CN206307939U - The control system of active electronic heave compensation crane - Google Patents

The control system of active electronic heave compensation crane Download PDF

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Publication number
CN206307939U
CN206307939U CN201621329147.6U CN201621329147U CN206307939U CN 206307939 U CN206307939 U CN 206307939U CN 201621329147 U CN201621329147 U CN 201621329147U CN 206307939 U CN206307939 U CN 206307939U
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China
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reel
compensation
controller
undulation
data
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CN201621329147.6U
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Chinese (zh)
Inventor
蔡东伟
程向阳
沈刚
秦方玮
孟旭
褚德英
孔祥川
徐林
刘险峰
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Shanghai Zhenghua Heavy Industries Co Ltd
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Shanghai Zhenghua Heavy Industries Co Ltd
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Abstract

The utility model discloses a kind of control system of active electronic heave compensation crane, including：Compensation of undulation computing device, Real-time Collection and calculating compensation of undulation data；Handle DTU, handle data are converted to by artificial operational order；Reel controller, the spacing data of raising and driving condition data of Real-time Collection compensation of undulation reel, and motor operation is controlled according to drive command；Central controller, reads and compensation of undulation data and handle data investigation is calculated into synthesis rotating speed, if the current motion state of crane system is normal, sends the drive command comprising synthesis rotating speed to reel controller and is operated with drive motor.The utility model substantially increases drive efficiency and while reduce energy loss relative to traditional hydraulic drive control system, also using lithium battery and super capacitor absorption and regeneration energy, marine generator power is effectively reduced, with practical value very high.

Description

The control system of active electronic heave compensation crane
Technical field
The utility model is related to offshore crane field, more particularly to a kind of control system of heave compensation crane, should Crane is applied to sea and lifts and install under water.
Background technology
It is various to be installed in the buoyancy body of the ocean such as working ship, drilling platforms with greatly developing for modern marine engineering Crane is also using more and more.Due to the interference of the factors such as wave, make to be installed on the crane in buoyancy body and be also interfered, The raising load of correlation is further caused to produce corresponding disturbed motion, so as to injure the peace of whole lifting operation with property With accuracy.
Compensation of undulation refers to the compensation correction carried out because shifting causes working equipment generation fluctuation.Compensation of undulation skill Art is mainly used in the aspects such as seaborne supply, marine drilling, deep-sea detecting.Operating personnel can be greatly enhanced by compensation of undulation The accuracy installed under water with the security of hanging device and guarantee, while reduce the operation brought because of weather conditions stopping Work.For example, the Chinese patent document of Application No. CN201210219968.4 is controlled there is provided a kind of active heave compensation of undulation System, including：Hoisting drum, ship attitude motion sensor, absolute value encoder, tension sensor and compensation equipment.Raising Reel is arranged on offshore crane, and the suspension fulcrum for bypassing supporting arm front end by steel wire rope lifts a load, and load is immersed in Underwater.Ship attitude motion sensor real-time detection ship heave movement.Absolute value encoder real-time detection hoisting drum Moving situation.The dynamic tension of tension sensor real-time detection steel wire rope.Compensation equipment be connected to ship attitude motion sensor, Absolute value encoder and tension sensor, compensation equipment are based on ship heave movement, the liter reel of historical data and real-time detection Moving situation and steel wire rope dynamic tension data calculate Prediction Parameters, and based on Prediction Parameters apply offset voltage in Rise reel.Present invention further teaches a kind of active heave compensation of undulation control method.
Based on above advantage, it is necessary to design a kind of active heave heave compensation crane.Current international active The control system of formula heave compensation crane is mainly controlled using hydraulic-driven, such as Application No. CN200910056001.7's Patent document provides for a kind of heavy load salvage wave compensation system of super large floating crane, including mechanical system, hydraulic system, prison Control of control system and hydraulic jack and accumulator etc., mechanical system by hoisting drum, respectively set pulley, steel wire rope, large-tonnage Suspension hook is constituted；Hydraulic system by oil cylinder, accumulator, hydraulic oil pump, hydraulic valve bank into；Monitoring system by crane barge, supervise by this displacement body Survey, crane barge hull displacement monitoring, floating-crane lifting weight displacement monitoring composition.The present invention solves super large floating crane heavy load salvage When, weight hung out moment of the water surface, because weight is bulky, seawater forms vortex makes crane barge hull ship incline and wave not It is fixed, and lift heavy is also waved therewith, it is impossible to the problem of control；And when solving offshore lifting large scale structure, wave is to crane barge hull Offshore platform docking difficult problem caused by influence, it is ensured that goods land to boat deck safety or ocean platform install safety；And And permission ship has certain inclination, adapts to the bad working environments of operation on the sea.
It is less efficient however, above-mentioned hydraulic drive control system and hydraulic oil cylinder driving system have complex structure, energy consumption compared with Big the problems such as.A kind of shortcoming of the utility model for above-mentioned crane driving control system, it is proposed that active electronic wave The control system of compensation crane.
Utility model content
In order to solve the above problems, the purpose of this utility model is to provide a kind of active electronic heave compensation crane Control system, crane is fixed on offshore lash ship, including reel system, boom system and control boom system artificial behaviour Make handle, reel system includes compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and mended around wave The hoisting rope of reel is repaid, hoisting rope connects compensation of undulation reel and boom system, and its length is with the rotation of compensation of undulation reel And stretch, so as to control the athletic posture of boom system, control system includes：Compensation of undulation computing device, for Real-time Collection The current exercise data of offshore lash ship, and compensation of undulation data are calculated according to exercise data；Handle DTU, will be artificial The instruction of operation handle input is converted to handle data；Reel controller, rises for Real-time Collection compensation of undulation reel to be current Ceiling position data and driving condition data, and motor operation is controlled according to the drive command for receiving；Central controller, is used for Compensation of undulation data and handle data are read, compensation of undulation data and handle data investigation synthesis rotating speed is calculated, and read Take the spacing data of the raising in reel controller and driving condition data judge come the current motion state to crane, such as Fruit current motion state is normal, then send the drive command comprising synthesis rotating speed to reel controller, is operated with drive motor； If current motion state is abnormal, halt command is sent to reel controller, to terminate motor operation.
Preferably, motor uses permanent-magnet synchronous high torque motor.
Further, reel system is located in the cabin of offshore lash ship, and boom system includes crane arm support, swings and slide Wheel, changed course pulley and the suspension hook for lifting weight, hoisting rope are sequentially connected compensation of undulation reel, swing pulley, changed course pulley And suspension hook, its length is stretched with the rotation of compensation of undulation reel, so as to control the athletic posture of boom system.
Further, arm rest controller and the arm support encoder being connected with arm rest controller are additionally provided with boom system, Arm support encoder is used to record the luffing angle of crane arm support, so as to calculate the amplitude data of boom system；Arm support is controlled Device reads amplitude data and it is transferred into central controller.
Preferably, crane arm support includes that the lower shell and lower shell that are fixed on offshore lash ship are connected by slewing equipment The upper shell for connecing, the main boom for being installed on upper shell and the secondary arm frame being connected with main boom；Wherein, revolution is provided with slewing equipment Drive device and rotary encoder, rotary encoder are used to record angle of revolution of the upper shell relative to offshore lash ship, and pass through Angle of revolution is transferred to central controller by arm rest controller.
Further, device for revolving and driving uses hydraulic-driven.
Preferably, the motor of reel system is connected to the inverter unit that multiple inverters are constituted, inverter unit with Reel controller is connected, wherein, multiple inverters connect one to one with multiple motor respectively, and multiple inverters are common Using a dc bus, dc bus is connected to external power source.
Further, inverter unit carries out data biography by fieldbus or EPA with reel controller It is defeated.
