EP0676365A2 - Mooring winch and method controlling the cable of a winch - Google Patents
Mooring winch and method controlling the cable of a winch Download PDFInfo
- Publication number
- EP0676365A2 EP0676365A2 EP94120792A EP94120792A EP0676365A2 EP 0676365 A2 EP0676365 A2 EP 0676365A2 EP 94120792 A EP94120792 A EP 94120792A EP 94120792 A EP94120792 A EP 94120792A EP 0676365 A2 EP0676365 A2 EP 0676365A2
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- European Patent Office
- Prior art keywords
- drive
- winch
- frequency converter
- mooring winch
- control
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
- B66D1/525—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/23—Circuits for controlling the lowering of the load
- B66C13/26—Circuits for controlling the lowering of the load by ac motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
- B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
Definitions
- the invention relates to a mooring winch for a ship, which is provided with a drive, at least one winch drum and a gear coupling the drive to the winch drum.
- the invention relates to a method for operating a mooring winch on board a ship.
- the object of the present invention is therefore to construct a mooring winch of the type mentioned in the introduction in such a way that both a simple structure and a large usable control range are ensured.
- the drive is designed as a three-phase asynchronous motor, which is connected to a speed control, which is provided for the actual value detection of the speed with a speed sensor, which is net angeord in the area of the drive and that a braking device in the area of the drive is arranged.
- Another object of the present invention is to optimize the control method of the type mentioned in the introduction.
- a cable pull to be specified is defined in the area of a control panel, that the specified cable pull is held by a drive designed as a three-phase asynchronous motor, which is connected via a frequency converter Space vector modulation process is controlled and that when the brake is open, the cable is held by the generated electric field when the drive is at a standstill.
- Such a drive is able to deliver the nominal torque at standstill over any period of time. This makes it possible to carry out a very effective load transfer from the engine to the brake or from the brake to the engine. In particular, vibrations are also avoided, which can arise due to a rocking due to a discontinuous control.
- a very simple and failure-prone structure is provided by the measurement of the rotational speed. The device is therefore particularly suitable for being used reliably in the area of rough working conditions on board a ship.
- a highly accurate speed and position detection is possible in that the speed sensor is designed as an incremental angle sensor.
- a control programmable as a programmable logic controller be provided for coordinating the drive.
- a division of the winch drum to ensure the same effective winding radii is achieved in that two outer flanges and an inner flap separating a rope storage part from a working part are arranged in the region of the winch drum for rope guidance.
- a frequency converter be arranged to control the drive.
- the frequency converter has decoupled controls for the torque and the flux control circuit.
- a control method that is easy to implement digitally is predetermined in that a personal computer is provided for parameterizing the frequency converter.
- the braking device is automatically initialized.
- the brake be released periodically in order to detect a load that is actually present in a predeterminable cycle operation.
- the absorption and dissipation of the energy fed into an intermediate circuit of the frequency converter during generator operation is controlled by using a brake chopper.
- the energy can also be fed back into the network.
- the mooring winch (1) is connected to a drive (3) via a gear (2).
- the drive (3) is designed as a three-phase asynchronous motor, which is provided with a multi-disc brake (4) and a speed sensor (5).
- the speed sensor (5) is designed as an incremental angle sensor.
- the multi-disc brake (4) enables the mooring winch (1) and the drive (3) to be braked by means of an electromechanical power delivery.
- the mooring winch (1) is provided with two external flanges (6) and an internal flanged disc (7).
- the inside flanged disc (7) is provided with a radial, elongated opening, the edges of which are such that a rope stored on the mooring winch (1) can be safely wrapped from a rope storage part (8) to a working part (9).
- the cable storage part (8) is separated from the working part (9) by the internal flanged disc (7).
- the working part (9) ensures that the winch operation with specification of a cable to be kept constant at one constant effective diameter of the drum can be carried out.
- the electrical connection is shown in Fig. 2.
- the drive (3) is connected to a control unit (11) via a three-phase connecting line (10).
- the control unit (11) is fed by a three-phase three-phase network (12).
- the speed sensor (5) is connected to the control unit (11).
- the control device (11) is coordinated by a controller (13), which can be designed, for example, as a programmable logic controller.
- a measured value transmission (14) and a setpoint transmission (15) are provided for connecting the control (13) to the control unit (11).
- the measured value transmission (14) takes place from the control unit (11) in the direction of the control unit (13) and the setpoint value transmission (15) from the control unit (13) in the direction of the control unit (11).
