WO2021139305A1

WO2021139305A1 - Deep-sea mining field ore-raising pipe lifting/lowering compensation system and compensation method

Info

Publication number: WO2021139305A1
Application number: PCT/CN2020/122021
Authority: WO
Inventors: 肖林京; 范芳超; 陆继铭; 左帅
Original assignee: 山东科技大学
Priority date: 2020-01-10
Filing date: 2020-10-20
Publication date: 2021-07-15
Also published as: CN111236863A

Abstract

A deep-sea mining field ore-raising pipe lifting/lowering compensation system. The lifting/lowering compensation system comprises a mining vessel (1), a dynamic wave detection module, an industrial control module, a hydraulic compensation control module (5), a lifting/lowering compensation apparatus, and an ore-raising pipe (12). The hydraulic compensation control module (5) is capable of implementing active compensation and passive compensation and selecting different compensation schemes on the basis of different sea conditions. With the two compensation schemes being designed independently and integrated in a same hydraulic system, two hydraulic compensation systems can operate independently without mutual interference, thus effectively suppressing vertical vibrations of the ore-raising pipe (12), and reducing the vibrational amplitude of transverse vibrations.

Description

Deep sea mining lift pipe heave compensation system and compensation method

Technical field

The invention relates to a lifting pipe heave compensation system, in particular to a deep sea mining lifting pipe heave compensation system and a compensation method.

Background technique

In order to excavate the mineral resources on the seabed, humans have proposed many mining schemes, but the most commonly used is the mining machine plus pipeline lifting system. The mining system plan is mainly composed of a water surface support system based on mining ships, a mining subsystem based on a hard tube for ore lifting, and a mining subsystem based on a subsea mining machine. A slender ore raising pipe is used to connect the mining machine on the seabed with the mining ship on the sea surface, so that the polymetallic nodules collected by the mining machine can be pumped to the mining ship. When the mining ship is working on the sea, it will heave and sink under the action of sea waves. The mining ship drives the hinged lower end of the lifting pipeline to move together, which will induce the vertical vibration of the lifting subsystem, and the vertical vibration of the lifting pipe will cause The lifting pipe string produces great axial stress and amplitude, which seriously affects the service life of the lifting pipe and the safety of mining operations. Therefore, it is necessary to find a way to suppress the longitudinal vibration of the pipeline and reduce the amplitude of the longitudinal vibration. In order to solve the above problems, the present invention proposes a deep-sea mining lifter pipe heave compensation system and compensation method.

Technical solutions

In order to suppress the longitudinal vibration of the raising pipe and reduce the amplitude of the longitudinal vibration, the present invention provides a deep sea mining raising pipe heave compensation system and compensation method.

A deep-sea mining lift pipe heave compensation system. The heave compensation system includes a mining ship, a dynamic wave detection module, an industrial control module, a hydraulic compensation control module, a heave compensation device and a lift pipe. The upper support plate of the sinking compensation device is hinged, the cylinder blocks of the two hydraulic compensation cylinders of the heave compensation device are fixed to the upper support plate, the piston rod of the hydraulic compensation cylinder is fixed to the lower support plate, and the lower support plate is connected to the lifting pipe The hydraulic compensation control module is arranged on the mining ship, and two oil pipes are respectively extended on the left and right sides of the hydraulic compensation control module. The two oil pipes are respectively connected to the bottom end of the compensation hydraulic cylinder and the oil set on the top of the cylinder. At the mouth, a displacement sensor is installed on the lifting pipe. The displacement sensor is connected to one end of the industrial control module through a data line, and the other end of the industrial control module is connected to the data input port of the hydraulic compensation control module. The dynamic wave detection device is deployed through the suspension placement device. Put in sea water, the dynamic wave monitoring device transmits the measured sea state data to the industrial control module through the data line through the data temporary storage processing device. The hydraulic compensation control module can realize active compensation and passive compensation. According to different sea conditions, the industrial control module is intelligent Choose different compensation methods.

Further, the industrial control module is composed of an A/D converter, an industrial computer, and a D/A converter. The displacement sensor is connected to the industrial computer through the A/D converter through a data line, and the industrial computer passes through the D/A converter through the data line. The /A converter is connected to the hydraulic compensation control module.