Preferably, reel system also includes rectifier transformer and alternating current is converted into galvanic rectification unit, rectification Transformer connects rectification unit front end by dc bus, and rectification unit rear end is connected by dc bus with inverter unit.
Further, reel system also includes rectification unit controller, the operational factor for gathering rectification unit, and incites somebody to action Operational factor is transferred to central controller by reel controller.
Preferably, reel system also includes reel encoder, rotating speed and the number of turns for calculating compensation of undulation reel, reel Encoder is connected to central controller by reel controller, and rotating speed and the number of turns are transferred into central control by reel controller Device processed.
Further, reel system is additionally provided with the capacitance module and capacitance module controller of interconnection, and capacitance module connects It is connected on dc bus, the power for compensating or absorbing motor, capacitance module controller is connected by reel controller In central controller, and by the power signal transmissions of capacitance module to central controller.
Preferably, reel system is additionally provided with the lithium battery pack module and battery module controller of interconnection, lithium battery Group module is used for the regeneration energy of constant absorption motor, and battery module controller is connected to central control by reel controller Device processed, and by the power signal transmissions of lithium battery pack module to central controller.
Further, reel system is additionally provided with the braking resistor module and resistive module controller of interconnection, braking electricity Hinder the regeneration energy for consuming the unnecessary of motor and cannot be absorbed by capacitance module or lithium battery pack module, resistive module Controller is connected to central controller by reel controller, and the power signal transmissions of braking resistor module are controlled to center Device.
Preferably, inverter unit, motor and braking resistor module are connected to the fresh water cooled equipment of outside Heat exchange is carried out, central controller is connected to fresh water cooled equipment, and carries out reality to the water temperature and flow in fresh water cooled equipment When monitor.
Further, control system also includes being connected to the motion reference units of compensation of undulation computing device to reel system, Motion reference units are used for the Heaving Signal of measurement offshore lash ship in real time, and Heaving Signal is transferred into compensation of undulation calculating dress Put.
Preferably, compensation of undulation computing device is the active compensation algorithm and the Heaving Signal for receiving according to setting To be calculated compensation of undulation data.
Further, weight sensor is also mounted with boom system, for detecting the load weight on hoisting rope；Control System also includes torque limiter, for gathering load weight data and calculating the nominal load capacity of predetermined direction, when negative When loading capacity exceedes the nominal load capacity of preset ratio, moment limiting system alarm simultaneously sends limitation operation letter to central controller Number, continue to be run to predetermined direction to limit crane.
Preferably, also including hoist crane management system, hoist crane management system is connected with central controller, for receive and Store the data message of central controller.
Further, hoist crane management system includes display screen, the data message for showing central controller.
Preferably, display screen is touch-screen, and is provided with manual debugging interface, for being input into manual debugging parameter information.
Further, hoist crane management system also includes logging modle, has been recorded at set time intervals The operation content of the running of heavy-duty machine, operating personnel, operating time and real time execution parameter information.
Preferably, central controller carries out data by fieldbus or EPA with the various pieces of crane Transmission.
Further, reel controller is connected to central controller by photoelectric conversion module.
As above, the Control system architecture of active electronic heave compensation crane of the present utility model is simple, relative to biography The hydraulic drive control system of system substantially increases drive efficiency, and reduces energy loss simultaneously, and applies super capacitor Energy during compensation of undulation is provided with lithium battery, the installed power of marine generator is effectively reduced, with practicality very high Value.
It is that the above of the present utility model can be become apparent, preferred embodiment cited below particularly, and with reference to accompanying drawing, make Describe in detail as follows.
Brief description of the drawings
Fig. 1 is the mould of the control system of the active electronic heave compensation crane in first embodiment of the present utility model Block connection figure；
Fig. 2 is the active electronic heave compensation crane in second, third and fourth embodiment of the present utility model Control system integral module connection figure；
Fig. 3-1 is the structural representation of the folding-jib heave compensation crane in second embodiment of the present utility model；
Fig. 3-2 is the rope stretching angle schematic diagram of hoisting rope of the present utility model；
Fig. 4 is that the internal module connection of the reel system 10 in second, third and fourth embodiment of the present utility model is shown It is intended to；
Fig. 5 is the structural representation of the heave compensation crane of the herringbone posture of 3rd embodiment of the present utility model；
Fig. 6 is the structural representation of the floating heave compensation crane of the 5th embodiment of the present utility model.
Specific embodiment
Implementation method of the present utility model is illustrated by particular specific embodiment below, those skilled in the art can be by this theory Content disclosed in bright book understands other advantages of the present utility model and effect easily.Although description of the present utility model will be tied Preferred embodiment is closed to introduce together, but this feature for not representing this utility model is only limitted to the implementation method.On the contrary, knot Close implementation method make utility model introduction purpose be in order to cover be possible to based on claim of the present utility model extend Other selections or transformation for going out.Depth of the present utility model is understood in order to provide, will be comprising many specific in below describing Details.The utility model can not also use these details to implement.Additionally, in order to avoid chaotic or fuzzy of the present utility model heavy Point, some details will be omitted in the de-scription.
In addition, used in the following description " on ", D score, "left", "right", " top ", " bottom ", it is right to should not be construed as Limitation of the present utility model.
【First embodiment】
As shown in Figure 1, the utility model provides a kind of control system of active electronic heave compensation crane, Crane is fixed on offshore lash ship, including reel system, boom system and control boom system manual handles, reel System includes compensation of undulation reel, multiple motor for driving compensation of undulation spool turns and the lifting around compensation of undulation reel Rope, hoisting rope is sequentially connected compensation of undulation reel and boom system, and its length is stretched with the rotation of compensation of undulation reel, from And the athletic posture of boom system is controlled, the control system of the utility model first embodiment includes：
Compensation of undulation computing device 101, for the current exercise data of Real-time Collection offshore lash ship, and according to exercise data Calculate compensation of undulation data；
Handle DTU 102, handle data are converted to by the instruction that manual handles are input into；
Reel controller 103, for the current spacing data of raising of Real-time Collection compensation of undulation reel and driving condition number According to, and motor operation is controlled according to the drive command for receiving；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtains synthesizing rotating speed, and reads the spacing data of raising in reel controller 103 and driving condition data are come to rising The current motion state of heavy-duty machine is judged, if current motion state is normal, is sent to reel controller and turned comprising synthesis The drive command of speed, is operated with drive motor；If current motion state is abnormal, shutdown life is sent to reel controller Order, to terminate motor operation.
Wherein, the raising of the compensation of undulation reel that the motion state of crane can be gathered according to reel controller 103 Spacing data and driving condition data are judged, when the spacing data of raising and driving condition data are in predetermined normal number During according within scope, it is believed that the motion state of crane is normal, now, central controller 104 under reel controller 103 to giving out a contract for a project Drive command containing synthesis rotating speed, drive motor operating, motor drives compensation of undulation reel to synthesize rotational speed； When the spacing data of raising and driving condition data exceed predetermined normal data scope, it is believed that the motion state of crane is not just Often, it may occur however that the situation such as hypervelocity, emergency shutdown, now, central controller 104 issues halt command to reel controller 103, To terminate motor operation so that compensation of undulation reel stops operating.
Preferably, motor uses permanent-magnet synchronous large-torque electrical machine.This kind of motor has the characteristics that：1. low speed is big Moment of torsion, can reduce the gearratio of mechanical reduction box；2. the alternating current asynchronous of compact conformation, its length and volume compared to same power Motor is much smaller；3. water cooling is needed to use such that it is able to meet the requirement belowdecks installed.