- the controller (13) is also connected to a control panel (17) via a signal transmission (16). With the help of the control panel (17), manual operating instructions can be transferred to the control (13).
- the control unit (11) is designed as a frequency converter with space vector modulation method, which controls the drive (3) and is fed by the three-phase network (12).
- the usual electrical system of the ship can be used as the three-phase network (12).
- the usage sequence is such that manual control specifications are generated from the control panel (17) and the corresponding signals are transmitted to the control (13) via the signal transmission (16).
- the controller (13) also receives the actual values for the current speed of the drive (3) via the measured value transmission (14). From this data the Control (13) generates the setpoints for the frequency converter. Basically, it is possible to regulate the winch drive to a freely selectable constant holding torque. This results from the fact that the drive is able to deliver the nominal torque at standstill for any length of time. This property makes the three-phase asynchronous motor with frequency converter and space vector modulation method particularly suitable for automatic mooring operation.
- An electrical three-phase asynchronous motor can be described in a clear manner using a mathematical model, so that the current effective motor torque, which is proportional to the cable pull, can be calculated from the electrical state variables of the motor for a given frequency converter circuit even when the motor is at a standstill. Because of this mathematical derivability, it is not necessary to carry out mechanical or electromechanical measurements to determine the moment.
- the cable to be observed is specified on the control panel.
- the specified cable pull on the winch is then adjusted by actuating the drive (3) via the torque and flux control circuit of the frequency converter.
- the brake (4) When the brake (4) is open, the cable can be held at a standstill via the generated electrical field. After a preselectable period of time for a drive standstill, it is possible to provide an automatic response of the brake (4) and to deactivate the drive (3) in order to reduce the required energy expenditure. In principle, however, permanent operation of the drive (3) is also conceivable. If the variant with the automatic activation of the brake (4) is used, the brake (4) is in a predetermined timing to check the actual load.
- a load transfer by the drive (3) after the brake (4) has responded beforehand only takes place when the nominal motor torque is present again and the required field structure has been completed.
- a brake chopper can be used to absorb and dissipate the energy fed into the DC link of the frequency converter during generator operation.
- the motor characteristics are freely programmable. This enables different rope properties to be taken into account.
- the system is prevented from rocking due to vibration suppression.
- the mooring winch (1) and the drive (3) can be arranged in the free deck area of the ship.
- the required control cabinet and the frequency converter of the control unit (14) are set up at an arbitrarily predeterminable location below the deck, protected from the weather.
Abstract
Description
Die Erfindung betrifft eine Mooringwinde für ein Schiff, die mit einem Antrieb, mindestens einer Windentrommel sowie einem den Antrieb an die Windentrommel ankoppelnden Getriebe versehen ist.The invention relates to a mooring winch for a ship, which is provided with a drive, at least one winch drum and a gear coupling the drive to the winch drum.
Darüber hinaus betrifft die Erfindung ein Verfahren zum Betrieb einer Mooringwinde an Bord eines Schiffes.In addition, the invention relates to a method for operating a mooring winch on board a ship.
Bei Lade- oder Löschvorgängen im Bereich einer Pier wird das Schiff mit Festmacherleinen im Bereich der Pier festgemacht. Ein vergleichbarer Arbeitsablauf wird beispielsweise auch dann durchgeführt, wenn das Schiff zur Durchführung von Wartungs- oder Überholungsarbeiten im Bereich eines Schwimmdocks festgemacht wird. Bei diesen Vorgängen ist es von besonderer Wichtigkeit, eine relativ genaue Positionierung des Schiffes vorzugeben. Als Störgrößen treten bei derartigen Schiffspositionierungen beispielsweise Strömungs-, Wind- und Tideeinflüsse auf. Darüber hinaus können auch aufgrund von durchgeführten Lade- und Löschvorgängen Längsbewegungen des Schiffes hervorgerufen werden.When loading or unloading in the area of a pier, the ship is moored with mooring lines in the area of the pier. A comparable workflow is also carried out, for example, when the ship is moored in the area of a floating dock to carry out maintenance or overhaul work. In these processes, it is particularly important to specify a relatively precise positioning of the ship. Current, wind and tide influences, for example, occur as disturbance variables in such ship positioning. In addition, longitudinal movements of the ship can also be caused by loading and unloading operations.