Further, the hydraulic compensation control module includes a no-load oil circuit module, an overflow oil circuit module, an accumulator charging module, an active compensation module, and a passive compensation module, and the hydraulic compensation control module is replaced by an oil tank and a first solenoid. Directional valve, relief valve, second solenoid directional valve, one-way throttle valve, third solenoid directional valve, accumulator, globe valve, first one-way valve, safety valve, proportional directional valve, pressure reducing valve , The second one-way valve, oil filter, motor and hydraulic pump.

Further, it is characterized in that the working oil circuit of the active compensation module is such that the high-pressure oil pumped by the hydraulic pump flows into the first hydraulic compensation cylinder and the second hydraulic compensation cylinder through the oil filter, the second one-way valve and the proportional directional valve in sequence. The hydraulic compensation cylinder controls the position of the proportional directional valve to realize the extension and retraction of the piston rod, thereby realizing active compensation. The hydraulic oil from the first and second compensation hydraulic cylinders flows back to the tank through the proportional directional valve. When in the active compensation mode, the accumulator is in a disconnected state from the second electromagnetic directional valve and the third electromagnetic directional valve.

Further, the working oil circuit of the passive compensation module is such that the proportional directional valve is in the neutral position, the accumulator is in a communication state with the second electromagnetic directional valve, and the second electromagnetic directional valve is also connected to the first hydraulic compensation cylinder and the second hydraulic compensation cylinder. The rodless cavity of the hydraulic compensation cylinder is connected, and the accumulator is communicated with the rod cavity of the first hydraulic compensation cylinder and the second hydraulic compensation cylinder through the third electromagnetic reversing valve and the one-way throttle valve. The first hydraulic compensation cylinder and the second hydraulic compensation cylinder are connected to each other. The rodless cavity of the second hydraulic compensation cylinder returns to the accumulator through the second electromagnetic reversing valve, the first one-way valve and the stop valve. When the pressure of the rod cavity of the first hydraulic compensation cylinder and the second hydraulic compensation cylinder changes , The accumulator charges and discharges liquid to make the piston rod move to realize passive compensation. When the pressure of the passive compensation oil circuit increases sharply, the safety valve can overflow and unload to protect the oil circuit hydraulic components.

Further, the working oil circuit of the no-load oil circuit module is that the motor drives the hydraulic pump to sequentially pass the high-pressure oil pumped by the oil filter and the right position of the first electromagnetic reversing valve and finally return to the oil tank to complete the no-load oil. Road work.

Further, the working oil circuit of the overflow oil circuit module is a hydraulic pump that is pumped by the hydraulic pump if a blockage failure of the oil circuit causes a surge in the pressure of the hydraulic system and when the pressure of the oil circuit reaches the critical value set by the overflow valve The oil flows directly back to the oil tank through the oil filter and the overflow valve in turn.

Further, the oil circuit of the accumulator charging module is that the high-pressure oil pumped by the hydraulic pump passes through the oil filter and the second one-way valve in sequence, and then passes through the first one-way valve or the first one-way valve after being decompressed by the pressure reducing valve. The shut-off valve charges the accumulator. If the charging oil circuit fails, the shut-off valve can be closed to prevent the high-pressure oil from the accumulator from returning.

A compensation method using a deep-sea mining lift pipe heave compensation system specifically includes the following steps:

When the dynamic wave detection device detects that the sea condition is relatively bad, the dynamic wave detection device will finally transfer the measured sea condition data to the industrial computer through the data temporary storage processing device. After the industrial computer obtains the sea condition information, it will start active compensation control after analysis and evaluation. Mode, the signal sent is transmitted to the data input terminal of the hydraulic compensation control module through the D/A converter, and the hydraulic compensation control module switches to the active compensation mode after receiving the signal from the industrial computer;

When the sea surface is calm, the dynamic wave detection device transmits the detected sea state information to the industrial computer through the data temporary storage processing device. After the industrial computer obtains the sea state information, after analysis and evaluation, the control signal is sent to the hydraulic compensation through the D/A converter The signal input terminal of the control module activates the passive compensation control mode. During passive compensation, the hydraulic pump almost does not need to supply energy, only the accumulator is charged and discharged to complete the compensation operation.