Further, can be arranged in the reel system in crane in the cabin of offshore lash ship by reel system, and lead to The assembly pulley that overswing movable pulley and changed course pulley are constituted is directed to the hoisting rope of compensation of undulation reel on boom system, so as to subtract Small crane taking up space above deck.The boom system of crane includes crane arm support, above-mentioned swing pulley, changed course Pulley and the suspension hook for lifting weight, hoisting rope are sequentially connected compensation of undulation reel from cabin, swing pulley, changed course pulley And suspension hook, its length is stretched with the rotation of compensation of undulation reel, so as to control the athletic posture of boom system.The present embodiment In hoisting rope be steel wire rope.The athletic posture of boom system refers to crane arm support luffing angle with respect to the horizontal plane, with And the relative position relation between the Each part of boom system.
More specifically, reel controller 103 is connected to the absolute position encoder installed on compensation of undulation reel in fact When current spacing data of raising of collection compensation of undulation reel and driving condition data, reel controller 103 can be using setting Realized in one or more PLC (programmable logic controller (PLC)) on compensation of undulation reel, one or more PLC are by existing Field bus or Ethernet are connected to enter row data communication with central controller 104.Further, reel controller 103 can Optical fiber can be used by cable-pulling chain to be connected to central controller 104, i.e. fieldbus signal by photoelectric conversion module Connection reel controller 103 and the central controller 104 positioned at crane top.
Further, the control system of the utility model first embodiment also includes being connected to compensation of undulation computing device Motion reference units, motion reference units are used for the Heaving Signal of measurement offshore lash ship in real time, and Heaving Signal is transferred into ripple Unrestrained compensation calculation device 101.Specifically, compensation of undulation computing device 101 is according to the active compensation algorithm for setting and connects The Heaving Signal for receiving is calculated compensation of undulation data.Wherein, active compensation algorithm refers to Application No. Computational methods provided in the Chinese patent literature of CN201210219968.4, the method is obtained by motion reference units The heave data of wave, on-line identification heave movement model carries out the short cyclical forecast of heave movement based on this model, then utilizes Compensation of undulation computing device carries out feed-forward and feedback complex control algorithm decision-making, linear velocity and telegoniometer needed for compensation of undulation Calculate and be transferred to central controller.Control system provided by the utility model is not limited to be carried using in above-mentioned patent document The method of confession, can also can reach the active compensation algorithm of identical purpose using other.
Wherein, central controller 104 is the core controller of crane, can be equally controlled using PLC, its reception All outer signals simultaneously arrive the input-output unit and other control units of crane various pieces by output after logical process. Rotary speed data needed for also receiving the compensation of undulation of the output of wave compensation calculation device 101 simultaneously is used as the data of compensation of undulation Input.Preferably, central controller 104 carries out data by fieldbus or EPA with the various pieces of crane Transmission.
Further, weight sensor is also mounted with the boom system of above-mentioned crane, the weight sensor is used to examine The load weight surveyed on hoisting rope；Based on this, the control system in the utility model first embodiment can also be limited including torque Device system processed, torque restriction controller system is used to gather the load weight data and calculates the nominal load capacity of predetermined direction, When load weight exceedes the nominal load capacity of preset ratio, moment limiting system alarm simultaneously sends limitation fortune to central controller Row signal, continues to be run to predetermined direction to limit crane.Specifically, torque limiter is sensed by the weight for loading Device receives the load on hoisting rope, and hangs load curve allow the calculating of loading capacity according to what is be pre-designed, such as when this Load weight then sends alarm signal when exceeding nominal load capacity 110%, and it is past to notify that central controller forbids crane to continue Predetermined dangerous direction operation.Wherein, it refers to Machine Design according to the loading capacity and width drawn after force analysis to hang load curve Relation between degree, the curve that this relation is depicted as.
Preferably, also including hoist crane management system, hoist crane management system is connected with central controller 104, for connecing Receive and store the data message of central controller 104.Further, hoist crane management system includes display screen, in display Entreat the data message of controller 104.Preferably, can be touch-screen on display screen, and be provided with manual debugging interface, for supplying Operator is input into manual debugging parameter information.Further, hoist crane management system also includes logging modle, for according to setting Time interval record the operation content in crane running, operating personnel, operating time and real time execution parameter etc. Information.
More specifically, the hardware of hoist crane management system is based on touch-screen, and its display size can be color more than 15 inches Color figure shows simultaneously configure at least 1GB memory spaces.Hoist crane management system by Ethernet be connected with central controller 104 into Row exchange data.It is capable of the service data of indication mechanism, such as height of the rotating speed of compensation of undulation reel, hoisting rope on its display screen Degree, amplitude, loading capacity；Spacing situation is shown, for example slow down stop position；Display motor situation, such as voltage, electric current, power The situation of square；Display fault alarm and its historical record, can be pointed out currently there is unacknowledged alarm emphasis, and offer is gone through The inquiry of history alarm logging；Its display screen is directed to field adjustable personnel, also with special Debugging interface, it is allowed to which commissioning staff exists Log in the setup parameter that operation can be changed after modification authority.Additionally, hoist crane management system can also possess data note Recording function, needing the data of sampling to be configured, it can at set time intervals recorded file, for crane dimension Inquired about when pillar is managed.
The simple structure of the control system of the active electronic heave compensation crane of the utility model first embodiment, phase Drive efficiency can be greatly improved for traditional hydraulic drive control system, and reduces energy loss simultaneously, with very high Practical value.
【Second embodiment】
As shown in accompanying drawing 3-1, the utility model provides a kind of control system of active electronic heave compensation crane System, crane is fixed on offshore lash ship, including reel system 10, boom system 20 and control boom system 20 artificial operation Handle, reel system 10 includes compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and is mended around wave The hoisting rope of reel is repaid, hoisting rope is sequentially connected compensation of undulation reel and boom system 20, and its length is with compensation of undulation reel Rotation and stretch, so as to control the athletic posture of boom system 20, as shown in Figure 2, the utility model second embodiment Control system include：
Compensation of undulation computing device 101, for the current exercise data of Real-time Collection offshore lash ship, and according to exercise data Calculate compensation of undulation data；
Handle DTU 102, handle data are converted to by the instruction that manual handles are input into；
Reel controller 103, for the current spacing data of raising of Real-time Collection compensation of undulation reel and driving condition number According to, and motor operation is controlled according to the drive command for receiving；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtains synthesizing rotating speed, and reads the spacing data of raising in reel controller 103 and driving condition data are come to rising The current motion state of heavy-duty machine is judged, if current motion state is normal, the drive command comprising synthesis rotating speed is passed Reel controller is passed, is operated with drive motor；If current motion state is abnormal, sent to reel controller 103 Halt command, is operated with terminating motor 3.
Wherein, the compensation of undulation reel 1 that the motion state of crane 200 can be gathered according to reel controller 103 The spacing data of raising and driving condition data are judged, when the spacing data of raising and driving condition data be in it is predetermined just When within regular data scope, it is believed that the motion state of crane 200 is normal, and now, central controller 104 is to reel controller 103 issue the drive command for including synthesis rotating speed, and drive motor 3 is operated, and motor 3 drives compensation of undulation reel 1 to close Into rotational speed；When the spacing data of raising and driving condition data exceed predetermined normal data scope, it is believed that crane 200 Motion state it is abnormal, it may occur however that the situation such as hypervelocity, emergency shutdown, now, central controller 104 is to reel controller 103 issue halt command, are operated with terminating motor 3 so that compensation of undulation reel 1 stops operating.
Further, compensation of undulation data and handle data investigation are calculated synthesis rotating speed by central controller 104, should Superposition calculation may be referred to the computational methods provided in the Chinese patent literature that application reference number is CN201210219968.4.
