WO2024026986A1 - 一种采矿船波浪补偿装置、补偿系统和补偿方法 - Google Patents

一种采矿船波浪补偿装置、补偿系统和补偿方法 Download PDF

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WO2024026986A1
WO2024026986A1 PCT/CN2022/118884 CN2022118884W WO2024026986A1 WO 2024026986 A1 WO2024026986 A1 WO 2024026986A1 CN 2022118884 W CN2022118884 W CN 2022118884W WO 2024026986 A1 WO2024026986 A1 WO 2024026986A1
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pipeline
wave
mining ship
compensation
valve
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PCT/CN2022/118884
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English (en)
French (fr)
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孙友刚
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苏州海希夫智控科技有限公司
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Publication of WO2024026986A1 publication Critical patent/WO2024026986A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F15B11/12—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action
    • F15B11/121—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action providing distinct intermediate positions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B2017/0072—Seaway compensators

Definitions

  • the present invention relates to the technical field of mining ship wave compensation devices, and in particular to a mining ship wave compensation device, a compensation system and a compensation method.
  • the present invention overcomes the shortcomings of the prior art and provides a wave compensation device, a compensation system and a compensation method for a mining ship.
  • a mining ship wave compensation device which is characterized in that it includes: a collection mechanism, a control mechanism connected to the collection mechanism, and a hydraulic mechanism connected to the control mechanism. ;
  • the collection includes a mechanism: a displacement sensor provided on the mining ship, and a wave motion collection unit connected to the mining ship;
  • the hydraulic mechanism includes: a composite hydraulic cylinder, a main control valve and an oil pump connected to the composite hydraulic cylinder, and a filling valve connected in parallel with the main control valve;
  • the composite hydraulic cylinder includes: an outer oil cylinder, a piston rod arranged inside the outer oil cylinder, and an inner oil cylinder arranged inside the piston rod; one end of the piston rod is provided with a pulley, and the pulley is connected by a rope. Mining vessel;
  • the outer oil cylinder is divided by the end face of the piston rod to form a first oil cylinder and a second oil cylinder; the main control valve is connected to the inner oil cylinder through a first pipeline, and the main control valve is connected to the inner oil cylinder through a second pipeline. a second oil cylinder; the first pipeline and the second pipeline are connected through a buffer pipeline; the liquid filling valve is provided in the third pipeline, and one end of the third pipeline is connected to the main pump, The other end is connected to the first oil cylinder.
  • control mechanism is a fuzzy PID controller.
  • the first pipeline and the third pipeline are connected through a connecting valve.
  • a buffer valve is provided in the buffer pipeline.
  • the third pipeline at the input end of the liquid filling valve is connected in parallel with a voltage stabilizing accumulator, and the third pipeline at the output end of the liquid filling valve is connected in parallel with a compensation Accumulator.
  • the main pump is provided with a safety valve.
  • the pulley can extend or contract the rope.
  • the present invention provides a compensation system for a mining ship wave compensation device, which is applied to the mining ship wave compensation device described above.
  • the compensation system includes a fuzzy PID control unit;
  • the fuzzy PID control unit receives detection signals from the displacement sensor and the wave motion acquisition unit; the fuzzy PID control unit sends signals to the main control valve, the filling valve and the buffer valve in the hydraulic mechanism. Send a control signal to control the opening, closing or switching of the main control valve, the filling valve and the buffer valve.
  • the invention provides a compensation method for a mining ship wave compensation device
  • A1. Collect wave motion data according to the wave motion acquisition unit, use an algorithm to analyze the wave motion, and determine the direction or compensation amount of the mining ship's wave compensation;