Um ein manuelles Einholen oder Ausstecken der Festmacherleinen bei Tiefgangs- oder Wasserstandsveränderungen zu vermeiden, werden Mooringwinden mit Konstantzugautomatik eingesetzt. Hierdurch werden die jeweils auftretenden Verspannkräfte vorgegeben und bei einer Krafterhöhung oder einer Krafterniedrigung aufgrund von Störeinflüssen erfolgt eine automatische Längenkorrektur der Leinen.In order to avoid manual hauling in or unplugging of the mooring lines in the event of changes in draft or water level, mooring winches with automatic constant pull are used. As a result, the respective clamping forces that occur are specified and at a Force increase or a decrease in force due to interference causes an automatic length correction of the lines.
Grundsätzlich ist es bereits bekannt, derartige Mooringwinden mit einem elektrischen Antrieb zu versehen. Es sind jedoch spezielle Drehmoment- oder Zugkraftmeßeinrichtungen erforderlich, um eine funktionsgerechte Betriebsweise zu gewährleisten. Diese Elemente erhöhen jedoch die Komplexität und damit die Störanfälligkeit der Anordnung, darüber hinaus ist auch keine optimale Ausnutzung des gesamten zur Verfügung stehenden Einstellbereiches gegeben.Basically, it is already known to provide such mooring winches with an electric drive. However, special torque or tensile force measuring devices are required in order to ensure functional operation. However, these elements increase the complexity and thus the susceptibility to malfunction of the arrangement; moreover, there is no optimal use of the entire available setting range.
Aufgabe der vorliegenden Erfindung ist es daher, eine Mooringwinde der einleitend genannten Art derart zu konstruieren, daß sowohl ein einfacher Aufbau als auch ein großer nutzbarer Reglungsbereich gewährleistet ist.The object of the present invention is therefore to construct a mooring winch of the type mentioned in the introduction in such a way that both a simple structure and a large usable control range are ensured.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, daß der Antrieb als ein Drehstromasynchronmotor ausgebildet ist, der mit einer Drehzahlregelung verbunden ist, die zur Istwerterfassung der Drehzahl mit einem Drehzahlgeber versehen ist, der im Bereich des Antriebes angeord net ist und daß im Bereich des Antriebes eine Bremseinrichtung angeordnet ist.This object is achieved in that the drive is designed as a three-phase asynchronous motor, which is connected to a speed control, which is provided for the actual value detection of the speed with a speed sensor, which is net angeord in the area of the drive and that a braking device in the area of the drive is arranged.
Weitere Aufgabe der vorliegenden Erfindung ist es, das Steuerverfahren der einleitend genannten Art zu optimieren.Another object of the present invention is to optimize the control method of the type mentioned in the introduction.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, daß im Bereich eines Bedienpultes ein vorzugebender Seilzug definiert wird, daß der vorgegebene Seilzug von einem als Drehstromasynchronmotor ausgebildeten Antrieb gehalten wird, der über einen Frequenzumrichter mit Raumzeigermodulationsverfahren angesteuert wird und daß bei geöffneter Bremse der Seilzug im Stillstand des Antriebes über das generierte elektrische Feld gehalten wird.This object is achieved in that a cable pull to be specified is defined in the area of a control panel, that the specified cable pull is held by a drive designed as a three-phase asynchronous motor, which is connected via a frequency converter Space vector modulation process is controlled and that when the brake is open, the cable is held by the generated electric field when the drive is at a standstill.
Ein derartiger Antrieb ist in der Lage, über einen beliebig langen Zeitraum das Nennmoment im Stillstand abzugeben. Hierdurch ist es möglich, eine sehr effektive Lastübernahme vom Motor zur Bremse beziehungsweise von der Bremse zum Motor durchzuführen. Insbesondere werden auch Schwingungen vermieden, die durch ein Aufschaukeln aufgrund einer diskontinuierlichen Steuerung entstehen können. Durch die meßtechnische Erfassung der Drehzahl wird ein sehr einfacher und störungsunanfälliger Aufbau bereitgestellt. Die Vorrichtung ist somit insbesondere dafür geeignet, zuverlässig im Bereich der rauhen Arbeitsbedingungen an Bord eines Schiffes eingesetzt zu werden.Such a drive is able to deliver the nominal torque at standstill over any period of time. This makes it possible to carry out a very effective load transfer from the engine to the brake or from the brake to the engine. In particular, vibrations are also avoided, which can arise due to a rocking due to a discontinuous control. A very simple and failure-prone structure is provided by the measurement of the rotational speed. The device is therefore particularly suitable for being used reliably in the area of rough working conditions on board a ship.
