensile control mathematical modeling principles block diagram that Fig. 5 provides for this utility model；

The active wave compensation system theory diagram that Fig. 6 provides for this utility model；

The kinetic control system Common DC Profibus Control System line chart that Fig. 7 provides for this utility model；

The structural representation of the automated storage and retrieval system that Fig. 8 provides for this utility model；

The schematic flow sheet of the identical tension highline sea Self Adaptive Control replenishing method that Fig. 9 provides for this utility model.

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 described herein being embodied as Example, 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 all pays much attention to sea Supply technology, becomes and determines it is ocean platform work and the key factor of naval vessel endurance.The purpose of this utility model is to provide A kind of identical tension highline sea Self Adaptive Control make-up system, the automatization level of ship-lifting seaborne supply equipment, supply Efficiency and highline supply are equipped in the performance capacity under severe sea condition, thus improve China's seaborne resupply capability and skill comprehensively Art level, fills up the blank in China's seaborne supply adaptive control technology field.

Concrete, the problem that existing seaborne supply system exists includes:

(1) automatization level of seaborne supply technology is the highest, and supply process needs artificial participation just can complete, and feeds efficiency Low.

(2) the winch quantity needed for seaborne supply system is many, and the ship accepting supply is in passive state, tender and acceptance During supply, there is no Collaborative Control between ship, adapt to the ability of severe sea condition.

(3) lacking compensation of undulation application technology, pulling winch can not compensate the relative motion of two ships.

(4) do not use identical tension highline adaptive control technology, do not possess transmission and receiving terminal goods automatic loading and unloading Ability.

In conjunction with Fig. 1, for the overall knot of the identical tension highline sea Self Adaptive Control make-up system that this utility model provides Structure schematic diagram, including: identical tension highline seaborne supply subsystem and identical tension highline sea Self Adaptive Control subsystem.

(1) identical tension highline seaborne supply subsystem

Identical tension highline seaborne supply subsystem includes the 1st support column the 1, the 2nd support column 2, outer index winch 3, interior rope Draw 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 the 6 and the 1st support column 1 are equal Being arranged in tender, the 2nd support column 2 is arranged in and accepts ship；Hoisting device 7 be arranged in the 1st support column the 1 and the 2nd support column 2 it Between；

It is sliding that leading block group includes that the 1st leading block 8-1, the 2nd leading block 8-2, the 3rd leading block 8-3 and the 4th guide Wheel 8-4；1st leading block 8-1, the 2nd leading block 8-2 and the 3rd leading block 8-3, by from top to bottom direction, are 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, it is fixed to hang The 1st of car device 7 fixing end 7-1；After the inhaul line 10 of interior index winch 4 walks around the 3rd leading block 8-3, it is fixed to crane dress Put the 2nd fixing end 7-2 of 7；The highline 11 of highline winch 5 walk around successively wave compensating device the 6, the 2nd leading block 8-2, After the fixing end 7-3 of the 3rd of hoisting device 7, it is fixed on the bracing frame of the 4th leading block 8-4.

(2) identical tension highline sea Self Adaptive Control subsystem

Identical tension highline sea Self Adaptive Control subsystem be used for driving control outer index winch 3, interior index winch 4, Highline winch 5 and wave compensating device 6 action, so realize hoisting device 7 tender and accept between ship move.Permanent Power highline sea Self Adaptive Control subsystem includes kinetic control system, power-supply system and detecting system；Kinetic control system It is connected with power-supply system and detecting system respectively.Identical tension highline sea Self Adaptive Control subsystem block diagram as in figure 2 it is shown, CPU as the core of control system, controls the outer winch, interior pulling winch, highline winch, servo-cylinder, automatic stored of indexing Other aid systems such as 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.

(1) winch 3, interior index winch 4 and highline winch 5 and servo-driver are indexed outward

Outer index winch 3, interior index winch 4 and highline winch 5 all include hoist engine, servo-driver, servomotor And winch attachment device；Servomotor is linked with hoist engine by servo-driver；Winch attachment device includes click Fastening device, brake, clutch and rope processing device.

