CN206336935U - A kind of electrical system of heave compensation crane - Google Patents
A kind of electrical system of heave compensation crane Download PDFInfo
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- CN206336935U CN206336935U CN201621136895.2U CN201621136895U CN206336935U CN 206336935 U CN206336935 U CN 206336935U CN 201621136895 U CN201621136895 U CN 201621136895U CN 206336935 U CN206336935 U CN 206336935U
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Abstract
The utility model discloses a kind of electrical system of heave compensation crane, rotating speed control is accurate, and transient response performance is high, and safety protection function can meet code requirement.Its technical scheme is：Dynamic control device is linked in sequence using breaker, fastp-acting fuse, soft initiator carrys out control oil pump motor；PLC connects HNC controllers by fieldbus in lift control loop, and HNC controller output signals give special amplifier, special amplifier output control electric current to secondary motor proportioning valve, secondary motor feedback rotating speed and pivot angle to HNC controllers.PLC outputs signals to base amplifier to control the corresponding proportioning valve of luffing slew gear in revolution jib lubbing mechanism control device.In protective device for crane, revolution, luffing, raising configuration absolute value encoder carry out stroke protection, and it is spacing that raising configures limes superiors in addition, and configuration weight sensor carries out force moment protection.
Description
Technical field
The utility model is related to offshore crane field, more particularly to the electricity of offshore crane progress compensation of undulation processing
Gas system.
Background technology
What the lifting mechanism of common hydraulic-driven offshore crane was equipped with is that Normal hydraulic proportioning valve and hydraulic motor are real
Existing hydraulic system, this system is hydraulic flow coupled system, electrically passes through programmable logic controller (PLC) (PLC) output control signal
To the amplifier of proportioning valve, it is transformed into proportioning valve and flows to the flow of hydraulic motor and carry out the rotating speed of controlling organization.This sets of plan can
The use requirement of common offshore crane is met, but the rotary speed precision of hydraulic motor and instantaneous acceleration are poor, it is impossible to meet
The strict demand of heave compensation crane.
Utility model content
The brief overview of one or more aspects given below is to provide to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects contemplated, and it is also non-to be both not intended to identify the key or decisive key element of all aspects
Attempt to define the scope in terms of any or all.Its unique purpose is to provide the one of one or more aspects in simplified form
A little concepts think the sequence of more detailed description given later.
The purpose of this utility model is to solve the above problems there is provided a kind of electrical system of heave compensation crane,
Rotating speed control is accurate, and transient response performance is high, and safety protection function can meet code requirement.
The technical solution of the utility model is：The utility model discloses a kind of electrical system of heave compensation crane,
Filled including dynamic Control and protection device, lifting mechanism control device, revolution jib lubbing mechanism control device and crane protection
Put, wherein dynamic Control protection device realizes the startup and protection of the hydraulic oil pump of crane and the illumination and control of crane
The distribution of system, lifting mechanism control device realizes the motor movement control for meeting compensation of undulation when compensation of undulation is run, and returns
Change width mechanism controls device and realize the motion control to the hydraulic jack and slew gear motor of crane, crane protection dress
Put the protection by being equipped with mechanism travel limit defencive function and the realization of force moment protection function to crane.
According to an embodiment of the electrical system of heave compensation crane of the present utility model, dynamic Control and protection device
Including the inlet wire main circuit breaker being connected in series, the first protective breaker, fastp-acting fuse, soft initiator, Oil pump electrical machinery element, its
Middle inlet wire main circuit breaker is used for short-circuit protection, and the first protective breaker is used for short circuit and overload protection to Oil pump electrical machinery element,
Fastp-acting fuse is used to protect soft initiator, and soft initiator is used to realize that the slope of Oil pump electrical machinery element to start.
According to an embodiment of the electrical system of heave compensation crane of the present utility model, dynamic Control and protection device
Also including crane hydraulic pressure cooling blower protection and start control assembly, the protection of the hydraulic oil container heater of crane and
Start control assembly, the second protective breaker of the protection transformer being connected in series, for generate electric consumption on lighting and control electricity consumption
Lighting transformer and output switch, be connected in series control isolating transformer the 3rd protective breaker, for produce isolation
Control electricity isolating transformer, the miniature circuit breaker in electrical equipment.