  • B1. Measure the actual displacement of the mining ship based on the displacement sensor, and determine the direction or amount of wave compensation of the mining ship; B2. Pump into the inner cylinder through the main control valve Oil, the amount of oil between the inner oil cylinder and the second oil cylinder is adjusted through the buffer pipeline, and the compensation accumulator inputs oil into the first oil cylinder to realize the left and right movement of the piston rod.
  • the trajectory of the wave motion is divided according to time. After setting a fixed step length, the actual trajectory of the wave motion at the next step length is predicted through the action of the control mechanism. and analysis, while calculating the error from the expected value, and performing continuous iterative calculations and rolling optimization to determine the direction or amount of wave compensation for the mining ship.
  • the present invention provides a mining ship wave compensation device, which detects the displacement of the mining ship or predicts the movement trajectory of the mining ship in real time through a displacement sensor or a wave motion acquisition unit, realizes active and passive composite wave compensation, and reduces the damage of the ocean mining ship.
  • the heave motion ensures that the mining ship can operate stably even under the irregular influence of waves, improving the accuracy of compensation.
  • the algorithm in the present invention is based on a time series short-term forecasting algorithm for wave motion, which divides the wave motion trajectory according to time. After setting a fixed step size, the control mechanism controls the wave motion at the next step size. The actual trajectory of wave motion is predicted and analyzed, and the error from the expected value is calculated at the same time, and continuous iterative calculation and rolling optimization are carried out to determine the direction or amount of wave compensation of the mining ship, and then obtain the displacement of the piston rod, which is convenient for controlling the first The amount of oil in the oil cylinder and the second oil cylinder.
  • the present invention is in the active compensation mode.
  • the movement range of the mining ship is small, that is, the compensation amount is small.
  • the oil quantities in the first and second oil cylinders are calculated in advance by the control mechanism, that is, only Just deliver the specified amount of oil to the first and second oil cylinders; in the passive compensation mode, the actual displacement of the mining ship is measured in real time through the displacement sensor.
  • the movement of the mining ship is larger, that is, compensation is more frequent. , resulting in a large change in the amount of oil in the first and second cylinders.
  • Figure 1 is a schematic structural diagram of a hydraulic mechanism according to a preferred embodiment of the present invention.
  • Figure 2 is a flow chart of the compensation method in the active compensation mode according to the preferred embodiment of the present invention.
  • Figure 3 is a flow chart of the compensation method in the passive compensation mode according to the preferred embodiment of the present invention.
  • connection should be understood in a broad sense.
  • connection or integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components.
  • the invention provides a wave compensation device for a mining ship.
  • the mining ship wave compensation device includes: a collection mechanism, a control mechanism connected to the collection mechanism, and a hydraulic mechanism connected to the control mechanism.
  • the acquisition in the present invention includes a mechanism: a displacement sensor installed on the mining ship, and a wave motion acquisition unit connected to the mining ship.
  • the displacement sensor is used to detect the position of the mining ship.
  • the wave motion acquisition unit includes one or more floats placed in the water and motion sensors arranged on the floats.
  • the wave movement trajectory is divided according to time, and the movement amount and movement trajectory of the float are detected under a fixed step length.
  • the detection results are input into the control mechanism, and the control mechanism performs fuzzy prediction on the detection results. Calculate the error from the expected value, and perform continuous iterative calculations and rolling optimization to predict the movement and trajectory of the float in the future, and then determine the direction or amount of wave compensation for the mining ship.
  • the control mechanism in the present invention is a fuzzy PID controller.