(1.1) servo-driver

Servo-driver, its dynamic characteristic is high, and the balance of driving force and dynamic characteristic reaches optimum state, volume compact, There is high-grade protection, durable design bearing and the structure of anti-vibration.Servomotor had both made to be still that in the presence of a harsh environment Preferably solution.The KTY84 temperature sensor being internally integrated can Additional Protection servomotor insulation winding.Permanent magnetic servo electricity Machine utilizes up-to-date magnet technology, has higher efficiency than traditional three phase electric machine, does not has excitation to damage during servomotor speed governing Consumption.

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

(1.2) outer pulling winch

Outer pulling winch is the constant tensile control winch of servo-drive, possesses constant tensile control function, by servo-driver And driven by servomotor.When transmitting goods, the actively traction of outer pulling winch, pull transfer bogie to move to accepting ship from tender Dynamic；During backhaul, outer pulling winch is operated in constant tensile control pattern, keeps outer hauling rope constant tension.

Outer pulling winch constant tensile control mathematical modeling principles block diagram is as shown in 3 figures: CPU presets mathematics according to system The outer pulling winch of model cootrol so that it is be operated under traction mode or identical tension pattern, CPU passes through to control according to different operating modes The outer direction of pulling winch of Serve Motor Control, speed and acceleration, it is ensured that the transmission that goods is quick, steady, safe.

(1.3) interior pulling winch

Interior pulling winch is the constant tensile control winch of servo-drive, possesses constant tensile control function, by servo-driver And driven by servomotor.When transmitting goods, interior pulling winch is operated in constant tensile control pattern, it is ensured that interior hauling rope tension force is permanent Fixed；During backhaul, the actively traction of interior pulling winch, pull dolly to be drawn to tender from accepting ship.

Interior pulling winch constant tensile control mathematical modeling principles block diagram is as shown in 4 figures: CPU presets mathematics according to system Pulling winch in model cootrol so that it is be operated under traction mode or identical tension pattern, CPU passes through to control according to different operating modes Servomotor controls the direction of winch, speed, acceleration and pulling force, it is ensured that the transmission that goods is quick, steady, safe.

Visible, inside and outside pulling winch is provided with identical tension function: when transmitting goods, and identical tension control implemented by interior pulling winch System, the adjustment amount that CPU based on motor control calculates outputs a control signal to servo-driver, interior pulling winch of adjusting Motor torque limits input value.After outer pulling winch starts, interlocking unclamps interior pulling winch brake, and interior pulling winch i.e. exists This torque limit pattern is run, when external force rotates forward electronic take-up less than torque limit value, interior pulling winch, and cable tension reaches Torque adjust valley time motor carry out position servo state；When external force inverts automatic cable laying more than torque limit value, interior winch, Cable tension reach torque adjust peak value time motor carry out position servo state, it is achieved constant tensile control.

During backhaul, constant tensile control implemented by outer pulling winch, the adjustment amount output control that CPU based on motor control calculates Signal processed is to servo-driver, and outer pulling winch motor torque of adjusting limits input value.After interior pulling winch starts, interlocking Unclamping outer pulling winch brake, outer pulling winch i.e. runs in this torque limit pattern, when external force is less than torque limit value, Outer pulling winch rotates forward electronic take-up, cable tension reach torque adjust valley time motor in-position servo condition；When outward Power be more than torque limit value, outer winch invert automatic cable laying, cable tension reach torque adjust peak value time motor in-position Servo condition, it is achieved constant tensile control.

(1.4) highline winch

Highline winch constant tensile control mathematical modeling principles block diagram is as shown in 5 figures: CPU presets mathematics according to system Model coordinates servo-cylinder so that it is be operated under identical tension pattern, concrete: CPU is to the length of highline, highline being detected Speed, the elevating movement state of hull, highline tension value calculate, according to different operating modes by controlling servomotor control The direction of winch processed, speed, acceleration and pulling force, it is ensured that highline tension force maintains in set point.