Beneficial effect

The present invention adopts a combination of active compensation mode and passive compensation mode to compensate for the heave of the raising pipe. The active compensation method has relatively high accuracy and rapid response, but consumes a large amount of energy; while the passive compensation method consumes almost no energy, but has relatively high accuracy. Low and slow response. Therefore, combining the advantages of the two control methods, different compensation methods can be selected according to different sea conditions, and the two compensation methods can be designed separately, so that they can be integrated into the same hydraulic system. The two compensation hydraulic systems can be operated separately and Without mutual interference, it effectively suppresses the longitudinal vibration of the lifting pipe and reduces the amplitude of the longitudinal vibration.

Description of the drawings

Figure 1 is a schematic diagram of the heave compensation system of the present invention;

Figure 2 is a schematic diagram of the hydraulic control of heave compensation according to the present invention.

In the figure, 1. Mining ship, 2. A/D converter, 3. Industrial computer, 4, D/A converter, 5. Hydraulic compensation control module, 5.1, oil tank, 5.2, the first electromagnetic reversing valve, 5.3 , Overflow valve, 5.4, the second electromagnetic reversing valve, 5.5, one-way throttle valve, 5.6, the third electromagnetic reversing valve, 5.7, accumulator, 5.8, stop valve, 5.9, the first one-way valve, 5.10, safety valve, 5.11, proportional directional valve, 5.12, pressure reducing valve, 5.13, second one-way valve, 5.14, oil filter, 5.15, motor, 5.16, hydraulic pump, 6, data temporary storage and processing device, 7, Suspended deployment device, 8, dynamic wave detection device, 9, upper support plate, 10.1, first hydraulic compensation cylinder, 10.2, second hydraulic compensation cylinder, 11, lower support plate, 12, lifting pipe, 13, displacement sensor.

Embodiments of the present invention

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention, that is, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

Figure 1 is a schematic diagram of the deep sea mining lift pipe deep compensation system, which is mainly composed of a mining ship 1, a dynamic wave detection module, an industrial control module, a hydraulic compensation control module 5, a heave compensation device and a lift pipe 12.

The mining ship 1 is hinged to the upper support plate 9 of the heave compensation device. The cylinder blocks of the two hydraulic compensation cylinders of the heave compensation device are fixed on the upper support plate 9, and the piston rod of the hydraulic compensation cylinder is fixed on the lower support plate 11. , The lower support plate 11 is hinged with the raising pipe 12.

On the right side of the hydraulic compensation control module 5, two oil pipes are extended to connect to the P1 port and Q1 port of the first compensation hydraulic cylinder 10.1. On the left side of the hydraulic compensation control module 5, two oil pipes are extended to connect to the No. Two compensation hydraulic cylinder 10.2 P2 oil port and Q2 oil port.

The industrial control module is composed of an A/D converter 2, an industrial computer 3 and a D/A converter 4. A displacement sensor 13 is installed on the lifting tube 12, and the displacement sensor 13 converts the measured data through the data line through A/D conversion The device 2 is transmitted to the industrial computer 3; the signal from the industrial computer 3 is transmitted to the data input port of the hydraulic compensation control module 5 through the D/A converter 4 through the data line.

The dynamic wave detection device 8 is deployed in the seawater through the suspended deployment device 7, and the dynamic wave monitoring device 8 transmits the measured data to the industrial computer 3 through the data line through the data temporary storage processing device 6.

Figure 2 is a schematic diagram of heave compensation hydraulic control.

The path of the no-load oil circuit is: the motor 5.15 drives the hydraulic pump 5.16 to pass the pumped high-pressure oil through the oil filter 5.14, and then finally returns to the oil tank 5.1 through the right position of the first electromagnetic reversing valve 5.2, and the hydraulic system is in Before starting work, it needs to be empty for a period of time, so that all kinds of impurities in the oil can be cleaned up to avoid damage to the hydraulic components.