Eine hochgenaue Drehzahl und Positionserfassung ist dadurch möglich, daß der Drehzahlgeber als ein Inkrementalwinkelgeber ausgebildet ist.A highly accurate speed and position detection is possible in that the speed sensor is designed as an incremental angle sensor.
Zur Bereitstellung einer flexiblen Steuermöglichkeit wird vorgeschlagen, daß zur Koordinierung des Antriebes eine als speicherprogrammierbare Steuerung vorgesehen ist.In order to provide a flexible control option, it is proposed that a control programmable as a programmable logic controller be provided for coordinating the drive.
Eine Aufteilung der Windentrommel zur Gewährleistung gleicher wirksamer Wickelradien wird dadurch realisiert, daß zur Seilführung zwei außenliegenden Bordscheiben und eine einen Seilspeicherteil von einem Arbeitsteil trennende innenliegende Bordscheibe im Bereich der Windentrommel angeordnet sind.A division of the winch drum to ensure the same effective winding radii is achieved in that two outer flanges and an inner flap separating a rope storage part from a working part are arranged in the region of the winch drum for rope guidance.
Zur Durchführung der elektrischen Speisung wird vorgeschlagen, daß zur Ansteuerung des Antriebes ein Frequenzumrichter angeordnet ist.To carry out the electrical supply, it is proposed that a frequency converter be arranged to control the drive.
Insbesondere ist es zweckmäßig, daß der Frequenzumrichter entkoppelte Regelungen für den Drehmoment- und den Flußregelkreis aufweist.In particular, it is expedient that the frequency converter has decoupled controls for the torque and the flux control circuit.
Ein digital einfach zu realisierendes Steuerverfahren wird dadurch vorgegeben, daß zur Parametrierung des Frequenzumrichters ein Personalcomputer vorgesehen ist.A control method that is easy to implement digitally is predetermined in that a personal computer is provided for parameterizing the frequency converter.
Zur Reduzierung der erforderlichen Betriebszeit des Antriebes wird vorgeschlagen, daß nach einem vorgebbaren Stillstandsintervall des Antriebes automatisch ein Festsetzen der Bremseinrichtung initialisiert wird.To reduce the required operating time of the drive, it is proposed that after a predefinable standstill interval of the drive, the braking device is automatically initialized.
Zur Anpassung an sich ändernde Randbedingungen nach einem Festsetzen der Bremse wird vorgeschlagen, daß in einem vorgebbaren Taktbetrieb die Bremse periodisch zur Erfassung einer tatsächlich anstehenden Last gelöst wird.In order to adapt to changing boundary conditions after the brake has been locked, it is proposed that the brake be released periodically in order to detect a load that is actually present in a predeterminable cycle operation.
Zur Gewährleistung einer genauen Positionseinhaltung wird vorgeschlagen, daß eine Lastübernahme von der Lamellenbremse zum Antrieb erst dann durchgeführt wird, wenn der Antrieb das Motornennmoment wieder aufgebaut hat.To ensure that the position is kept exactly, it is proposed that a load transfer from the multi-disk brake to the drive is only carried out when the drive has built up the nominal motor torque again.
Zur Gewährleistung ausgeglichener energetischer Verhältnisse wird vorgeschlagen, daß eine Aufnahme und ein Abbau der bei einem generatorischen Betrieb in einen Zwischenkreis des Frequenzumrichters eingespeisten Energie durch Einsatz eines Bremschoppers gesteuert wird. Die Energie kann aber auch in das Netz zurückgespeist werden.To ensure balanced energy conditions, it is proposed that the absorption and dissipation of the energy fed into an intermediate circuit of the frequency converter during generator operation is controlled by using a brake chopper. The energy can also be fed back into the network.
In der Zeichnung sind Ausführungsbeispiele der Erfindung schematisch dargestellt. Es zeigen:
- Fig. 1
- eine Prinzipdarstellung der Mooringwinde mit Getriebe und Antrieb
und - Fig. 2
- ein vereinfachtes Schaltschema der elektrischen Anordnung.
- Fig. 1
- a schematic diagram of the mooring winch with gear and drive
and - Fig. 2
- a simplified circuit diagram of the electrical arrangement.