(2) wave compensating device

Highline compensation of undulation uses double-closed-loop control, possesses constant tensile control function, highline winch watches with hydraulic pressure Taking oil cylinder collaborative work and compensate action, two compensation mechanisms are uniformly controlled with control system by driving, it is ensured that highline begins It is in constant-tension state eventually.

Wave compensating device comprises passive compensation of undulation and active compensation of undulation two parts.Wherein, hydraulic servo oil cylinder is Internal ring controls, and is characterized in being swift in response, and compensation magnitude is little；Highline winch is outer shroud control, is characterized in that reaction lags, but Compensation magnitude is big, is mainly used in increasing compensation magnitude, it is ensured that job safety.

(2.1) passive compensation of undulation

Passive compensation of undulation uses hydraulic servo oil cylinder, and hydraulic servo oil cylinder includes expansion link, draws from highline winch 5 Highline through the top of expansion link, then further around crossing the 3rd fixing end 7-3 of the 2nd leading block 8-2, hoisting device 7 after, It is fixed on the bracing frame of the 4th leading block 8-4；When the expansion link of hydraulic servo oil cylinder carries out stretching motion, height can be driven Frame Suo Jinhang is synchronized with the movement, and then adjusts the tension value of highline.

Its operation principle is: hydraulic servo oil cylinder is passive compensation of undulation, when on hawser, tension value exceedes set point, Hydraulic servo oil cylinder carries out flexible stroke adjustment according to setting program, and which system response ratio is very fast but compensation range is limited, So this compensation of undulation mode is for the situation that sea situation is relatively good and highline tension variation is little, normal safe both can be ensured Replenishment operation, again energy-conserving and environment-protective.

(2.2) actively compensation of undulation

Active wave compensation system based on fully integrated motor control is poor or highline tension variation ratio for sea situation In the case of relatively big.Its system principle diagram is as shown in Figure 6

In active wave compensation system based on fully integrated motor control, the lifting of niggerhead shaft encoder, boats and ships is accelerated Degree sensor, tension pick-up are respectively by the length of highline, the speed of highline, the elevating movement state of hull, highline The data such as tension value are sent in the CPU of motion controller in real time, and CPU is by being calculated highline actual tension value and setting Value causes the deviation of hull lifting formation due to wave, and above-mentioned data export control signal after CPU calculation process and control strand The rotating speed of vehicle motor, direction and torque value, final control winch take-up and cable laying, it is achieved actively compensation of undulation.System uses PID The feedforward, the response speed of routing motion control system CPU Microsecond grade outputs signals to servo-driver the most accurately, control Winch take-up processed and payout operation.

(3) detecting system

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 ON/OFF Condition detecting device.

Wherein, for brake, high speed level brake, pneumatic water-cooled dynamic brake can be used, therefore, can be simultaneously Configure the cooling water pressure sensing of the bleed pressure sensor of pneumatic water-cooled dynamic brake, pneumatic water-cooled dynamic brake Device and the cooling-water temperature sensor of pneumatic water-cooled dynamic brake.

By tension pick-up detection pull-cord and the tension value of tensioning hawser；Speed and the length of hawser measured by encoder Degree；Proximity switch detection brake, click open/close position；Reserved Hydraulic Station and the sensor signal of pneumatic system Interface, gathers the information such as pressure, temperature, liquid level, flow, the information collected is passed through processing, carries out showing and record, exceed Setting value alert is also protected.

(4) kinetic control system

This utility model devises kinetic control system for multi-shaft interlocked, by motor control, logic control and technique control Function processed is integrated, provides total solution for multiaxis compound movement.The motor control of highline device for supplying is complicated, Requirement to speed and precision is the highest, and kinetic control system of the present utility model solves the compound movement of highline device for supplying, All of motor control task is completed, it is adaptable to there is the equipment of many moving components by a kinetic control system.

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 institute can be provided The instrument being necessary, 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, needed for a certain specific equipment Function, select 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, answering of module May operate on different hardware platforms by program, can select to be best suitable for according to the feature of highline device for supplying control system Hardware platform.