The path of the overflow oil circuit is: if the oil circuit is blocked and other faults cause the pressure of the hydraulic system to increase sharply, when the pressure of the oil circuit reaches the critical value set by the overflow valve 5.3, the oil pumped by the hydraulic pump 5.16 will flow The oil filter 5.14 flows directly back to the oil tank 5.1 through the overflow valve 5.3.

The charging oil circuit of the accumulator 5.7 is: the high-pressure oil pumped by the hydraulic pump 5.16 passes through the oil filter 5.14, the second one-way valve 5.13, and then the pressure reducing valve 5.12 to decompress, and finally passes the first order To valve 5.9 or shut-off valve 5.8 charges accumulator 5.7; if the charging oil circuit fails, shut-off valve 5.8 can be closed to prevent the high-pressure oil of accumulator 5.7 from returning.

The active compensation working oil circuit is: the high-pressure oil pumped by the hydraulic pump 5.16 flows into the first hydraulic compensation cylinder 10.1 and the second hydraulic compensation cylinder 10.2 through the oil filter 5.14, the second one-way valve 5.13, and the proportional directional valve 5.11 in sequence. , By controlling the position of the proportional directional valve 5.11 to realize the extension and retraction of the piston rod, thereby realizing active compensation. The oil from the first compensating hydraulic cylinder 10.1 and the second compensating hydraulic cylinder 10.2 flows back through the proportional directional valve 5.11 Fuel tank 5.1.

The passive compensation working oil circuit is: the accumulator 5.7 is connected to the rod cavity of the first hydraulic compensation cylinder 10.1 and the second hydraulic compensation cylinder 10.2 via the third electromagnetic reversing valve 5.6 and the one-way throttle valve 5.5, without rod The cavity returns to the accumulator 5.7 through the second electromagnetic reversing valve 5.4, the first one-way valve 5.9 and the stop valve 5.8. When the pressure in the rod cavity of the hydraulic compensation cylinder changes, the accumulator 5.7 is charged and discharged, causing the piston The rod moves to realize passive compensation. When the pressure in the passive compensation oil circuit increases sharply, the safety valve 5.10 can overflow and unload to protect the oil circuit hydraulic components.

Working principle: The present invention has two compensation methods: active compensation method and passive compensation method. The active compensation method has relatively high accuracy and quick response, but consumes a lot of energy; while the passive compensation method consumes almost no energy, but has lower accuracy, and Slow response. Therefore, combining the advantages of the two control methods, different compensation methods can be selected according to different sea conditions. The two compensation methods are designed separately, so that they can be integrated in the same hydraulic system. The two compensation hydraulic systems can work independently without interfering with each other. The specific hydraulic control schematic diagram of heave compensation is shown in Figure 2. Here is a brief introduction to the working principles of active compensation and passive compensation:

The working principle of active compensation: When the dynamic wave detection device 8 detects that the sea condition is relatively bad, the measured data is finally transmitted to the industrial computer 3 through the data temporary storage processing device 6. After the industrial computer 3 obtains the sea condition information, it is analyzed and evaluated. The active compensation control mode is activated, and the signal sent out is transmitted to the data input terminal of the hydraulic compensation control module 5 through the D/A converter 4, and the hydraulic compensation control module 5 switches to the active compensation mode after receiving the signal from the industrial computer 3. When in the active compensation mode, the accumulator 5.7, the second electromagnetic reversing valve 5.4 and the third electromagnetic reversing valve 5.6 are all in a disconnected state, so the high-pressure oil pumped by the hydraulic pump 5.16 must pass through the oil filter 5.14 in turn The second one-way valve 5.13 and the proportional directional valve 5.11 enter the hydraulic compensation cylinder, and the oil from the hydraulic compensation cylinder flows back to the oil tank 5.1 through the proportional directional valve 5.11. Therefore, the oil circuit is completely controlled by the proportional directional valve 5.11. When the mining ship 1 moves upwards, the heave compensation device will drive the lifting pipe 12 to move upwards. At this time, the displacement sensor 13 installed on the lifting pipe 12 will detect the change in the displacement of the pipeline and send the displacement signal through the A/D The converter 2 is transmitted to the industrial computer 3. After receiving the signal, the industrial computer 3 analyzes and processes the feedback signal and transmits the feedback signal to the hydraulic compensation control module 5 through the D/A converter 4, so that the proportional direction in the hydraulic compensation control module 5 The valve 5.11 is switched to the left position, allowing the high-pressure oil pumped by the hydraulic pump 5.16 to enter the rodless cavity of the hydraulic compensation cylinder through the P port, so that the piston rod drives the lower support plate 11 and the lifting pipe 12 to move downwards, thereby achieving The role of active compensation.