In describing the present embodiment in detail below in conjunction with a kind of structure of the folding-jib heave compensation crane in Fig. 3-1 Control system：
As shown in figure 3-1, crane 200 is fixed on offshore lash ship, including reel system 10, boom system 20 and control The manual handles of boom system processed 20, reel system 10 includes that compensation of undulation reel 1, multiple driving compensation of undulation reels turn Dynamic motor 3 and the hoisting rope 4 around compensation of undulation reel 1, hoisting rope 4 are sequentially connected compensation of undulation reel 1 and arm support system System 20, its length is stretched with the rotation of compensation of undulation reel 1, so as to control the athletic posture of boom system 20.This implementation Hoisting rope 4 in example is steel wire rope.
As shown in Fig. 3-1, compensation of undulation reel 1 single-sided arrangement, 6 motor 3, motor 3 can use permanent-magnet synchronous Motor, it passes through reduction box and is connected to compensation of undulation reel 1, and 3 pairs, each motor should have and for direct current be converted to alternating current Inverter.Wherein, reduction box is a kind of machinery for reducing rotating speed, increasing torque.Swinging pulley 5 can follow the trail of the position of hoisting rope 4 Put, it is ensured that the elevation angle of hoisting rope 4 is less than 1.5 degree, meets the requirement of broken line reel.The advantage of broken line reel is：Steel wire rope During multi-lay winding, ordered phase is embedding between ensure that the upper and lower layer steel wire rope of multi-lay winding, marshalling, smooth transition without Disorder cable, improves the contact performance between steel wire rope, and then can reduce abrasion, increases the service life.Length steel same with winding The single layer web of cord is compared, and the length of broken line reel is greatly shortened, so as to reduce rope stretching angle, simplifies structure, mitigates equipment Weight.As shown in figure 3-2, rope stretching angle here refers to angle α.Preferably, motor 3 uses permanent-magnet synchronous large-torque electrical Machine.This kind of motor has the characteristics that：1. low-speed big, can reduce the gearratio of mechanical reduction box；2. compact conformation, Its length and volume are much smaller compared to the AC asynchronous motor of same power；3. water cooling is needed to use such that it is able to met The requirement belowdecks installed.Number of motors can in the light of actual conditions be increased and decreased.
Further, can be arranged in reel system 10 in the cabin of offshore lash ship by reel system 10, and by swinging The assembly pulley of 6 one-tenth of pulley 5 and changed course pulley structure is directed to the hoisting rope 4 of compensation of undulation reel 1 on boom system 20, so as to subtract The taking up space above deck of small crane 200.The boom system 20 of crane 200 include crane arm support 9, swing pulley 5, Changed course pulley 6 and the suspension hook 7 for lifting weight, hoisting rope 4 are sequentially connected compensation of undulation reel 1 from cabin, swing pulley 5th, altered course pulley 6 and suspension hook 7, and its length is stretched with the rotation of reel system 101, so as to control the motion of boom system 20 Attitude.
The athletic posture of boom system 20 refers to the luffing angle with respect to the horizontal plane of crane arm support 9, and arm support system Relative position relation between the Each part of system 20.
Further, crane arm support 9 includes that the lower shell 8a and lower shell 8a that are fixed on offshore lash ship are filled by turning round The upper shell 8b for putting connection, the main boom 9a for being installed on upper shell 8b and the secondary arm frame 9b being connected with main boom 9a；Wherein, turn round Be provided with device for revolving and driving 11 and rotary encoder 107 in device, rotary encoder 107 be used to recording upper shell 8b relative to from The angle of revolution of bank lash ship；The junction of the junction, main boom 9a and secondary arm frame 9b of main boom 9a and upper shell 8b sets respectively There are luffing drive device and arm support encoder 106, arm support encoder 106 is used to record the angle of pitch of main boom 9a and secondary arm frame 9b Degree, so as to calculate the amplitude data of boom system 20.
Preferably, arm rest controller 105 is additionally provided with boom system 20, arm rest controller 105 is connected to rotary encoder 107 and arm support encoder 106, for reading above-mentioned angle of revolution and amplitude data and it being transferred into central controller 104.
Preferably, together with Hull Welding, upper shell 8b is the crane portion that can be rotated to lower shell 8a.Upper shell Changed course pulley 6a is installed in 8b upper ends, and the raising hoisting rope 4 that swing pulley 5 guiding from lower shell 8a comes up is directed to arm support system United 20 main boom 9a and secondary arm frame 9b, and main boom 9a and secondary arm frame 9b is driven by oil cylinder, and oil cylinder is used as the lifting in the present embodiment The luffing drive device of machine.The junction of the junction, secondary arm frame 9b and main boom 9a of main boom 9a and upper shell 8b sets respectively There are changed course pulley 6a and 6b.As shown in Figure 2, main boom 9a and secondary arm frame 9b can risen by being designed to articulated boom Heavy-duty machine 200 is greatly decreased space hold, the convenient arrangement on ship or platform when not working.
Wherein, arm support encoder 106 can include main boom encoder and secondary arm frame encoder, and main boom encoder is clothes It is engaged in the absolute value encoder of main boom 9a, for calculating the angle of revolution between main boom 9a and cylinder 8, this angle can be used To calculate the amplitude data of boom system 20；Similarly, secondary arm frame encoder is the absolute value encoder for serving secondary arm frame 9b, is used To calculate the angle of revolution between secondary arm frame 9b and main boom 9a, this angle is also used for calculating the amplitude data of boom system 20.
Further, the device for revolving and driving 11 for being set in slewing equipment is rotary motor, device for revolving and driving and luffing Drive device uses hydraulic-driven.Specifically, the revolution of the crane in the present embodiment and jib lubbing mechanism are hydraulically operated.Return Rotation mechanism is due to unrelated with compensation of undulation, it is not necessary to which height response is required, it is only necessary to conventional func is met, in order to save upper The space arrangement of cylinder, therefore use hydraulic-driven.It is so same compared to rope luffing scheme and luffing uses oil cylinder form Space is saved, overload protection function is easily realized.Can be increased and decreased according to project is actual with upper motor quantity.
As shown in Figure 4, reel system 10 includes the inverter unit 108 being made up of multiple inverters, inverter unit 108 motor units for being used for controlling the composition of multiple motor 3.Multiple inverters correspond with multiple motor 3 connect respectively Connect, and multiple inverters are used in conjunction with a dc bus, the dc bus is connected to externally fed power supply.
Further, inverter unit 108 is connected with reel controller 103, and by fieldbus or industry Ethernet carries out data transmission with reel controller 103.Relatively add ground, the electric-controlled inside compensation of undulation reel in the present embodiment System can using using field bus technique (such as Profibus-DP) or industrial Ethernet technology (such as Profinet) Communicated.
Preferably, as shown in Figure 4, reel system 10 also includes rectifier transformer 109 and alternating current is converted into direct current The rectification unit 110 of electricity, rectifier transformer 109 connects the front end of rectification unit 110, rectification unit by above-mentioned dc bus 110 rear ends are connected by dc bus with inverter unit 108, i.e., outside power supply pass sequentially through rectifier transformer 109, Rectification unit 110 and inverter unit 108 are connected to motor 3.More specifically, the rectifier transformer 109 in the present embodiment Can be 12 impulse commutation transformers, for the regulation of 3 phase power supplies of inlet wire is to suitable voltage and to be divided into 2 road bands positive and negative 7.5 degree of power supplys at phase angle, so can effectively improve power quality；Rectification unit 110 can be many transmission frequency conversion systems Rectification unit, be dc source 3 cross streams Power converts from diode rectification mode, be that inverter unit 108 is provided Energy.24 or 36 pulse transformers are alternatively according to specific design rectifier transformer, rectification unit is alternatively controllable electric power electricity Subcomponent rectifier system.
Further, reel system 10 also include rectification unit controller 111, for gather rectification unit 110 such as electricity The operational factor of the signals such as source, voltage, and these operational factors are transferred to central controller 104 by reel controller 103.