Kinetic control system of the present utility model integrates V/F, vector SERVO CONTROL, multiaxis resource-sharing, module Change design, efficient and complicated motor control can be realized.Current feedback link, starting performance is had inside this kinetic control system Well, it is quick on the draw, can quickly export corresponding starting current according to load, without departing from rated current, to electrical network without punching Hit, have be adapted to the short-time overload function of motor ability and power phase shortage, output phase shortage, power supply overvoltage, cross stream, under-voltage, The defencive function such as ground connection, converter are overheated.

This kinetic control system uses the common DC bus DC/AC driver of multijoint control for highline device for supplying Driving and control, in the course of the work, some mechanism is operated in motoring condition to highline device for supplying, and some mechanism is operated in generating State；It is operated in the mechanism of generating state by back electrical energy to dc bus, the mechanism being operated in motoring condition is disappeared Consume, be different from traditional driver and by external braking resistor, the power consumption of feedback fallen, the most not only energy-conserving and environment-protective but also carry The high utilization rate of system power, decrease the investment of braking resistor simultaneously, it is to avoid the problem of braking resistor heat radiation；Work as work Can select as the case may be when the power consumption of feedback cannot be fallen by the mechanism of motoring condition to be consumed by braking resistor Or directly feed back to electrical network.

Kinetic control system performance parameter: the IPO clock cycle is 0.25-0.5ms, the servo clock cycle is 0.25ms, inserts The complement clock cycle is to be to be 0.25ms 1ms, the Profinet clock cycle 0.25ms, the Profibus clock cycle, and running memory is 128MB。

Common DC bus system also has the advantage that power factor is high, up to more than 95%；By 12 arteries and veins rectifier transformers It is substantially reduced mains by harmonics with rectification unit；System dynamics response height, it is allowed to highline device for supplying frequent movement.Motor control System Common DC Profibus Control System line chart is as shown in Figure 7: including: 12 arteries and veins rectifier transformers, commutator, inverter, braking list Unit, braking resistor and dc bus；The input of commutator is connected to electrical network by 12 arteries and veins rectifier transformers；Commutator defeated Go out end and be parallel to dc bus；Dc bus is also parallel-connected to one end of inverter, and the other end of inverter is used for and motor Converter connects；Dc bus is also parallel-connected to one end of brake unit, and the other end of brake unit is connected with braking resistor. The quantity that arranges of inverter is 4, the respectively the 1st inverter, the 2nd inverter, the 3rd inverter and the 4th inverter；1st inversion One end of device is connected with dc bus, and the other end of the 1st inverter is connected with highline winch converter；The one of 2nd inverter End is connected with dc bus, and the other end of the 2nd inverter is connected with outer index winch converter；One end of 3rd inverter is with straight Stream bus connects, and the other end of the 3rd inverter is connected with interior index winch converter；One end of 4th inverter and dc bus Connecting, the other end of the 4th inverter is connected with hauling winch converter.

(5) goods automatically feeds system

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. 8: arrange and in cargo hold design in inside, as far as possible Enable supplies to extract the most rapidly and to move, and use automated warehouse technology, controlled and management by system CPU Transporter and supply goods and materials.Automated storage and retrieval system automatic Memory cargo storage position, utilizes AGVS, automatically deposits Take fork truck and bar code scanning device, can be with automatic access goods.

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 week The automated system of edge equipment composition.Automated storage and retrieval system can make full use of memory space, can realize equipment by computer Online control, 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 warehouse control system；

Storied 3-D shelf are the base components of automated storage and retrieval system, mainly deposit goods shelf composition mechanism, one For as, shelf are the highest, it is possible to sufficiently utilize warehouse space.Designing memory structure when, need to consider arrival The Discussing Convenience of thing access, it is contemplated that fire prevention, moistureproof, the requirement of Anti-inclining.Main by unit shelf, movable goods shelf, selection Formula warehouse forms, and unit shelf are used for depositing goods, the shelf that movable goods shelf mainly can merge and split, it is possible to joint Saving substantial amounts of space, selection formula shelf mainly facilitate personnel to choose and design.