The working principle of passive compensation: When the sea surface is relatively calm, the sea condition information detected by the dynamic wave detection device 8 is transmitted to the industrial computer 3 through the data temporary storage processing device 6. After the industrial computer 3 obtains the sea condition information, it sends out a control signal after analysis and evaluation. The D/A converter 4 transmits to the signal input terminal of the hydraulic compensation control module 5 to start the passive compensation control mode. Because the active compensation consumes a lot of energy and the sea is relatively calm, it can be converted to the passive compensation mode to save energy on board and extend the mining vessel. This can indirectly increase the output of a single mining operation. When in the passive compensation control mode, the proportional directional valve 5.11 is in the neutral position, the accumulator 5.7 is in communication with the third electromagnetic reversing valve 5.6, and the second electromagnetic reversing valve 5.4 is also connected to the rodless cavity of the hydraulic compensation cylinder. When the raising pipe 12 drives the lower support plate 11 to move together with the piston rod, it can ensure that the rodless cavity freely sucks and discharges oil. When the mining ship 1 drives the upper support plate 9 together with the hydraulic compensation cylinder to perform heave motion, the accumulator 5.7 is charged and discharged due to the change in the rod cavity pressure of the hydraulic compensation cylinder, which causes the piston rod to move to realize passive compensation. During passive compensation, the hydraulic pump 5.16 almost does not need to supply energy, only the accumulator 5.7 needs to be charged and discharged to complete the compensation operation.

Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the essential scope of the present invention shall also belong to the present invention. The scope of protection of the invention.