Preferably, reel system 10 also includes reel encoder 112, rotating speed and circle for calculating compensation of undulation reel 1 Number, reel encoder 112 is connected to central controller 104 by reel controller 103, and the rotating speed that will calculate and the number of turns are led to Cross reel controller 103 and be transferred to central controller 104；Specifically, reel encoder 112 is to serve compensation of undulation reel 1 Absolute value encoder, the parameter feedbacks such as the running speed and the number of turns of compensation of undulation reel 1 are returned central controller 104, for Central controller 104 calculates the rope stretching amount and the current external diameter of hoisting rope 4 of correspondence of hoisting rope 4 to change compensation of undulation reel 1 Angular speed.
Further, reel system 10 also includes the capacitance module 113 and capacitance module controller 114 that are connected with each other, electricity Molar block 113 is connected on dc bus, and the power for compensating or absorbing motor 3, capacitance module controller 114 passes through Reel controller 103 is connected to central controller 104, and by the power signal transmissions of capacitance module 113 to central controller 104.Capacitance module 113 is large bulk capacitance module, and large bulk capacitance module is mainly used to meet moment work(during compensation of undulation Rate demand.Compensation of undulation reel 1 is reciprocal rotating campaign during due to compensation of undulation, needs to consume power, this work(during its rising Rate can be supplemented by the storage energy of large bulk capacitance module；Motor 3 becomes generator generation power, this work(when it declines The namely regenerated energy of rate, is now absorbed this regeneration energy by large bulk capacitance module.So in deduction mechanical loss and electrically After loss, most energy is used by large bulk capacitance module discharge and recharge, can greatly reduce the ship for offshore lash ship The energy requirement of oceangoing ship dynamotor.
Preferably, reel system 10 also includes the lithium battery pack module 117 and battery module controller that are connected with each other 118, lithium battery pack module 117 is used for the regeneration energy of constant absorption motor 3, and this regeneration energy is under compensation of undulation reel 1 Motor 3 becomes the power of generator generation during drop.During battery module controller 118 is connected to by reel controller 103 Centre controller 104, and by the power signal transmissions of lithium battery pack module 117 to central controller 104.Due to large bulk capacitance wink Between charge-discharge performance it is high, but energy storage density is low, and lithium battery group can the larger regeneration energy of constant absorption, need Exported when energy, capacitance module 113 can be coordinated to reduce the energy resource consumption of a whole set of wave compensating device jointly.It is preferred that Ground, reel system 10 also includes the braking resistor module 115 and the resistive module controller 116 that are connected with each other, and braking resistor 115 is used In the surplus power of consumption motor 3, resistive module controller 116 is connected to central controller by reel controller 103 104, and by the power signal transmissions of braking resistor module 115 to central controller 104.Relatively add ground, resistive module controller 116 It is the brake chopper of the braking power of control braking resistor module 115, operating mode is declined when the long-time of crane 200 is in, it is electronic In the case that the power that the generating of machine 3 is produced cannot be absorbed by capacitance module 113 or lithium battery pack module 117, it is necessary to Energy is become heat consumption and fallen by unlatching braking resistor module 115.
Further, above-mentioned inverter unit 108, motor 3 and braking resistor module 115 are connected to outside Fresh water cooled equipment carries out heat exchange, and fresh water cooled equipment is connected to central controller 104, by central controller 104 to light Water temperature and flow in water cooling equipment carry out monitor in real time.When the builder's tonnage of crane 200 is big, compensation of undulation reel 1 can only It is arranged into when in cabin, conventional air cooling cannot meet requirement.So inverter unit 108, motor 3 and braking resistor Module 115 uses water cooling system, this 3 units shareds, one cooling system of fresh water to be provided by heat exchanger and hull Seawater carries out heat exchange.The system of central controller 104 is monitored to the water temperature and flow of fresh water, if water temperature is higher than warning Value or flow can then limit the operation of wave compensation system less than warning value.
The reel system 10 of the present embodiment being designed with beneficial to regeneration energy absorption and use.In compensation of undulation reel 1 When for a long time in propradation, main energy is provided by rectification unit 110, that is, use the energy of hull generator；When long Between in decline state when, now motor 3 can regenerate energy, and electric capacity and lithium battery cannot absorb all of energy, now Braking resistor module 115 is started working, braking resistor heating, Regenerated energy quantitative change into heat.Mended when compensation of undulation reel 1 is in When repaying pattern, the energy required for propradation is supplemented by electric capacity, can also be provided by lithium battery group if any deficiency；In decline During state, by capacitive absorption, such as also dump energy is absorbed produced regeneration energy by lithium battery group.So as to farthest Energy loss is reduced, is conducive to the recycling of energy.The active electronic wave of the utility model second embodiment is mended The control system of crane is repaid, using super-capacitor module and lithium battery pack module come absorption and regeneration energy, ship is effectively reduced Oceangoing ship generator power, is conducive to energy-conservation, is obtained in that more preferable economic benefit.
Further, control system also includes being connected to the motion reference units 119 of compensation of undulation computing device 101, fortune Dynamic reference unit 119 is used for the Heaving Signal of measurement offshore lash ship in real time, and Heaving Signal is transferred into compensation of undulation calculating dress Put 101.Specifically, motion reference units 119 are used for the service data of the hull vertical direction for detecting offshore lash ship, and should Data are sent to central controller by Ethernet.
Preferably, compensation of undulation computing device 101 is the active compensation algorithm according to setting and the heave for receiving Signal is calculated compensation of undulation data.Wherein, active compensation algorithm refers to Application No. Computational methods provided in the Chinese patent literature of CN201210219968.4, the method obtains ripple by motion reference units The heave data of wave, on-line identification heave movement model carries out the short cyclical forecast of heave movement, then using ripple based on this model Unrestrained compensation calculation device carries out feed-forward and feedback complex control algorithm decision-making, linear velocity and direction calculating needed for compensation of undulation Go out and be transferred to central controller.Control system provided by the utility model is not limited to use offer in above-mentioned patent document Method, can also can reach the active compensation algorithm of identical purpose using other.
Further, weight sensor 12 is also mounted with boom system 20, the weight sensor 12 is used to detect lifting Load weight on rope 4；Based on this, the control system in the utility model second embodiment can also include limiter of moment System 120, for gathering the load weight data and calculating the nominal load capacity of predetermined direction, when load weight exceedes default ratio During the nominal load capacity of example, moment limiting system 120 is alarmed and sends limitation run signal to central controller 104, to limit Crane 200 continues to be run to predetermined direction.Specifically, torque limiter 120 is connect by the weight sensor 12 for loading The load on hoisting rope 4 is received, and hangs load curve allow the calculating of loading capacity according to what is be pre-designed, such as when the load Weight then sends alarm signal when exceeding nominal load capacity 110%, and notifies that central controller 104 forbids crane to continue toward in advance Fixed dangerous direction operation.Wherein, it refers to Machine Design according to the loading capacity and amplitude drawn after force analysis to hang load curve Between relation, the curve that this relation is depicted as.
Preferably, control system also includes hoist crane management system 121, hoist crane management system 121 and central controller 104 connections, the data message for receiving and storing central controller 104.Further, hoist crane management system 121 includes Display screen, the data message for showing central controller 104.Preferably, display screen is provided with manual debugging interface, for defeated Enter manual debugging parameter information.Further, hoist crane management system 121 also include logging modle, for according to setting when Between be spaced record the operation content in the running of crane 200, operating personnel, operating time and real time execution parameter etc. letter Breath.