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

Go out to put in storage conveying equipment and be mainly the equipment that goods is delivered into out warehouse, with goods access arrangement, storage device Connect into a system entirety, according to the size of conveying capacity, select the equipment such as appropriate size belt conveyor or elevator with 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 increase equipment The precision controlled, 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, the machinery such as elevator Change haulage equipment, arrange in inside and in cargo hold design, use automated warehouse technology, enable supply article to carry the most rapidly Taking and move, system makes to computerized control and manage transporter and supply goods and materials, it is possible to by goods from the storage of tender Cabin is directly fed to the reception cabin of receiving ship.Therefore, the quick efficiency of transmission of goods and materials and supply in this utility model improves cabin The automaticity of process, improves recharge rate, shortens pipeline time, strengthens sealift safety and reliability.

(6) multiple network mechanics of communication

In order to ensure security of system, reducing system failure rate, this utility model have employed three kinds of network communications technologys, the most existing Field bus, Ethernet and Drive-CLiQ mechanics of communication, it is achieved the interconnection of automated system.Drive-CLiQ interface uses special Drive-CLiQ cable connect, PROFIBUS DP communication and ethernet communication medium are optical cable.Adopt between controller and driving With driving special Drive-CLiQ interface to carry out communication, use between master controller and each substation and subsystem controller PROFIBUS DP network communication；Communication is carried out by Ethernet between Human machine interface system and controller.By each subsystem System is linked in same control system, enables replenishment device under various sea situation to realize automatic butt by high line cable, saves A large amount of manpowers.

During in order to avoid using single network communication, cause the network paralysis problem of system because of a station communication failure, This utility model uses the mechanics of communication of three kinds of network composition redundant looped networks, prevents from affecting other portion of system during communication local fault The communication divided, which enhances communication reliability, safeguards simply；

This utility model uses the technical grade network switch, makes control system more reliable and more stable, three kinds of network compositions Redundant looped network realizes each equipment in whole system is managed and is controlled.This utility model also add wireless telecommunications Network, it is achieved tender and the data exchange being recharged between ship, it is achieved double ships collaborative operation highline supply equipment, reaches to mend To double ship redundancies of system, whole supply process can have been operated by a ship.

(7) HMI human-computer interface system

Supply hawser output length, cable tension value, hawser speed, driver output, driver export electric current, drive Dynamic device output frequency, system alarm and fault message, each mechanism the content such as duty by trendgram or the shape of list Formula shows and stores, convenient inquiry, and can export in excel form for analysis of experiments and process.Have operating right Engineer can arrange systematic parameter by HMI.

HMI selects Siemens's touch screen, industrial computer, meets the requirement of performance application.There is logout, programming in logic Etc. function.Support USB, Ethernet, serial communication, can be inserted into Compact Flash.

Industrial computer has Web issuing function, can Long-Range Surveillance System running status, reading system by internet Each operational factor.

Fault alarm module mainly completes display and the record of fault alarm information, fault inquiry, adds up and analyzes, fault Event triggers the functions such as playback, is greatly shortened troubleshooting time, and provides reference information for plant maintenance.

Fault alarm information is saved in real time fail data base and the historical failure data storehouse of system, every fault message All show herein below: failure code, device code, Institution Code, fault rank, fault message, time of origin, at the end of Between, help explain.All of historical failure record is all convertible into the form of EXCEL and carries out archiving files, and points out storage Path.Facilitate fault inquiry, statistics and analytic function, it is simple to analyze fault Producing reason, reduce maintenance time.

This utility model for electric equipments (such as motor, driver, chopper, catalyst, PLC, button, selection Switch, display lamp etc.) set up facility information storehouse.Store the device numbering of these electrical equipments, model, producer, nameplate parameter, permit Permitted the time of running, allowed action frequency, accumulated running time, accumulative action frequency etc..System records main automatically when running The running status of electrical equipment (such as motor, driver, chopper, catalyst, PLC etc.), automatically adds up its operation time, moves Make number of times, and real-time storage enters facility information storehouse., system automatically compares electric equipments and adds up the use time and allow to use Time contrasts, and prompting carries out care and maintenance.