Entsprechend der Ausführungsform in Fig. 1 ist die Mooringwinde (1) über ein Getriebe (2) mit einem Antrieb (3) verbunden. Der Antrieb (3) ist als ein Drehstromasynchronmotor ausgebildet, der mit einer Lamellenbremse (4) und einem Drehzahlgeber (5) versehen ist. Der Drehzahlgeber (5) ist als ein Inkrementalwinkelgeber ausgebildet. Die Lamellenbremse (4) ermöglicht über eine elektromechanische Kraftentfaltung eine Abbremsung der Mooringwinde (1) und des Antriebes (3).According to the embodiment in FIG. 1, the mooring winch (1) is connected to a drive (3) via a gear (2). The drive (3) is designed as a three-phase asynchronous motor, which is provided with a multi-disc brake (4) and a speed sensor (5). The speed sensor (5) is designed as an incremental angle sensor. The multi-disc brake (4) enables the mooring winch (1) and the drive (3) to be braked by means of an electromechanical power delivery.
Die Mooringwinde (1) ist mit zwei außenliegenden Bordscheiben (6) und einer innenliegenden Bordscheibe (7) versehen. Die innenliegende Bordscheibe (7) ist mit einer radialen länglichen Öffnung versehen, deren Kanten so beschaffen sind, daß ein auf der Mooringwinde (1) bevorratetes Seil sicher von einem Seilspeicherteil (8) zu einem Arbeitsteil (9) umgewickelt werden kann. Das gleiche gilt für einen Umwickelvorgang vom Arbeitsteil (9) zum Seilspeicherteil (8). Durch die innenliegende Bordscheibe (7) wird das Seilspeicherteil (8) vom Arbeitsteil (9) getrennt. Das Arbeitsteil (9) stellt sicher, daß der Windenbetrieb unter Vorgabe eines konstant zu haltenden Seilzuges bei einem gleichbleibenden Wirkdurchmesser der Trommel durchgeführt werden kann.The mooring winch (1) is provided with two external flanges (6) and an internal flanged disc (7). The inside flanged disc (7) is provided with a radial, elongated opening, the edges of which are such that a rope stored on the mooring winch (1) can be safely wrapped from a rope storage part (8) to a working part (9). The same applies to a wrapping process from the working part (9) to the rope storage part (8). The cable storage part (8) is separated from the working part (9) by the internal flanged disc (7). The working part (9) ensures that the winch operation with specification of a cable to be kept constant at one constant effective diameter of the drum can be carried out.
Die elektrische Verschaltung ist in Fig. 2 dargestellt. Der Antrieb (3) ist über eine dreiphasige Anschlußleitung (10) an ein Steuergerät (11) angeschlossen. Das Steuergerät (11) wird von einem dreiphasigen Drehstromnetz (12) gespeist. An das Steuergerät (11) ist der Drehzahlgeber (5) angeschlossen. Das Steuergerät (11) wird von einer Steuerung (13) koordiniert, die beispielsweise als speicherprogrammierbare Steuerung ausgebildet sein kann. Zur Verbindung der Steuerung (13) mit dem Steuergerät (11) sind eine Meßwertübertragung (14) und eine Sollwertübertragung (15) vorgesehen. Die Meßwertübertragung (14) erfolgt vom Steuergerät (11) in Richtung auf die Steuerung (13) und die Sollwertübertragung (15) von der Steuerung (13) in Richtung auf das Steuergerät (11). Die Steuerung (13) ist darüber hinaus über eine Signalübertragung (16) an ein Bedienpult (17) angeschlossen. Mit Hilfe des Bedienpultes (17) können manuelle Bedienvorgaben an die Steuerung (13) übertragen werden.The electrical connection is shown in Fig. 2. The drive (3) is connected to a control unit (11) via a three-phase connecting line (10). The control unit (11) is fed by a three-phase three-phase network (12). The speed sensor (5) is connected to the control unit (11). The control device (11) is coordinated by a controller (13), which can be designed, for example, as a programmable logic controller. A measured value transmission (14) and a setpoint transmission (15) are provided for connecting the control (13) to the control unit (11). The measured value transmission (14) takes place from the control unit (11) in the direction of the control unit (13) and the setpoint value transmission (15) from the control unit (13) in the direction of the control unit (11). The controller (13) is also connected to a control panel (17) via a signal transmission (16). With the help of the control panel (17), manual operating instructions can be transferred to the control (13).