More specifically, the hardware of hoist crane management system 121 be based on touch-screen, its display size can 15 inches with On, Computer Graphics Display simultaneously configures at least 1GB memory spaces.Hoist crane management system 121 is controlled by EPA with center The connection of device processed 104 swaps data.It is capable of the service data of indication mechanism on its display screen, such as compensation of undulation reel 1 Rotating speed, the height of hoisting rope 4, amplitude, loading capacity；Spacing situation is shown, for example slow down stop position；The display situation of motor 3, Such as situation of voltage, electric current, torque；, can be currently there is unacknowledged alarm in display fault alarm and its historical record Emphasis is pointed out, and provides the inquiry of history alarm logging；Its display screen is directed to field adjustable personnel, also with special debugging circle Face, it is allowed to which commissioning staff can change the setup parameter of operation after logging in modification authority.Additionally, hoist crane management system 121 can also possess data recording function, and needing the data of sampling to be configured, it can remember at set time intervals File is recorded, is inquired about during for 200 maintenance management of crane.
Preferably, central controller 104 is entered by fieldbus or EPA with the various pieces of crane 200 Row data transfer, such as shown in Fig. 2, central controller 104 is connected to compensation of undulation meter by the network switch of Ethernet Calculate device 101, handle DTU 102 etc..Further, reel controller 103 is connected to by photoelectric conversion module Central controller 104.
【3rd embodiment】
As shown in Figure 5, the utility model provides a kind of control system of active electronic heave compensation crane, Crane is fixed on offshore lash ship, including reel system 10, boom system 20 and control boom system 20 artificial manipulator Handle, reel system 10 includes compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and around compensation of undulation The hoisting rope of reel, hoisting rope is sequentially connected compensation of undulation reel and boom system 20, and its length is with compensation of undulation reel Rotate and stretch, so that the athletic posture of boom system 20 is controlled, as shown in Figure 2, the control of the utility model 3rd embodiment System processed includes：
Compensation of undulation computing device 101, for the current exercise data of Real-time Collection offshore lash ship, and according to exercise data Calculate compensation of undulation data；
Handle DTU 102, handle data are converted to by the instruction that manual handles are input into；
Reel controller 103, for the current spacing data of raising of Real-time Collection compensation of undulation reel and driving condition number According to, and motor operation is controlled according to the drive command for receiving；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtains synthesizing rotating speed, and reads the spacing data of raising in reel controller 103 and driving condition data are come to rising The current motion state of heavy-duty machine is judged, if current motion state is normal, the drive command comprising synthesis rotating speed is passed Reel controller is passed, is operated with drive motor；If current motion state is abnormal, shutdown is sent to reel controller Order, to terminate motor operation.
Wherein, the raising of the compensation of undulation reel that the motion state of crane can be gathered according to reel controller 103 Spacing data and driving condition data are judged, when the spacing data of raising and driving condition data are in predetermined normal number During according within scope, it is believed that the motion state of crane is normal, now, central controller 104 under reel controller 103 to giving out a contract for a project Drive command containing synthesis rotating speed, drive motor operating, motor drives compensation of undulation reel to synthesize rotational speed；When When the spacing data of raising and driving condition data exceed predetermined normal data scope, it is believed that the motion state of crane is not just Often, it may occur however that the situation such as hypervelocity, emergency shutdown, now, central controller 104 issues halt command to reel controller 103, To terminate motor operation so that compensation of undulation reel stops operating.
Further, compensation of undulation data and handle data investigation are calculated synthesis rotating speed by central controller 104, should Superposition calculation may be referred to the computational methods provided in the Chinese patent literature that application reference number is CN201210219968.4.
Difference with second embodiment is, present embodiment discloses a kind of compensation of undulation lifting of man-like shelf form Machine, is described in detail below in conjunction with Fig. 5 come the structure of the heave compensation crane to man-like shelf form：
As shown in figure 5, crane 200 is fixed on offshore lash ship, including reel system 10, boom system 20 and control arm The manual handles of frame system 20, reel system 10 includes that compensation of undulation reel 1, multiple driving compensation of undulation reels 1 are rotated Motor 3 and the hoisting rope 4 around compensation of undulation reel 1, hoisting rope 4 is sequentially connected compensation of undulation reel 1 and boom system 20, its length is stretched with the rotation of compensation of undulation reel 1, so as to control the athletic posture of boom system 20.The present embodiment In hoisting rope 4 be steel wire rope.
As shown in Figure 5,1 single-sided arrangement of compensation of undulation reel, 6 motor 3, motor 3 here can use permanent magnetism Synchronous motor, it passes through reduction box and is connected to compensation of undulation reel 1, and 3 pairs, each motor should have and for direct current be converted to exchange The inverter of electricity.Wherein, reduction box is a kind of machinery for reducing rotating speed, increasing torque.Swinging pulley 5 can follow the trail of hoisting rope 4 Position, it is ensured that the elevation angle of hoisting rope 4 be less than 1.5 degree, meet the requirement of broken line reel.The advantage of broken line reel is：Steel During cord multi-lay winding, ordered phase is embedding between ensure that the upper and lower layer steel wire rope of multi-lay winding, marshalling, smooth transition Without disorder cable, improve the contact performance between steel wire rope, and then abrasion can be reduced, increase the service life.It is same with winding long The single layer web for spending steel wire rope is compared, and the length of broken line reel is greatly shortened, so as to reduce rope stretching angle, simplifies structure, is mitigated Weight of equipment.As shown in figure 3-2, rope stretching angle here refers to angle α.Preferably, motor 3 uses permanent-magnet synchronous high pulling torque Motor.This kind of motor has the characteristics that：1. low-speed big, can reduce the gearratio of mechanical reduction box；2. structure Compact, its length and volume are much smaller compared to the AC asynchronous motor of same power；3. water cooling is needed to use such that it is able to The requirement that satisfaction is belowdecks installed.Number of motors can in the light of actual conditions be increased and decreased.
It is possible to further compensation of undulation reel 1 is arranged in the cabin of offshore lash ship, and by swinging the He of pulley 5 The assembly pulley of 6 one-tenth of changed course pulley structure is directed to the hoisting rope 4 of compensation of undulation reel on boom system 202 such that it is able to reduce Crane taking up space above deck.Boom system 20 includes crane arm support 9, swings pulley 5, changed course pulley 6 and be used for The suspension hook 7 of weight is lifted, hoisting rope 4 is sequentially connected compensation of undulation reel 2 from cabin, swings pulley 5, changed course pulley 6 and hang Hook 7, its length is stretched with the rotation of compensation of undulation reel 1, so as to control the athletic posture of boom system 20.
The athletic posture of boom system 20 refers to the luffing angle with respect to the horizontal plane of crane arm support 9, and arm support system Relative position relation between the Each part of system 20.
Wherein, crane arm support 9 is the main support structure man-like shelf of crane 200, and changed course pulley 6 is crane 200 Man-like shelf hinge, it is allowed to man-like shelf reach ship outside.Hoisting rope 4 on compensation of undulation reel 1 is swung by twice to be slided The final control of wheel 5 carries the lifting of the suspension hook 7 of goods.This kind of mode is suitable for ROV underwater robot applications.
Further, arm rest controller 105 and the arm support being connected with arm rest controller 105 are additionally provided with boom system 20 Encoder 106, arm support encoder 106 is used to record the luffing angle with respect to the horizontal plane of crane arm support 9, so as to calculate arm The amplitude data of frame system 20；Arm rest controller 105 reads amplitude data and it is transferred into central controller 103.