The identical tension highline sea Self Adaptive Control make-up system that this utility model provides, has safe efficient, wind resistance The advantages such as wave ability is strong, concrete advantage is as follows:

(1) highline uses identical tension Self Adaptive Control, and supply process is not required to manually participate in, and reduces goods on cableway Vibration, improves supply efficiency.

(2) tender and accept between ship supply during use Collaborative Control, improve adapt to severe sea condition ability.

(3) application compensation of undulation technology and tonometry feedback control technology carry out compensation of undulation, keep height highline The double-closed-loop control that frame rope tensility is constant, compensates the relative motion of two ships；Ensure that goods is safe under the conditions of Ship Swaying, steadily Ground lifting and landing, prevent goods from mutually colliding with operation ship between decks.

(4) use fieldbus, Ethernet and Drive-CLiQ communication and wireless control technology, feed process visualization.

(5) automatic stored control system, sends and receiving terminal goods possesses automatic loading and unloading ability.

(6) seaborne supply systematic self organization, it is achieved in cabin, goods and materials quickly transmit.

(7) multi-shaft interlocked control system, by integrated to motor control, logic control and technology controlling and process function, improves supply Speed and precision, it is to avoid goods is near storeship and taken-over vessel and operation ship generation accident collision.

(8) kinetic control system integrates V/F, vector SERVO CONTROL, multiaxis resource-sharing, modularized design, real Existing seaborne supply system high efficiency and the motor control of complexity.

(9) detection of boats and ships movable information is with shared, the steel wire rope constant tensile control of replenishing-at-sea gear and detection, and winch moves The transmission of state balancing information and feedback control, clutch precise motion controls and Servo Drive Technology's.

This utility model also provides for a kind of identical tension highline sea Self Adaptive Control replenishing method, as it is shown in figure 9, include Following steps:

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

When needing supply, tender needs first to carry out information butt joint with accepting ship, and the detection of boats and ships movable information is with shared, extra large The steel wire rope constant tensile control of upper device for supplying and detection, the transmission of winch dynamic equilibrium information and feedback, clutch precise motion And servo-drive information, carry out the Collaborative Control between two ships.Then by the outer hauling rope on tender, interior hauling rope and overhead Rope is 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 the automated storage and retrieval system work on ship Make, prepare to receive goods；

That is: control tender automated storage and retrieval system 12 action, make tender goods access arrangement automatically from storied 3-D goods The correspondence position of frame takes out the supply goods that need to feed, and supply goods is transported the biography being positioned within tender elevator 13 Send on car 14；

Step 3, controls tender elevator 13 and carries out ascending motion, make tender elevator 13 be risen to by delivery vehicle 14 The position pre-established；Meanwhile, control to accept ship elevator 13 and arrive the reception cargo location pre-established；

Step 4, after the delivery vehicle 14 in tender elevator is fixed to hoisting device 7, indexes winch outside automatically starting 3, interior index winch 4, highline winch 5 and wave compensating device 6；Wherein, preset outside mathematical model control according to system Index winch 3 is operated under traction mode, and in controlling, index winch 4 is operated under identical tension pattern, controls highline winch 5 and joins Close wave compensating device 6 be operated under identical tension pattern, finally realize delivery vehicle 14 quick, steady, safe from tender to Accept ship transmission；

Concrete, delivery vehicle and hoisting device are positioned on highline, the traction of inside and outside guy rope move reciprocatingly, and two are led Draw winch run-in synchronism, keep guy rope tension force and speed in set point, draw hoisting device from tender to accepting shipping Dynamic；Wave compensating device and tension measuring device carry out compensation of undulation to highline and highline constant tension controls, and adapt to ship Oceangoing ship waves and goes off course on the impact transmitting operation.