According to an embodiment of the electrical system of heave compensation crane of the present utility model, dynamic Control and protection device
Also include providing the first switch power supply and its miniature circuit breaker of control power supply for programmable logic controller (PLC), provided for proportioning valve
The second switch power supply and its miniature circuit breaker of power supply, the 3rd Switching Power Supply of power supply and its miniature open circuit are provided for magnetic valve
Device.
According to an embodiment of the electrical system of heave compensation crane of the present utility model, lifting mechanism control device bag
Include lifting mechanism joystick, installed in the coaxial reel absolute value encoder of lifting mechanism spool, lifting limiter, motion ginseng
The secondary motor controller of unit, programmable logic controller (PLC), hydraulic pressure, the first lifting mechanism amplifier, the second lifting mechanism is examined to put
The output end connection programmable logic controller (PLC) of big device, the first motor, the second motor, wherein lifting mechanism joystick, reel
The output end connection programmable logic controller (PLC) of absolute value encoder, lifting limiter and motion reference units, FPGA
The output end connection secondary motor controller of hydraulic pressure of controller, two output ends of the secondary motor controller of hydraulic pressure are respectively by the
One lifting mechanism amplifier and the second lifting mechanism amplifier connect the first motor and the second motor, and reel absolute value encoder connects
Angle position in the rotating cycle and the current number of turns of continuous feedback lifting mechanism reel, lifting limiter is used to enter lifting altitude
Row limitation, the secondary motor controller of hydraulic pressure is used for rotating speed control and the Torque Control for realizing motor, and motion reference units are used to survey
Measure and programmable logic controller (PLC) is sent to after wave signal, programmable logic controller (PLC) is calculated by compensation of undulation algorithm goes into action
Up to speed desired value, the secondary motor controller of hydraulic pressure puts electric signal by the first lifting mechanism amplifier and the second lifting mechanism
The running of the first motor and the second motor is controlled after the amplification of big device.
According to an embodiment of the electrical system of heave compensation crane of the present utility model, the first motor includes first
Proportional valve element, the first tach signal element, the first pivot angle signal element, the second motor include the second proportional valve element,
Two tach signal elements, the second pivot angle signal element；
The proportioning valve current signal of first lifting mechanism amplifier is sent to the first proportional valve element, the first pivot angle signal element
The change of the pivot angle of first motor is fed back to secondary motor controller by part, to realize repairing to the swash angle position of the first motor
Just, the first tach signal cell feeds back returns secondary motor controller so that it dynamically adjusts pivot angle signal to follow the trail of speed；
The proportioning valve current signal of second lifting mechanism amplifier is sent to the second proportional valve element, the second pivot angle signal element
The change of the pivot angle of second motor is fed back to secondary motor controller by part, to realize repairing to the swash angle position of the second motor
Just, the second tach signal cell feeds back returns secondary motor controller so that it dynamically adjusts pivot angle signal to follow the trail of speed.
According to an embodiment of the electrical system of heave compensation crane of the present utility model, revolution jib lubbing mechanism control dress
Put including revolution luffing joystick, luffing absolute value encoder, revolution absolute value encoder, programmable logic controller (PLC), the
One base amplifier, the second base amplifier, amplitude oil cylinder proportioning valve, rotary motor proportioning valve, amplitude oil cylinder and rotary motor,
The amplitude and direction signal of wherein revolution luffing joystick output are transmitted to programmable logic controller (PLC), installed in arm support hinge
Luffing absolute value encoder read the angle of luffing and export to programmable logic controller (PLC), revolution absolute value encoder collection
The operation angle of slew gear is simultaneously exported to programmable logic controller (PLC), and programmable logic controller (PLC) is protected after signal is received
Shield logical signal judges to be re-fed into the first base amplifier and the second base amplifier, changes signal through the first base amplifier
Transmit to amplitude oil cylinder proportioning valve, converted a signal into through the second base amplifier again after high current signal to drive proportioning valve
Transmitted again to rotary motor proportioning valve after the high current signal for driving proportioning valve, amplitude oil cylinder proportioning valve is according to obtained electric current side
To the hydraulic circuit with correspondence jib lubbing mechanism in big minor adjustment banked direction control valves so that amplitude oil cylinder is acted, rotary motor ratio
Valve changes the hydraulic fluid flow rate and flow direction of rotary motor to control the operation of rotary motor.