【Fourth embodiment】
As shown in Figure 6, the utility model provides a kind of control system of active electronic heave compensation crane, Crane is fixed on offshore lash ship, including reel system 10, boom system 20 and control boom system 20 artificial manipulator Handle, reel system 10 includes compensation of undulation reel, the motor of multiple driving compensation of undulation spool turns and around compensation of undulation The hoisting rope of reel, hoisting rope is sequentially connected compensation of undulation reel and boom system 20, and its length is with compensation of undulation reel Rotate and stretch, so that the athletic posture of boom system 20 is controlled, as shown in Figure 2, the control of the utility model fourth embodiment System processed includes：
Compensation of undulation computing device 101, for the current exercise data of Real-time Collection offshore lash ship, and according to exercise data Calculate compensation of undulation data；
Handle DTU 102, handle data are converted to by the instruction that manual handles are input into；
Reel controller 103, for the current spacing data of raising of Real-time Collection compensation of undulation reel and driving condition number According to, and motor operation is controlled according to the drive command for receiving；
Central controller 104, for reading compensation of undulation data and handle data, by compensation of undulation data and handle data Superposition calculation obtains synthesizing rotating speed, and reads the spacing data of raising in reel controller 103 and driving condition data are come to rising The current motion state of heavy-duty machine is judged, if current motion state is normal, the drive command comprising synthesis rotating speed is passed Reel controller is passed, is operated with drive motor；If current motion state is abnormal, shutdown is sent to reel controller Order, to terminate motor operation.
Wherein, the raising of the compensation of undulation reel that the motion state of crane can be gathered according to reel controller 103 Spacing data and driving condition data are judged, when the spacing data of raising and driving condition data are in predetermined normal number During according within scope, it is believed that the motion state of crane is normal, now, central controller 104 under reel controller 103 to giving out a contract for a project Drive command containing synthesis rotating speed, drive motor operating, motor drives compensation of undulation reel to synthesize rotational speed；When When the spacing data of raising and driving condition data exceed predetermined normal data scope, it is believed that the motion state of crane is not just Often, it may occur however that the situation such as hypervelocity, emergency shutdown, now, central controller 104 issues halt command to reel controller 103, To terminate motor operation so that compensation of undulation reel stops operating.
Further, compensation of undulation data and handle data investigation are calculated synthesis rotating speed by central controller 104, should Superposition calculation may be referred to the computational methods provided in the Chinese patent literature that application reference number is CN201210219968.4.
Difference with second embodiment is, present embodiment discloses a kind of floating heave compensation crane, below The structure of the floating heave compensation crane in the present embodiment is described in detail with reference to Fig. 6：
As shown in fig. 6, crane 200 is fixed on offshore lash ship, including reel system 10, boom system 20 and control arm The manual handles of frame system 20, reel system 10 includes that compensation of undulation reel 1, multiple driving compensation of undulation reels 1 are rotated Motor 3 and the hoisting rope 4 around compensation of undulation reel 1, hoisting rope 4 is sequentially connected compensation of undulation reel 1 and boom system 20, its length is stretched with the rotation of compensation of undulation reel 1, so as to control the athletic posture of boom system 20.The present embodiment In hoisting rope 4 be steel wire rope.
As shown in Figure 6,1 single-sided arrangement of compensation of undulation reel, 6 motor 3, motor 3 here can use permanent magnetism Synchronous motor, it passes through reduction box and is connected to compensation of undulation reel 1, and 3 pairs, each motor should have and for direct current be converted to exchange The inverter of electricity.Wherein, reduction box is a kind of machinery for reducing rotating speed, increasing torque.Swinging pulley 5 can follow the trail of hoisting rope 4 Position, it is ensured that the elevation angle of hoisting rope 4 be less than 1.5 degree, meet the requirement of broken line reel.The advantage of broken line reel is：Steel During cord multi-lay winding, ordered phase is embedding between ensure that the upper and lower layer steel wire rope of multi-lay winding, marshalling, smooth transition Without disorder cable, improve the contact performance between steel wire rope, and then abrasion can be reduced, increase the service life.It is same with winding long The single layer web for spending steel wire rope is compared, and the length of broken line reel is greatly shortened, so as to reduce rope stretching angle, simplifies structure, is mitigated Weight of equipment.As shown in figure 3-2, rope stretching angle here refers to angle α.Preferably, motor 3 uses permanent-magnet synchronous high pulling torque Motor.
Further, reel system 10 is arranged in the cabin of offshore lash ship, and by swinging pulley 5 and changed course pulley The assembly pulley of 6 one-tenth of structure is directed to the hoisting rope 4 of compensation of undulation reel on boom system 20, so as to reduce crane 200 in first Taking up space on plate.The boom system 20 of crane 200 includes crane arm support 9, swings pulley 5, changed course pulley 6 and be used for The suspension hook 7 of weight is lifted, hoisting rope 4 is sequentially connected compensation of undulation reel 1 from cabin, swings pulley 5, changed course pulley 6 and hang Hook 7, its length is stretched with the rotation of reel system 101, swings pulley 5 and changed course pulley 6 guides the trend of hoisting rope 4, Hoisting rope 4 finally controls the lifting of suspension hook 7 by several pulley, so as to control the athletic posture of boom system 20.
The athletic posture of boom system 20 refers to the luffing angle with respect to the horizontal plane of crane arm support 9, and arm support system Relative position relation between the Each part of system 20.
Floating heave compensation crane in the present embodiment also includes pedestal 12, upper shell computer room 13 and crane 200 Main support structure man-like shelf 14, pedestal 12 is fixed on offshore ship, and upper shell computer room 13 is used for arranging conventional hoisting function The part such as reel, the main support structure man-like shelf of crane 200 is used for supporting the arm support 9 of crane.Different from folding type The arm support of heave compensation crane is driven by oil cylinder, and the arm support 9 of floating heave compensation crane is lifted by the luffing positioned at computer room Rope reel drives.This kind of floating heave compensation crane increased one with compensation of undulation function on conventional floating crane Raising hook, the demand installed and used under water at deep-sea of satisfaction.
To sum up, using the control system of active electronic heave compensation crane of the present utility model, relative to traditional Hydraulic drive control system substantially increases drive efficiency, and reduces energy loss simultaneously, applies super capacitor and lithium electricity Pond provides energy during compensation of undulation, effectively reduces the installed power of marine generator, with practical value very high.On Embodiment only illustrative principle of the present utility model and its effect are stated, not for limitation the utility model.It is any to be familiar with The personage of this technology all can carry out modifications and changes under without prejudice to spirit and scope of the present utility model to above-described embodiment. Therefore, such as those of ordinary skill in the art without departing from disclosed in the utility model spirit and technological thought Lower all completed equivalent modifications or change, should be covered by claim of the present utility model.

Claims (25)

1. a kind of control system of active electronic heave compensation crane, the crane is fixed on offshore lash ship, including The manual handles of reel system, boom system and the control boom system, the reel system includes that compensation of undulation is rolled up Cylinder, the motor of multiple driving compensation of undulation spool turns and the hoisting rope around the compensation of undulation reel, it is described to hang Dress rope connection the compensation of undulation reel and the boom system, its length are stretched with the rotation of the compensation of undulation reel Contracting, so as to control the athletic posture of the boom system, it is characterised in that the control system includes：
Compensation of undulation computing device, for the current exercise data of offshore lash ship described in Real-time Collection, and according to the motion number According to calculating compensation of undulation data；
Handle DTU, for the instruction that the manual handles are input into be converted into handle data；
Reel controller, for the spacing data of the current raising of compensation of undulation reel described in Real-time Collection and driving condition data, And the motor operation is controlled according to the drive command for receiving；
Central controller, for reading the compensation of undulation data and the handle data, by the compensation of undulation data and institute State handle data investigation and be calculated synthesis rotating speed, and read spacing data of the raising in the reel controller and described Driving condition data judge come the current motion state to the crane, if current motion state is normal, to institute State reel controller and send the drive command comprising the synthesis rotating speed, to drive the motor operation；If current Motion state is abnormal, then send halt command to the reel controller, to terminate the motor operation.
2. control system as claimed in claim 1, it is characterised in that the motor uses permanent-magnet synchronous high torque motor.