In this step, control highline winch 5 and coordinate wave compensating device 6 to be operated under identical tension pattern, particularly as follows:

Step 4.1, sets highline length set-point, and highline length set-point is constant；Set highline tension force to give Definite value, highline given tension value is constant；

Step 4.2, in real time detection highline actual (tube) length angle value；Boats and ships are obtained in real time by boats and ships lifting acceleration transducer 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 comparator Negative sense input, boats and ships real time position deviation value as the 1st comparator forward input, each input is transported by the 1st comparator After calculation, the output valve of the 1st comparator is input to the 1st highline PID, after computing, is input to the forward input of the 2nd comparator, Meanwhile, the highline actual tension value that highline tension pick-up detects inputs as the negative sense of the 2nd comparator, and highline is opened Power set-point 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 lifting acceleration transducer is obtained Boats and ships real time position deviation value as the 3rd comparator forward input, the output action of the 3rd comparator drives in highline servo Dynamic device, 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 whether highline actual tension value surpasses Go out to set 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 to one Level compensates, and the compensation magnitude that is swift in response is little, and during control servo-cylinder stretches stroke, real-time judge following two bar Whether part occurs, and when occurrence condition 1, performs step 4.c；When occurrence condition 2, 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 to two Level compensates, response lag, but compensation magnitude is big, and concrete control method is:

System is controlled according to presetting the mathematical model direction to highline winch, speed, acceleration and pulling force, Whether real-time judge following two condition occurs, and when occurrence condition 3, performs step 4.d；When occurrence condition 4, terminate this stream Journey；

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 to manually Adjustment modes, is adjusted by fine motion method by operator, until making highline tension force recover to adjust in setting tension range.Its In, manual mode is also emergency mode of operation, must retain manual mode in any automatic system.

Step 5, at delivery vehicle 14 from tender to accepting ship transmitting procedure, by long to outboard guy 9 and inhaul line 10 The detection of degree, it is judged that whether delivery vehicle 14 is delivered to accept ship, if goods arrive accept ship pre-establish position, then will transmit Goods in car 14 is unloaded to accept the inside of ship elevator, then, control to accept ship elevator and carry out descending motion, make automatically Accept ship elevator and goods is declined transport to the position pre-established；

Control to accept ship automated storage and retrieval system action, make taken-over vessel goods access arrangement automatically take off goods from elevator, 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 pre-establishes of tender, now automatic on tender Goods has been prepared to wait that transmitting crane loads goods in the position pre-established by warehousing system and elevator.Accept the lifting of ship Goods is transferred to automated storage and retrieval system and is carried out cargo transfer and piling by machine.

Technical specification of the present utility model and the benefit of generation:

In this utility model, 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, and tender travelled to and fro between by traction hoisting dolly And accept between ship；For adapting to Ship Swaying and the driftage impact on transmitting operation, wave compensating device and tonometry are set Device carries out compensation of undulation to highline, keeps highline constant tension.

Tender is away from for 40m, and recharge altitude difference is 4m, and highline tension force is 80KN, supply operating mode be 4 grades of sea situations and with Under.

Identical tension highline sea Self Adaptive Control make-up system of the present utility model, automaticity and information technology High；More than job 10 people can be increased after this utility model industrialization newly, bring opportunity, directly to electricity for related industry development The industries such as son, motor, cable, drive system drive demand；Break through seaborne supply technical bottleneck, break external monopolization, participating country Border is competed, and promotes the technological innovation of China's marine engineering equipment, produces higher for China's marine engineering equipment localization process Economic benefit and good social benefit.

The above is only preferred implementation of the present utility model, it is noted that for the common skill of the art For art personnel, on the premise of without departing from this utility model principle, it is also possible to make some improvements and modifications, these improve and Retouching also should regard protection domain of the present utility model.