According to an embodiment of the electrical system of heave compensation crane of the present utility model, in protective device for crane
In, pin type weight sensor is installed on secondary arm frame, reel absolute value encoder is arranged between secondary arm frame and main boom, is become
Width absolute value encoder and revolution absolute value encoder are arranged between main boom and slew gear, pin type weight sensor,
The place that the signal of reel absolute value encoder, luffing absolute value encoder and revolution absolute value encoder output is limited by torque
Reason, detects the amplitude and loading capacity of crane.
The utility model contrast prior art has following beneficial effect：Electrical system of the present utility model includes power control
System and protection device, lifting mechanism control device, revolution jib lubbing mechanism control device and protective device for crane, wherein dynamic
Power control protective unit realizes the startup and protection and the illumination of crane and matching somebody with somebody for control system of the hydraulic oil pump of crane
Electricity, lifting mechanism control device realizes the motor movement control for meeting compensation of undulation when compensation of undulation is run, and turns round luffing machine
Structure control device realizes the motion control to the hydraulic jack and slew gear motor of crane, protective device for crane by with
Standby mechanism travel limit defencive function and force moment protection function realize the protection to crane.Hydraulic pressure can be configured in lifting mechanism
In the case of secondary motor there is provided meet rotating speed control precisely, the electric system of the high heave compensation crane of transient response performance
System, while its safety protection function meets classification society rule's requirement.
Brief description of the drawings
Fig. 1 shows the schematic diagram of dynamic Control of the present utility model and protection device.
Fig. 2 shows the schematic diagram of lifting mechanism control device of the present utility model.
Fig. 3 shows the schematic diagram of revolution jib lubbing mechanism control device of the present utility model.
Fig. 4 shows the schematic diagram of protective device for crane of the present utility model.
Embodiment
After the detailed description of embodiment of the disclosure is read in conjunction with the following drawings, it better understood when that this practicality is new
The features described above and advantage of type.In the accompanying drawings, each component is not necessarily drawn to scale, and with similar correlation properties or
The component of feature may have same or like reference.
The electrical system of heave compensation crane of the present utility model includes dynamic Control and protection device, lifting mechanism control
Device processed, revolution jib lubbing mechanism control device and protective device for crane.Dynamic Control protection device realizes the liquid of crane
The startup and protection of pressure oil pump and the illumination of crane and the distribution of control system, lifting mechanism control device is in compensation of undulation
The motor movement control for meeting compensation of undulation is realized during operation, revolution jib lubbing mechanism control device realizes the hydraulic oil to crane
The motion control of cylinder and slew gear motor, protective device for crane is protected by being equipped with mechanism travel limit defencive function and torque
Protective function realizes the protection to crane.
Fig. 1 shows the principle of dynamic Control protection device.Fig. 1 is referred to, startup and the guarantor of hydraulic oil pump is mainly realized
Shield, and illumination and the distribution of control system.On circuit, power supply is connected to the first protective breaker of Oil pump electrical machinery element,
Then pass through fastp-acting fuse, next arrive at soft initiator, be eventually connected on Oil pump electrical machinery element, for starting hydraulic pressure system
The Oil pump electrical machinery of system.In addition, the fuel tank butterfly valve signal of hydraulic system, filter alarm signal, delivery outlet pressure signal is all connected
Into programmable logic controller (PLC) (PLC), Oil pump electrical machinery power supply is cut off when detecting hydraulic system fault.Inlet wire main circuit breaker
101 are mainly used to short-circuit protection, mainly examine short circuit breaking capacity, while long delay protection is unable to escape in normal work.
That is, use breaker, fastp-acting fuse and soft initiator to be linked in sequence in dynamic Control protection device and come
Hydraulic oil pump motor is controlled, hydraulic oil temperature signal, oil level signal and fuel tank butterfly valve signal are connected into PLC.