Das Steuergerät (11) ist als ein Frequenzumrichter mit Raumzeigermodulationsverfahren ausgebildet, der den Antrieb (3) ansteuert und vom Drehstromnetz (12) gespeist wird. Als Drehstromnetz (12) kann das übliche Bordnetz des Schiffes verwendet werden.The control unit (11) is designed as a frequency converter with space vector modulation method, which controls the drive (3) and is fed by the three-phase network (12). The usual electrical system of the ship can be used as the three-phase network (12).
Ein Benutzungsablauf erfolgt derart, daß vom Bedienpult (17) aus manuelle Steuervorgaben generiert werden und die entsprechenden Signalen über die Signalübertragung (16) an die Steuerung (13) übermittelt werden. Die Steuerung (13) erhält darüber hinaus über die Meßwertübertragung (14) die Istwerte zur aktuellen Drehzahl des Antriebes (3). Aus diesen Daten werden von der Steuerung (13) die Sollwerte für den Frequenzumrichter generiert. Grundsätzlich ist es möglich, den Windenantrieb auf ein frei wählbares konstantes Haltemoment zu regeln. Dies resultiert daraus, daß der Antrieb in der Lage ist, über einen beliebig langen Zeitraum das Nennmoment im Stillstand abzugeben. Diese Eigenschaft macht den Drehstromasynchronmotor mit Frequenzumrichter und Raumzeigermodulationsverfahren in besonderer Weise für einen automatischen Mooringbetrieb geeignet.The usage sequence is such that manual control specifications are generated from the control panel (17) and the corresponding signals are transmitted to the control (13) via the signal transmission (16). The controller (13) also receives the actual values for the current speed of the drive (3) via the measured value transmission (14). From this data the Control (13) generates the setpoints for the frequency converter. Basically, it is possible to regulate the winch drive to a freely selectable constant holding torque. This results from the fact that the drive is able to deliver the nominal torque at standstill for any length of time. This property makes the three-phase asynchronous motor with frequency converter and space vector modulation method particularly suitable for automatic mooring operation.
Ein elektrischer Drehstromasynchronmotor läßt sich in übersichtlicher Weise durch ein mathematisches Modell beschreiben, so daß das aktuelle wirksame Motormoment, das proportional zum Seilzug ist, bei einer gegebenen Frequenzumrichterschaltung auch im Stillstand aus den elektrischen Zustandsgrößen des Motors berechnet werden kann. Aufgrund dieser mathematischen Herleitbarkeit ist es nicht erforderlich, zur Bestimmung des Momentes mechanische oder elektromechanische Messungen durchzuführen.An electrical three-phase asynchronous motor can be described in a clear manner using a mathematical model, so that the current effective motor torque, which is proportional to the cable pull, can be calculated from the electrical state variables of the motor for a given frequency converter circuit even when the motor is at a standstill. Because of this mathematical derivability, it is not necessary to carry out mechanical or electromechanical measurements to determine the moment.
Im Detail ergibt sich somit der folgende Arbeitsablauf. Zunächst wird am Bedienpult der einzuhaltende Seilzug vorgegeben. Danach erfolgt eine Einstellung des vorgegebenen Seilzuges an der Winde durch Ansteuerung des Antriebes (3) über den Drehmoment- und Flußregelkreis des Frequenzumrichters. Bei geöffneter Bremse (4) kann der Seilzug im Stillstand über das erzeugte elektrische Feld gehalten werden. Nach Erreichen einer vorwählbaren Zeitspanne für einen Antriebsstillstand ist es möglich, ein automatisches Ansprechen der Bremse (4) vorzusehen und den Antrieb (3) zu deaktivieren, um den erforderlichen Energieaufwand zu reduzieren. Grundsätzlich ist aber auch ein Permanentbetrieb des Antriebes (3) denkbar. Wird die Variante mit dem automatischen Ansprechen der Bremse (4) verwendet, so wird die Bremse (4) in einer vorgegebenen Taktung zur Überprüfung der jeweils tatsächlich anstehenden Last gelöst.The following workflow results in detail. First, the cable to be observed is specified on the control panel. The specified cable pull on the winch is then adjusted by actuating the drive (3) via the torque and flux control circuit of the frequency converter. When the brake (4) is open, the cable can be held at a standstill via the generated electrical field. After a preselectable period of time for a drive standstill, it is possible to provide an automatic response of the brake (4) and to deactivate the drive (3) in order to reduce the required energy expenditure. In principle, however, permanent operation of the drive (3) is also conceivable. If the variant with the automatic activation of the brake (4) is used, the brake (4) is in a predetermined timing to check the actual load.