Claims

A deep-sea mining lift pipe heave compensation system, characterized in that: the heave compensation system includes a mining ship, a dynamic wave detection module, an industrial control module, a hydraulic compensation control module, a heave compensation device and a lift pipe. The mining ship is hinged to the upper support plate of the heave compensation device. The cylinder blocks of the two hydraulic compensation cylinders of the heave compensation device are fixed to the upper support plate, the piston rod of the hydraulic compensation cylinder is fixed to the lower support plate, and the lower support plate Hinged to the lifting pipe, the hydraulic compensation control module is arranged on the mining ship, and two oil pipes are respectively extended on the left and right sides of the hydraulic compensation control module, and the two oil pipes are respectively connected to the bottom end and the cylinder body of the compensation hydraulic cylinder At the oil port set at the top, a displacement sensor is installed on the lifting pipe. The displacement sensor is connected to one end of the industrial control module through a data line, and the other end of the industrial control module is connected to the data input port of the hydraulic compensation control module. The dynamic wave detection device is suspended by The deployment device is deployed in the sea water, and the dynamic wave monitoring device transmits the measured sea state data to the industrial control module through the data line through the data temporary storage processing device. The hydraulic compensation control module can realize active compensation and passive compensation according to different sea conditions. , The industrial control module intelligently selects different compensation methods.
The deep-sea mining lifter pipe heave compensation system according to claim 1, wherein the industrial control module is composed of an A/D converter, an industrial computer and a D/A converter, and the displacement sensor passes through The data line is connected to the industrial computer through the A/D converter, and the industrial computer is connected to the hydraulic compensation control module through the data line through the D/A converter.
The deep-sea mining lift pipe heave compensation system according to claim 1, wherein the hydraulic compensation control module includes an empty oil circuit module, an overflow oil circuit module, an accumulator charging module, and an active Compensation module and passive compensation module, and the hydraulic compensation control module is composed of an oil tank, a first electromagnetic reversing valve, an overflow valve, a second electromagnetic reversing valve, a one-way throttle valve, a third electromagnetic reversing valve, and an accumulator , Globe valve, first check valve, safety valve, proportional directional valve, pressure reducing valve, second check valve, oil filter, motor and hydraulic pump.
The deep-sea mining lift pipe heave compensation system according to claim 3, characterized in that, the active compensation module working oil circuit is that the high-pressure oil pumped by the hydraulic pump passes through the oil filter, the second The one-way valve and the proportional directional valve flow into the first hydraulic compensation cylinder and the second hydraulic compensation cylinder, and the position of the proportional directional valve is controlled to realize the extension and retraction of the piston rod, thereby realizing active compensation. The hydraulic oil flowing out of the compensation hydraulic cylinder flows back to the oil tank through the proportional directional valve. When in the active compensation mode, the accumulator and the second electromagnetic directional valve and the third electromagnetic directional valve are both in a disconnected state.
The deep-sea mining lift pipe heave compensation system according to claim 3, wherein the working oil circuit of the passive compensation module is the proportional directional valve in the neutral position, the accumulator and the second electromagnetic directional valve In the communicating state, the second electromagnetic reversing valve is also in communication with the rodless chambers of the first hydraulic compensation cylinder and the second hydraulic compensation cylinder, and the accumulator is connected to the first hydraulic compensation via the third electromagnetic reversing valve and the one-way throttle valve. The rod cavity of the cylinder and the second hydraulic compensation cylinder is connected, and the rodless cavity of the first hydraulic compensation cylinder and the second hydraulic compensation cylinder returns to the accumulator through the second electromagnetic reversing valve, the first one-way valve and the stop valve, When the pressure in the rod chamber of the first hydraulic compensation cylinder and the second hydraulic compensation cylinder changes, the accumulator charges and discharges liquid, which causes the piston rod to move to achieve passive compensation. When the pressure of the passive compensation oil circuit increases sharply, the safety valve can Overflow unloading to protect the hydraulic components of the oil circuit.
The deep-sea mining lift pipe heave compensation system according to claim 3, wherein the working oil circuit of the no-load oil circuit module is that the motor drives the hydraulic pump to sequentially pass the high-pressure oil pumped out by the filter The right position of the oiler and the first electromagnetic reversing valve finally returns to the oil tank to complete the no-load oil circuit.
The deep-sea mining lift pipe heave compensation system according to claim 3, wherein the working oil circuit of the overflow oil circuit module is that if the oil circuit is blocked, the pressure of the hydraulic system increases sharply and the oil When the pressure of the circuit reaches the critical value set by the overflow valve, the oil pumped by the hydraulic pump flows directly back to the oil tank through the oil filter and the overflow valve in turn.
The deep-sea mining lift pipe heave compensation system according to claim 3, characterized in that the accumulator charging module oil circuit is such that the high-pressure oil pumped by the hydraulic pump passes through the oil filter and the first Two one-way valves, after the pressure is reduced by the pressure reducing valve, the accumulator is charged by the first one-way valve or the shut-off valve. If the charging oil circuit fails, the shut-off valve can be closed to prevent the high-pressure oil of the accumulator Backflow.
A compensation method for the heave compensation system of a deep-sea mining lifter pipe according to claim 2, which specifically includes the following steps:

When the dynamic wave detection device detects that the sea condition is relatively bad, the dynamic wave detection device will finally transfer the measured sea condition data to the industrial computer through the data temporary storage processing device. After the industrial computer obtains the sea condition information, it will start active compensation control after analysis and evaluation. Mode, the signal sent is transmitted to the data input terminal of the hydraulic compensation control module through the D/A converter, and the hydraulic compensation control module switches to the active compensation mode after receiving the signal from the industrial computer;

When the sea surface is calm, the dynamic wave detection device transmits the detected sea state information to the industrial computer through the data temporary storage processing device. After the industrial computer obtains the sea state information, after analysis and evaluation, the control signal is sent to the hydraulic compensation through the D/A converter The signal input terminal of the control module activates the passive compensation control mode. During passive compensation, the hydraulic pump almost does not need to supply energy, only the accumulator is charged and discharged to complete the compensation operation.