First protective breaker 102 is the protective breaker of Oil pump electrical machinery element 108, carries out short circuit and overload protection, soon
Fast fuse 106 is the IGCT for protecting soft initiator 107, and soft initiator 107 is used for realizing Oil pump electrical machinery element 108
Slope starts, and reduces mechanical shock when starting and the short high current requirement to power network.In addition the oil temperature and liquid of hydraulic oil container
Position signal and the pressure signal of output are also collected PLC, and when finding the hydraulic system system failure, PLC can cut off soft open
The control signal of dynamic device 107, Oil pump electrical machinery element 108 is out of service therewith.Breaker 103, contactor 109, electrical machine element 110
Constitute the protection of the hydraulic pressure cooling blower of crane and start component.Breaker 104, contactor 111, the composition liquid of heater 112
Press the protection of fuel tank heater and start control assembly.The protective breaker 105 of 220V transformers, for generating 220V illumination use
The lighting transformer 113 of electricity and the 380/220V of control electricity consumption, output switch 114 of connecting.The miniature open circuit of 220V electrical equipments
Device 117~121, for illuminating, the distribution such as heater, drivers' cab.Control the protective breaker 115 of isolating transformer 116, string
Joint control system is used for producing the isolating transformer 116 of the 220V control electricity by isolation.The protection of 24V direct-current switch power supplies is miniature disconnected
Road device 122~124, connects the Switching Power Supply 125 of control power supply is provided to PLC respectively, to provide the switch of power supply to proportioning valve
Power supply 126, the Switching Power Supply 127 of power supply is provided to magnetic valve.
Fig. 2 shows the principle of lifting mechanism control device.The lifting mechanism of crane of the present utility model is equipped with two
Secondary motor, electrical system needs the high frequency proportioning valve of connecting secondary motor to special proportional valve amplifier, and proportional valve amplifier
By the control of the secondary motor controller 205 of hydraulic pressure (i.e. HNC controllers 205), then in the rotating speed secondary motor, pivot angle letter
Number it is input in HNC controllers 205.When compensation of undulation is run, motion reference units 211 can give the information transmission of wave
PLC204, PLC204 combination handle signal are delivered to HNC controllers 205 and realize the motor movement control for meeting compensation of undulation again.
Fig. 2 is referred to, lifting mechanism joystick 201, the amplitude and direction signal of driver operation handle can enter
PLC204, and PLC204 is total by Profibus scenes after the judgement of join protection logical signal is also needed to after receiving handle signal
Line is exported to HNC controllers 205.Installed in the coaxial reel absolute value encoder 202 of lifting mechanism reel, reel absolute value is compiled
Code device 202 can be in the number of turns and the current number of turns of continuous feedback rotation angle position, so can be used to calculate steel wire rope and put
The length gone out the i.e. height of suspension hook.Lifting limiter 203 is that direct lifting altitude is spacing, and suspension hook is anticipated in the case of preventing unexpectedly
Outer rising is struck in mechanical structure.HNC controllers 205 are the secondary motor 21a and 21b of hydraulic pressure nonshared control unit, Neng Goushi
Existing hydraulic motor 21a and 21b accurate rotating speed control and Torque Control, secondary motor 21a can be limited by configuration parameter
Exported with 21b over range, the influence caused to hydraulic system pressure also can be compensated voluntarily.And secondary motor 21a and
21b is the motor of output torque type, and the pivot angle signal of swash plate is the size of output torque, equivalent to the throttle size of automobile,
As long as large throttle is exported always, then the speed of automobile can rise always.So when needing accurate speed output, it is necessary to pass through
Rate signal is sent to HNC controllers 205 by velocity sensor, needs to reduce pivot angle when speed reaches desired value until accelerating
Spend for 0.So the control flow of whole secondary motor is that motion reference units 211 measured and be sent to after wave signal
PLC204, HNC controller 205 receives PLC204 and sends the motor speed desired value after compensation of undulation algorithm, electric signal
Special amplifier 206 and 207 is sent to, it is connected respectively to the proportioning valve 208a and 208b of secondary motor.With secondary motor 21a
Exemplified by, the proportioning valve current signal of amplifier 206 is sent to proportioning valve 208a, and the pivot angle of motor is changed therewith, and output turns
Square produces change.The pivot angle signal element 210a of secondary motor can feed back to HNC controllers 205 simultaneously, for realizing pivot angle position
The accurate amendment put, in addition the tach signal element 209a of secondary motor can also feed back to HNC controllers 205, HNC controllers
205 can adjust pivot angle signal to follow the trail of speed using this signal dynamics.Similarly, in another secondary motor 21b, amplifier 207
Proportioning valve current signal be sent to proportioning valve 208b, the pivot angle of motor is changed therewith, output torque produce change.Simultaneously
The pivot angle signal element 210b of secondary motor can feed back to HNC controllers 205, for realizing the accurate amendment of swash angle position, separately
The tach signal element 209b of outer secondary motor can also feed back to HNC controllers 205, and HNC controllers 205 can be moved using this signal
State adjusts pivot angle signal to follow the trail of speed.