Eine Lastübernahme durch den Antrieb (3) nach einem vorhergehenden Ansprechen der Bremse (4) erfolgt erst dann, wenn das Motornennmoment wieder ansteht und der hierfür erforderliche Feldaufbau abgeschlossen ist. Eine Aufnahme und ein Abbau der bei einem generatorischen Betrieb in den Zwischenkreis des Frequenzumrichters eingespeisten Energie ist durch den Einsatz eines Bremschoppers möglich. Die Motorkennlinien sind frei programmierbar. Hierdurch wird eine Berücksichtigung unterschiedlicher Seileigenschaften möglich. Darüber hinaus wird ein Aufschaukeln des Systems durch Schwingungsunterdrückung vermieden.A load transfer by the drive (3) after the brake (4) has responded beforehand only takes place when the nominal motor torque is present again and the required field structure has been completed. A brake chopper can be used to absorb and dissipate the energy fed into the DC link of the frequency converter during generator operation. The motor characteristics are freely programmable. This enables different rope properties to be taken into account. In addition, the system is prevented from rocking due to vibration suppression.
Die Mooringwinde (1) und der Antrieb (3) können im freien Decksbereich des Schiffes angeordnet werden. Der erforderliche Schaltschrank und der Frequenzumrichter des Steuergerätes (14) werden an einer nahezu beliebig vorgebbaren Stelle unterhalb des Deckes witterungsgeschützt aufgestellt.The mooring winch (1) and the drive (3) can be arranged in the free deck area of the ship. The required control cabinet and the frequency converter of the control unit (14) are set up at an arbitrarily predeterminable location below the deck, protected from the weather.
Claims (12)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4408395A DE4408395C2 (en) | 1994-03-12 | 1994-03-12 | Mooring winch and winch control method |
| DE4408395 | 1994-03-12 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0676365A2 true EP0676365A2 (en) | 1995-10-11 |
| EP0676365A3 EP0676365A3 (en) | 1996-02-28 |
| EP0676365B1 EP0676365B1 (en) | 1998-12-23 |
Family
ID=6512607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP94120792A Revoked EP0676365B1 (en) | 1994-03-12 | 1994-12-28 | Mooring winch and method controlling the cable of a winch |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0676365B1 (en) |
| DE (2) | DE4408395C2 (en) |
| NO (1) | NO322834B1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001042126A1 (en) * | 1999-12-10 | 2001-06-14 | Coflexip Sa | Marine heave compensating device and winch drive |
| WO2002024567A1 (en) * | 2000-09-18 | 2002-03-28 | Lewmar Limited | Winch assembly |
| EP2196429A1 (en) | 2008-11-10 | 2010-06-16 | ABB Oy | A mooring winch and a method for controlling a cable of a mooring winch |
| CN102139839A (en) * | 2011-04-12 | 2011-08-03 | 武汉船用机械有限责任公司 | Towing winch with automatic tensioning function and implementation method thereof |
| EP2385011A1 (en) | 2010-05-07 | 2011-11-09 | ABB Oy | A mooring winch and a method for controlling a cable of a mooring winch |
| CN102556880A (en) * | 2011-10-25 | 2012-07-11 | 大连华锐重工集团股份有限公司 | Braking system for operating mechanism of crane and control method of braking system |
| CN102991644A (en) * | 2012-11-28 | 2013-03-27 | 武汉船用机械有限责任公司 | Dynamical braking device and method of electric anchor gear |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7556241B2 (en) | 2006-08-28 | 2009-07-07 | Geagan Michael J | Power-assisted winch and method |
| CN103991809B (en) * | 2014-05-14 | 2016-07-06 | 南京中船绿洲机器有限公司镇江船舶辅机厂 | A kind of winch for folding and unfolding dink |
| CN105060120A (en) * | 2015-08-12 | 2015-11-18 | 上海核工程研究设计院 | High-low speed shaft transmission ratio protection device and method of loading and unloading machine lifting mechanism |
| CN111114692B (en) * | 2019-12-18 | 2021-08-06 | 中国船舶重工集团有限公司第七一0研究所 | Winch towing cable tension measurement driving mechanism |