Claims (4)

1. an identical tension highline sea Self Adaptive Control make-up system, it is characterised in that including: identical tension highline is marine Supply subsystem and identical tension highline sea Self Adaptive Control subsystem；

Described identical tension highline seaborne supply subsystem includes the 1st support column (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, described outer index winch (3), described interior index winch (4), described highline winch (5), described compensation of undulation dress Putting (6) and described 1st support column (1) is all arranged in tender, described 2nd support column (2) is arranged in and accepts ship；Described crane fills Put (7) to be arranged between described 1st support column (1) and described 2nd support column (2)；

Described 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)；Described 1st leading block (8-1), described 2nd leading block (8-2) and described 3rd leading block (8-3) By from top to bottom direction, it is in turn secured to the top of described 1st support column (1)；Described 4th leading block (8-4) is fixed on institute State the 2nd support column (2)；

The outboard guy (9) of described outer index winch (3) walks around described 1st leading block (8-1) and described 4th leading block successively (8-4), after, it is fixed to the 1st fixing end (7-1) of described hoisting device (7)；The inhaul line (10) of described interior index winch (4) around After crossing described 3rd leading block (8-3), it is fixed to the 2nd fixing end (7-2) of described hoisting device (7)；Described highline winch (5) highline (11) walks around described wave compensating device (6), described 2nd leading block (8-2), described hoisting device successively (7), after the fixing end (7-3) in the 3rd, it is fixed on the bracing frame of described 4th leading block (8-4)；

Described identical tension highline sea Self Adaptive Control subsystem be used for driving the described outer index winch (3) of control, described in Index winch (4), described highline winch (5) and described wave compensating device (6) action, and then realize hoisting device (7) and exist Tender and accept between ship move；

Wherein, described outer index winch (3), described interior index winch (4) and described highline winch (5) all include hoist engine, Servo-driver, servomotor and winch attachment device；Described servomotor is by described servo-driver and described elevator Machine links；

Wherein, described winch attachment device includes click fastening device, brake, clutch and rope processing device；

Wherein, described wave compensating device (6) is hydraulic servo oil cylinder, and described hydraulic servo oil cylinder includes expansion link, from described The highline that highline winch (5) is drawn through the top of described expansion link, then further around cross described 2nd leading block (8-2), After the fixing end (7-3) in the 3rd of described hoisting device (7), it is fixed on the bracing frame of described 4th leading block (8-4)；When described When the expansion link of hydraulic servo oil cylinder carries out stretching motion, described highline can be driven to be synchronized with the movement, and then adjust described The tension value of highline；

Described identical tension highline sea Self Adaptive Control subsystem includes kinetic control system, power-supply system and detecting system； Described kinetic control system is connected with described power-supply system and described detecting system respectively；

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.

Identical tension highline sea Self Adaptive Control make-up system the most according to claim 1, it is characterised in that described fortune Autocontrol system uses the common DC bus driver of multijoint control, including: 12 arteries and veins rectifier transformers, commutator, inverter, system Moving cell, braking resistor and dc bus；

The input of described commutator is connected to electrical network by described 12 arteries and veins rectifier transformers；The outfan of described commutator is in parallel To dc bus；

Described dc bus is also parallel-connected to one end of described inverter, and the other end of described inverter is used for and motor frequency conversion Device connects；

Described dc bus is also parallel-connected to one end of described brake unit, the other end of described brake unit and described braking Resistance connects.

Identical tension highline sea Self Adaptive Control make-up system the most according to claim 2, it is characterised in that described inverse Become device arranges quantity into 4, the respectively the 1st inverter, the 2nd inverter, the 3rd inverter and the 4th inverter；Described 1st inverse The one end becoming device is connected with described dc bus, and the other end of described 1st inverter is connected with highline winch converter；Described One end of 2nd inverter is connected with described dc bus, and the other end of described 2nd inverter is with outer index winch converter even Connect；One end of described 3rd inverter is connected with described dc bus, and the other end of described 3rd inverter becomes with interior index winch Frequently device connects；One end of described 4th inverter is connected with described dc bus, the other end of described 4th inverter and lifting strand Car converter connects.

Identical tension highline sea Self Adaptive Control make-up system the most according to claim 2, it is characterised in that also wrap Include: goods automatically feeds system；Described goods automatically feeds system and includes automated storage and retrieval system (12), elevator (13) and pass Send car (14)；

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

Described storied 3-D shelf are the shelf for depositing goods, including unit shelf, movable goods shelf and selection 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 access arrangement, Or, take out goods from goods access arrangement and transfer to described storied 3-D shelf.