That is, in lifting mechanism control unit, motion reference units 211 are connected to PLC204 using RS232, then
PLC204 connects HNC controllers 205 by Profibus field bus communications, and then HNC controllers 205 connect special amplifier
206 and 207, special amplifier 206 and 207 reconnects the secondary motor proportioning valve 208a and 208b of hydraulic pressure, while secondary motor
Speed and pivot angle feed back to HNC controllers 205.Configured on lifting mechanism reel and carry out reel absolute value encoder 202, in raising
Suspension hook is mounted with lifting limiter 203 at mechanical structure.
Fig. 3 shows the principle of revolution jib lubbing mechanism control device of the present utility model.Electrical system PLC304 is gathered back
Change the input signal of width joystick 301, after the processing of relay protective scheme, output control signal is to amplitude oil cylinder 309
With the hydraulic proportion valve 307 and 308 of rotary motor 310, regulation flows to the hydraulic pressure of hydraulic luffing oil cylinder 309 and rotary motor 310
The flow and flow direction of oil, so as to realize the motion control of two mechanisms 309 and 310.
Fig. 3 is referred to, for revolution luffing joystick 301, the amplitude and direction signal of driver operation handle can enter
PLC304, PLC304 are also needing to just export to base amplifier after join protection logical signal judges after receiving handle signal
305 and 306.The angle of luffing is read by the luffing absolute value encoder 302 installed in arm support hinge, prevents that amplitude oil cylinder is excessive
Shrink and excessively elongation.If detection is in the range of the operating angle of permission, PLC304 outputs signals to base amplifier 305,
The high current that normal signal is converted to driving proportioning valve is sent to amplitude oil cylinder proportioning valve 307 by base amplifier 305.Luffing oil
Cylinder proportioning valve 307 is according to the hydraulic circuit that jib lubbing mechanism is corresponded in the obtained sense of current and big minor adjustment banked direction control valves so that become
Width oil cylinder 309 is acted.Similarly, revolution absolute value encoder 303 gathers the operation angle of slew gear, is protected in logic judgment
After shield, PLC4 just outputs signals to base amplifier 306, and base amplifier 306 gives the high current signal of driving proportioning valve
Rotary motor proportioning valve 308, and rotary motor proportioning valve 308 changes the hydraulic fluid flow rate and flow direction of rotary motor 310, control machine
The operation of structure 310.
That is, in revolution jib lubbing mechanism control unit, PLC304 is received back to the signal of transformation width joystick 301, so
Base amplifier 305 and 306 is connected to by PLC304 analog output modules afterwards, base amplifier 305 and 306 is connected to back
Turn on the coil of proportioning valve 307 and 308 of the corresponding banked direction control valves of jib lubbing mechanism.While the relative fortune of jib lubbing mechanism and revolving structure
Dynamic place is mounted with to be mounted with that revolution is absolute at luffing absolute value encoder 302, the relative motion of revolving structure and crane pedestal
It is worth encoder 303.
Fig. 4 shows the principle of protective device for crane of the present utility model.In order to meet classification society for marine lifting
The safety requirements of machine, is equipped with mechanism travel limit defencive function, force moment protection function.Reel absolute value is configured for wherein mechanism
Encoder 202 calculates the position of reel steel wire ropes, and configures lifting limiter 203.For amplitude oil cylinder 309 and rotary motor
310 same configuration luffing absolute value encoders 302 and revolution absolute value encoder 303 are used for detecting change angle and angle of revolution
Degree.