3. control system as claimed in claim 1, it is characterised in that the reel system is located at the cabin of the offshore lash ship Interior, the boom system includes crane arm support, swings pulley, changed course pulley and the suspension hook for lifting weight, the lifting Rope is sequentially connected the compensation of undulation reel, the swing pulley, the changed course pulley and the suspension hook, and its length is with described The rotation of compensation of undulation reel and stretch, so as to control the athletic posture of the boom system.
4. control system as claimed in claim 3, it is characterised in that be additionally provided with the boom system arm rest controller and with The arm support encoder that the arm rest controller is connected, the arm support encoder is used to record the angle of pitch of the crane arm support Degree, so as to calculate the amplitude data of the boom system；The arm rest controller reads the amplitude data and transmits it To the central controller.
5. control system as claimed in claim 4, it is characterised in that
The crane arm support includes that the lower shell and the lower shell that are fixed on the offshore lash ship are connected by slewing equipment The upper shell for connecing, the main boom for being installed on the upper shell and the secondary arm frame being connected with the main boom；
Wherein, device for revolving and driving and rotary encoder are provided with the slewing equipment, the rotary encoder is used to record institute Angle of revolution of the upper shell relative to the offshore lash ship is stated, and is transferred to the angle of revolution by the arm rest controller The central controller.
6. control system as claimed in claim 5, it is characterised in that the device for revolving and driving uses hydraulic-driven.
7. control system as claimed in claim 1, it is characterised in that the motor of the reel system is connected to multiple The inverter unit that inverter is constituted, the inverter unit is connected with the reel controller, wherein, the multiple inversion Device connects one to one with multiple motor respectively, and the multiple inverter is used in conjunction with a dc bus, described Dc bus is connected to external power source.
8. control system as claimed in claim 7, it is characterised in that the inverter unit passes through fieldbus or industry Ethernet is connected to carry out data transmission with the reel controller.
9. control system as claimed in claim 7, it is characterised in that the reel system also includes rectifier transformer and will hand over Stream electricity is converted to galvanic rectification unit, before the rectifier transformer connects the rectification unit by the dc bus End, the rectification unit rear end is connected by the dc bus with the inverter unit.
10. control system as claimed in claim 9, it is characterised in that the reel system also includes rectification unit controller, Operational factor for gathering the rectification unit, and by the operational factor by the reel controller be transferred to it is described in Centre controller.
11. control systems as claimed in claim 9, it is characterised in that the rectification unit, the inverter unit and described Motor is connected to outside fresh water cooled equipment to carry out heat exchange, and it is cold that the central controller is connected to the fresh water But equipment, and monitor in real time is carried out to the water temperature and flow in the fresh water cooled equipment.
12. control systems as claimed in claim 7, it is characterised in that the reel system also includes reel encoder, is used for The rotating speed and the number of turns of the compensation of undulation reel are calculated, the reel encoder is connected to described by the reel controller Central controller, and the rotating speed and the number of turns are transferred to the central controller by the reel controller.
13. control systems as claimed in claim 7, it is characterised in that the reel system is additionally provided with the electric capacity of interconnection Module and capacitance module controller, the capacitance module are connected on the dc bus, for compensating or absorbing the electricity The power of motivation, the capacitance module controller is connected to the central controller by the reel controller, and will be described The power signal transmissions of capacitance module give the central controller.
14. control systems as claimed in claim 7, it is characterised in that the reel system is additionally provided with the lithium electricity of interconnection Pond group module and battery module controller, the lithium battery pack module are used for the regeneration energy of motor described in constant absorption, The battery module controller is connected to the central controller by the reel controller, and by the lithium battery group mould The power signal transmissions of block give the central controller.
15. control system as described in claim 13 or 14, it is characterised in that the reel system is additionally provided with interconnection Braking resistor module and resistive module controller, the braking resistor are used to consume the unnecessary of the motor and cannot be by institute The power that capacitance module or the lithium battery pack module absorb is stated, the resistive module controller is connected by the reel controller The central controller is connected to, and the central controller is given by the power signal transmissions of the braking resistor module.
16. control systems as claimed in claim 15, it is characterised in that the braking resistor module is connected to the fresh water of outside Cooling device carries out heat exchange, and the central controller is connected to the fresh water cooled equipment, and the fresh water cooled is set Water temperature and flow in standby carry out monitor in real time.
17. control systems as claimed in claim 1, it is characterised in that the compensation of undulation computing device connects motion reference Unit, the motion reference units are used to measure in real time the Heaving Signal of the offshore lash ship, and the Heaving Signal is transmitted To the compensation of undulation computing device.
18. control systems as claimed in claim 17, it is characterised in that the compensation of undulation computing device is according to setting Active compensation algorithm is calculated the compensation of undulation data with the Heaving Signal for receiving.
19. control systems as claimed in claim 1, it is characterised in that be also mounted with weight sensor on the boom system, For detecting the load weight on the hoisting rope；The control system also includes torque limiter, described for gathering The nominal load capacity of load weight data and calculating predetermined direction, when the load weight exceedes the described specified load of preset ratio During weight, the moment limiting system alarm simultaneously sends limitation run signal to the central controller, to limit the lifting Machine continues to be run to the predetermined direction.
20. control systems as claimed in claim 1, it is characterised in that also including hoist crane management system, the crane pipe Reason system is connected with the central controller, the data message for receiving and storing the central controller.
21. control systems as claimed in claim 20, it is characterised in that the hoist crane management system includes display screen, use In the data message for showing the central controller.
22. control systems as claimed in claim 21, it is characterised in that the display screen is touch-screen, and it is provided with artificial Debugging interface, for being input into manual debugging parameter information.
23. control systems as claimed in claim 20, it is characterised in that the hoist crane management system also includes record mould Block, recorded at set time intervals the operation content of the running of crane, operating personnel, the operating time and Real time execution parameter information.
24. control system as described in any in claim 1-23, it is characterised in that the central controller is total by scene Line or EPA carry out data transmission with the various pieces of the crane.
25. control systems as claimed in claim 24, it is characterised in that the reel controller is connected by photoelectric conversion module It is connected to the central controller.
CN201621329147.6U 2016-12-06 2016-12-06 The control system of active electronic heave compensation crane Withdrawn - After Issue CN206307939U (en)

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Application Number Priority Date Filing Date Title
CN201621329147.6U CN206307939U (en) 2016-12-06 2016-12-06 The control system of active electronic heave compensation crane

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Application Number Priority Date Filing Date Title
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CN206307939U true CN206307939U (en) 2017-07-07

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106429931A (en) * 2016-12-06 2017-02-22 上海振华重工(集团)股份有限公司 System and method for controlling active type electric wave compensation crane
CN108189980A (en) * 2018-02-05 2018-06-22 南京科远自动化集团股份有限公司 The position and attitude method for real-time measurement and measuring system of a kind of landing pier ship
CN110386563A (en) * 2018-04-23 2019-10-29 杭州诺云科技有限公司 A kind of folding and unfolding storage device based on deep Compensation Control
CN116750647A (en) * 2023-08-14 2023-09-15 河南科技学院 Anti-swing system for steel wire rope of permanent magnet direct-drive crane

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106429931A (en) * 2016-12-06 2017-02-22 上海振华重工(集团)股份有限公司 System and method for controlling active type electric wave compensation crane
CN108189980A (en) * 2018-02-05 2018-06-22 南京科远自动化集团股份有限公司 The position and attitude method for real-time measurement and measuring system of a kind of landing pier ship
CN110386563A (en) * 2018-04-23 2019-10-29 杭州诺云科技有限公司 A kind of folding and unfolding storage device based on deep Compensation Control
CN116750647A (en) * 2023-08-14 2023-09-15 河南科技学院 Anti-swing system for steel wire rope of permanent magnet direct-drive crane
CN116750647B (en) * 2023-08-14 2023-12-05 河南科技学院 Anti-swing system for steel wire rope of permanent magnet direct-drive crane

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