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| DE1431132A1 (en) * | 1964-08-24 | 1969-12-04 | Inst Schiffbau | Arrangement for the operation of electrically driven mooring or towing winches |
| DE2847406A1 (en) * | 1978-11-02 | 1980-05-14 | Northern Eng Ind | Automatic mooring winch system for ships - has winch drum driven by polyphase motor supplied from static converter with speed feedback |
-
1994
- 1994-03-12 DE DE4408395A patent/DE4408395C2/en not_active Revoked
- 1994-12-28 EP EP94120792A patent/EP0676365B1/en not_active Revoked
- 1994-12-28 DE DE59407539T patent/DE59407539D1/en not_active Revoked
-
1995
- 1995-02-20 NO NO19950630A patent/NO322834B1/en active IP Right Review Request
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH409673A (en) * | 1963-03-27 | 1966-03-15 | Shinko Electric Co Ltd | Electric mooring winch |
| DE1901389A1 (en) * | 1969-01-13 | 1970-07-23 | Cons Electric Corp | Device for keeping a line taut |
| DE2017948A1 (en) * | 1970-04-15 | 1971-10-28 | Licentia Gmbh | Arrangement for the automatic detection of the torque of a winch |
| DE2453487A1 (en) * | 1973-11-13 | 1975-05-15 | Hydraulik Brattvaag As | WINCH DRUM |
| DE2649511A1 (en) * | 1976-10-29 | 1978-05-03 | Licentia Gmbh | Mooring winch automatic torque adjustment circuit - has excitation and armature current switched on and brake released in sequence |
| GB2013375A (en) * | 1976-12-03 | 1979-08-08 | Northern Eng Ind | Mooring winch control |
| US4636962A (en) * | 1983-05-24 | 1987-01-13 | Columbus Mckinnon Corporation | Microprocessor-controlled hoist system |
| DE3819934A1 (en) * | 1988-06-11 | 1989-12-21 | Heinrich Mahler | Lift with an economy drive |
| US5296791A (en) * | 1992-04-27 | 1994-03-22 | Harnischfeger Corporation | Method and apparatus for operating a hoist |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001042126A1 (en) * | 1999-12-10 | 2001-06-14 | Coflexip Sa | Marine heave compensating device and winch drive |
| AU780589B2 (en) * | 1999-12-10 | 2005-04-07 | Technip France | Marine heave compensating device and winch drive |
| WO2002024567A1 (en) * | 2000-09-18 | 2002-03-28 | Lewmar Limited | Winch assembly |
| CN101734569B (en) * | 2008-11-10 | 2013-01-16 | Abb有限公司 | Mooring winch and a method for controlling a cable of a mooring winch |
| US8207692B2 (en) | 2008-11-10 | 2012-06-26 | Abb Oy | Mooring winch and a method for controlling a cable of a mooring winch |
| EP2196429A1 (en) | 2008-11-10 | 2010-06-16 | ABB Oy | A mooring winch and a method for controlling a cable of a mooring winch |
| EP2385011A1 (en) | 2010-05-07 | 2011-11-09 | ABB Oy | A mooring winch and a method for controlling a cable of a mooring winch |
| CN102259804A (en) * | 2010-05-07 | 2011-11-30 | Abb有限公司 | A mooring winch and a method for controlling a cable of a mooring winch |
| US8436558B2 (en) | 2010-05-07 | 2013-05-07 | Abb Oy | Mooring winch and a method for controlling a cable of a mooring winch |
| CN102139839A (en) * | 2011-04-12 | 2011-08-03 | 武汉船用机械有限责任公司 | Towing winch with automatic tensioning function and implementation method thereof |
| CN102556880A (en) * | 2011-10-25 | 2012-07-11 | 大连华锐重工集团股份有限公司 | Braking system for operating mechanism of crane and control method of braking system |
| CN102556880B (en) * | 2011-10-25 | 2013-09-25 | 大连华锐重工集团股份有限公司 | Braking system for operating mechanism of crane and control method of braking system |
| CN102991644A (en) * | 2012-11-28 | 2013-03-27 | 武汉船用机械有限责任公司 | Dynamical braking device and method of electric anchor gear |
| CN102991644B (en) * | 2012-11-28 | 2015-10-21 | 武汉船用机械有限责任公司 | A kind of electric windlass dynamic braking device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| NO950630L (en) | 1995-09-13 |
| NO322834B1 (en) | 2006-12-11 |
| DE4408395C2 (en) | 1998-04-09 |
| DE59407539D1 (en) | 1999-02-04 |
| NO950630D0 (en) | 1995-02-20 |
| EP0676365A3 (en) | 1996-02-28 |
| EP0676365B1 (en) | 1998-12-23 |
| DE4408395A1 (en) | 1995-09-14 |
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