Fig. 4 is referred to, the structure of crane is first introduced, includes pedestal 407, the drivers' cab 408 of crane, is returned in crane
Lifting mechanism reel 406 has been disposed on rotation structure 403.The segment structure of jib lubbing mechanism first is main arm support 409, the second of jib lubbing mechanism
Segment structure is secondary arm frame 410, and two-piece boom is all controlled by hydraulic jack, additionally including suspension hook 411.It is exhausted that arm support hinge is installed
Value encoder 401 and 402 is used for detect the relative motion angle between jib structure and crane main structure, arm support mistake is prevented
Degree operation, while angle value is also sent to moment limiting system by real-time reading.The absolute value encoder 405 of lifting mechanism reel
The number of turns and angle run for recording reel, can so calculate the rope stretching amount of steel wire rope and the height of gib head.Installed in rise
Absolute value encoder 404 in heavy-duty machine pedestal is used for detecting angle of the revolving structure with respect to crane pedestal, is generally used to indicate,
The situation that action is likely to result in interference is such as turned round, can be used to limit the weight sensor 412 that slew gear acts lifting mechanism
By the arrangement of several pulleys, the stress of the stress point is only relevant with the weight on suspension hook, unrelated with angle.The limit limit of raising
Position device 403 prevent in the case of raising encoder shielding failure, gib head accidental impact mechanical structure.Above-mentioned absolute value is compiled
Code device 401,402 and the input signal that weight sensor 412 is crane moment limiting system, in system and Machine Design
The load curve chart that hangs provided is matched, and the loading capacity allowed under current amplitude is calculated, if actual loading capacity surpasses
Overload warning can then be carried out by crossing permission loading capacity.According to related specification, its overload-alarm value is arranged on 110%.
That is, in protective device for crane, pin type weight sensor 412 is mounted with secondary arm frame 410, in auxiliary
Absolute value encoder is installed between frame 410 and main boom 409, absolute value encoder is installed between main boom 409 and revolving structure.
These signals are each connected in moment limiting system, for detecting crane amplitude and loading capacity.
Although for make explanation simplify the above method is illustrated and is described as a series of actions, it should be understood that and understand,
The order that these methods are not acted is limited, because according to one or more embodiments, some actions can occur in different order
And/or with from it is depicted and described herein or herein it is not shown and describe but it will be appreciated by those skilled in the art that other
Action concomitantly occurs.
Those skilled in the art will further appreciate that, the various illustratives described with reference to the embodiments described herein
Logic plate, module, circuit and algorithm steps can be realized as electronic hardware, computer software or combination of the two.To be clear
Explain to Chu this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees vague generalization description.Such feature be implemented as hardware or software depend on concrete application and
Put on the design constraint of total system.Technical staff can be realized described for every kind of application-specific with different modes
Feature, but such realize that decision-making should not be interpreted to cause departing from scope of the present utility model.
General place can be used with reference to various illustrative logic plates, module and the circuit that presently disclosed embodiment is described
Reason device, digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA) other are compiled
Journey logical device, discrete door or transistor logic, discrete nextport hardware component NextPort or its be designed to carry out function described herein
Any combinations are realized or performed.General processor can be microprocessor, but in alternative, the processor can be appointed
What conventional processor, controller, microcontroller or state machine.Processor is also implemented as the combination of computing device, example
The one or more microprocessors that are cooperated with the combination of microprocessor, multi-microprocessor, with DSP core such as DSP or it is any its
His such configuration.
It can be embodied directly in hardware, in by processor with reference to the step of the method or algorithm that embodiment disclosed herein is described
Embodied in the software module of execution or in combination of the two.Software module can reside in RAM memory, flash memory, ROM and deposit
Reservoir, eprom memory, eeprom memory, register, hard disk, removable disk, CD-ROM or known in the art appoint
In the storage medium of what other forms.Exemplary storage medium is coupled to processor to enable the processor from/to the storage
Medium is read and write-in information.In alternative, storage medium can be integrated into processor.Processor and storage medium can
Reside in ASIC.ASIC can reside in user terminal.In alternative, processor and storage medium can be used as discrete sets
Part is resident in the user terminal.
In one or more exemplary embodiments, described function can be in hardware, software, firmware or its any combinations
It is middle to realize.If being embodied as computer program product in software, each function can be used as the instruction of one or more bars or generation
Code storage is transmitted on a computer-readable medium or by it.Computer-readable medium includes computer-readable storage medium and communication
Both media, it includes any medium for facilitating computer program to shift from one place to another.Storage medium can be can quilt
Any usable medium that computer is accessed.It is non-limiting as an example, such computer-readable medium may include RAM, ROM,
EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage apparatus can be used to carry or store instruction
Or the desirable program code and any other medium that can be accessed by a computer of data structure form.Any connection is also by by rights
Referred to as computer-readable medium.If for example, software is to use coaxial cable, fiber optic cables, twisted-pair feeder, digital subscriber line
Or the wireless technology of such as infrared, radio and microwave etc is passed from web site, server or other remote sources (DSL)
Send, then the coaxial cable, fiber optic cables, twisted-pair feeder, DSL or such as infrared, radio and microwave etc is wireless
Technology is just included among the definition of medium.Disk (disk) and dish (disc) as used herein include compact disc
(CD), laser disc, laser disc, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) are often reproduced in the way of magnetic
Data, and dish (disc) laser reproduce data optically.Combinations of the above should also be included in computer-readable medium
In the range of.
It is for so that any person skilled in the art all can make or use this public affairs to provide of this disclosure be previously described
Open.Various modifications of this disclosure all will be apparent for a person skilled in the art, and as defined herein general
Suitable principle can be applied to spirit or scope of other variants without departing from the disclosure.Thus, the disclosure is not intended to be limited
Due to example described herein and design, but it should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (4)
1. a kind of electrical system of heave compensation crane, it is characterised in that including dynamic Control and protection device, lifting mechanism
Control device, revolution jib lubbing mechanism control device and protective device for crane, wherein：
It is inlet wire main circuit breaker that dynamic Control and protection device include being connected in series, the first protective breaker, fastp-acting fuse, soft
Starter, Oil pump electrical machinery element, wherein inlet wire main circuit breaker are used for short-circuit protection, and the first protective breaker is used for Oil pump electrical machinery
The short circuit of element and overload protection, fastp-acting fuse are used to protect soft initiator, and soft initiator is used to realize Oil pump electrical machinery element
Slope start；
Lifting mechanism control device includes lifting mechanism joystick, compiled installed in the coaxial reel absolute value of lifting mechanism spool
Code device, lifting limiter, motion reference units, programmable logic controller (PLC), the secondary motor controller of hydraulic pressure, the first lifting mechanism
The output end connection of amplifier, the second lifting mechanism amplifier, the first motor, the second motor, wherein lifting mechanism joystick
Programmable logic controller (PLC), the output end connection of reel absolute value encoder, lifting limiter and motion reference units is programmable
Logic controller, the output end connection secondary motor controller of hydraulic pressure of programmable logic controller (PLC), the secondary motor controller of hydraulic pressure
Two output ends pass through the first lifting mechanism amplifier and the second lifting mechanism amplifier respectively and connect the first motor and second
Angle position in motor, the rotating cycle and the current number of turns of reel absolute value encoder continuous feedback lifting mechanism reel, rises
Rising limiter is used to limit lifting altitude, and the secondary motor controller of hydraulic pressure is used for rotating speed control and the torque for realizing motor
Control；
Turning round jib lubbing mechanism control device includes revolution luffing joystick, luffing absolute value encoder, revolution absolute encoder
Device, programmable logic controller (PLC), the first base amplifier, the second base amplifier, amplitude oil cylinder proportioning valve, rotary motor ratio
Valve, amplitude oil cylinder and rotary motor, wherein the amplitude and direction signal of the joystick output of revolution luffing are transmitted to programmable and patrolled
Controller is collected, the angle of luffing is read installed in the luffing absolute value encoder of arm support hinge and exports to Programmable logical controller
Device, the operation angle of revolution absolute value encoder collection slew gear is simultaneously exported to programmable logic controller (PLC), FPGA
Controller carries out relay protective scheme signal after signal is received and judges to be re-fed into the first base amplifier and the second base amplifier, passes through
First base amplifier is transmitted to amplitude oil cylinder proportioning valve again after converting a signal into the high current signal of driving proportioning valve, through the
Two base amplifiers are converted a signal into be transmitted to rotary motor proportioning valve, luffing oil again after the high current signal of driving proportioning valve
Cylinder proportioning valve is according to the hydraulic circuit that jib lubbing mechanism is corresponded in the obtained sense of current and big minor adjustment banked direction control valves so that luffing oil
Cylinder is acted, and rotary motor proportioning valve changes the hydraulic fluid flow rate and flow direction of rotary motor to control the fortune of rotary motor
OK；
In protective device for crane, pin type weight sensor is installed on secondary arm frame, reel absolute value encoder is arranged on
Between secondary arm frame and main boom, luffing absolute value encoder and revolution absolute value encoder be arranged on main boom and slew gear it
Between, what pin type weight sensor, reel absolute value encoder, luffing absolute value encoder and revolution absolute value encoder were exported
The processing that signal is limited by torque, detects the amplitude and loading capacity of crane.
2. the electrical system of heave compensation crane according to claim 1, it is characterised in that dynamic Control is filled with protection
Put the also protection of the hydraulic pressure cooling blower including crane and start control assembly, the protection of the hydraulic oil container heater of crane
With start control assembly, the second protective breaker of the protection transformer being connected in series, for generate electric consumption on lighting and control use
Electricity lighting transformer and output switch, the 3rd protective breaker of the control isolating transformer being connected in series, for produce every
From control electricity isolating transformer, the miniature circuit breaker in electrical equipment.
3. the electrical system of heave compensation crane according to claim 2, it is characterised in that dynamic Control is filled with protection
Put also including providing the first switch power supply and its miniature circuit breaker of control power supply for programmable logic controller (PLC), being that proportioning valve is carried
The second switch power supply and its miniature circuit breaker of power supply source, the 3rd Switching Power Supply of power supply and its miniature open circuit are provided for magnetic valve
Device.
4. the electrical system of heave compensation crane according to claim 3, it is characterised in that the first motor includes
One proportional valve element, the first tach signal element, the first pivot angle signal element, the second motor include the second proportional valve element,
Second tach signal element, the second pivot angle signal element；
The proportioning valve current signal of first lifting mechanism amplifier is sent to the first proportional valve element, and the first pivot angle signal element will
The change of the pivot angle of first motor feeds back to secondary motor controller, the amendment to realize the swash angle position to the first motor,
First tach signal cell feeds back returns secondary motor controller so that it dynamically adjusts pivot angle signal to follow the trail of speed；
The proportioning valve current signal of second lifting mechanism amplifier is sent to the second proportional valve element, and the second pivot angle signal element will
The change of the pivot angle of second motor feeds back to secondary motor controller, the amendment to realize the swash angle position to the second motor,
Second tach signal cell feeds back returns secondary motor controller so that it dynamically adjusts pivot angle signal to follow the trail of speed.
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| CN201621136895.2U CN206336935U (en) | 2016-10-19 | 2016-10-19 | A kind of electrical system of heave compensation crane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163724A (en) * | 2017-12-22 | 2018-06-15 | 玉林市玉州区万通华信科技服务部 | A kind of defeated tank capital construction lifting gear of collection |
| CN114803898A (en) * | 2022-05-06 | 2022-07-29 | 中国海洋大学 | Marine folding arm crane capable of compensating multi-degree-of-freedom movement of ship body |
-
2016
- 2016-10-19 CN CN201621136895.2U patent/CN206336935U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163724A (en) * | 2017-12-22 | 2018-06-15 | 玉林市玉州区万通华信科技服务部 | A kind of defeated tank capital construction lifting gear of collection |
| CN114803898A (en) * | 2022-05-06 | 2022-07-29 | 中国海洋大学 | Marine folding arm crane capable of compensating multi-degree-of-freedom movement of ship body |
| CN114803898B (en) * | 2022-05-06 | 2022-12-16 | 中国海洋大学 | Marine folding arm crane capable of compensating multi-degree-of-freedom motion of ship body |
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