  • This invention takes into account that the system may have a certain response lag in actual engineering, so it conducts research based on time lag, and designs intelligent algorithms based on artificial intelligence and reinforcement learning to control the wave compensation system, which can further improve the universality of the system and can also Reduce research and actual errors and improve accuracy.
  • the hydraulic mechanism includes: a composite hydraulic cylinder 1, a main control valve 11 and an oil pump 12 connected to the composite hydraulic cylinder 1, and a filling valve 13 connected in parallel with the main control valve 11.
  • the composite hydraulic cylinder 1 includes: an outer cylinder, a piston rod 4 arranged inside the outer cylinder, and an inner cylinder 5 arranged inside the piston rod 4; one end of the piston rod 4 is provided with a pulley 6, and the pulley 6 is connected to the mining ship through a rope.
  • the pulley 6 can extend or contract the rope.
  • the outer oil cylinder is divided by the end surface of the piston rod 4 to form a first oil cylinder 2 and a second oil cylinder 3; the main control valve 11 is connected to the inner oil cylinder 5 through the first pipeline 7, and the main control valve 11 is connected to the second oil cylinder 3 through the second pipeline 8 ;
  • the first pipeline 7 and the second pipeline 8 are connected through a buffer pipe 10; a buffer valve 15 is provided in the buffer pipe 10 for the exchange of oil in the inner cylinder 5 and the second cylinder 3.
  • the filling valve 13 is arranged in the third pipeline 9. One end of the third pipeline 9 is connected to the main pump and the other end is connected to the first oil cylinder 2.
  • the first pipeline 7 and the third pipeline 9 are connected through the connecting valve 14 .
  • the third pipeline 9 at the input end of the liquid charging valve 13 is connected in parallel with a voltage stabilizing accumulator 17 , and the third pipeline 9 at the output end of the liquid charging valve 13 is connected in parallel with a compensation accumulator 18 .
  • the main pump is provided with a safety valve 16.
  • the invention provides a compensation system for a mining ship wave compensation device, which is applied to the above-mentioned mining ship wave compensation device.
  • the compensation system includes a fuzzy PID control unit;
  • the fuzzy PID control unit receives detection signals from the displacement sensor and the wave motion acquisition unit; the fuzzy PID control unit sends control signals to the main control valve 11, the filling valve 13 and the buffer valve 15 in the hydraulic mechanism for controlling the main control valve 11, filling valve 13 and buffer valve 15.
  • the liquid valve 13 and the buffer valve 15 are opened and closed or switched.
  • the invention provides a compensation method for a mining ship wave compensation device
  • A1. Collect wave motion data based on the wave motion acquisition unit, use algorithms to analyze the wave motion, and determine the direction or amount of wave compensation for the mining ship;
  • the movement range of the mining ship is small in this state, that is, the compensation amount is small.
  • the oil quantity in the first oil cylinder 2 and the second oil cylinder 3 has been calculated in advance by the control mechanism, that is, it only needs to be pumped to the first oil cylinder. Just deliver the specified amount of oil to the oil cylinder 2 and the second oil cylinder 3.
  • the algorithm in the present invention is based on a time-series short-term wave motion prediction algorithm, which divides the wave motion trajectory according to time. After setting a fixed step size, the actual wave motion at the next step size is determined through the action of the control mechanism. The trajectory is predicted and analyzed, and the error from the expected value is calculated at the same time, and continuous iterative calculation and rolling optimization are performed to determine the direction or amount of wave compensation of the mining ship, and then obtain the displacement of the piston rod 4, which is convenient for controlling the first oil cylinder 2 and the amount of oil in the second cylinder 3.
  • the actual displacement of the mining ship is measured in real time through the displacement sensor.
  • the movement of the mining ship is larger, that is, compensation is more frequent, resulting in a change in the amount of oil in the first cylinder 2 and the second cylinder 3.
  • the amount of change is large.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

本发明公开了一种采矿船波浪补偿装置，包括：采集机构，与采集机构连接的控制机构，以及与控制机构连接的液压机构；采集机构包括：设置在采矿船上的位移传感器，与采矿船连接的波浪运动采集单元；液压机构包括：复合式液压缸，与复合式液压缸连接的主控制阀和油泵，以及与主控制阀并联的充液阀。通过位移传感器或波浪运动采集单元，实时检测采矿船位移量或预测采矿船运动轨迹，实现主被动复合型波浪补偿，减少海洋采矿船的升沉运动，从而可以保证采矿船在海浪的无规律影响下也可以稳定运行，提高了补偿的精度。

Description

一种采矿船波浪补偿装置、补偿系统和补偿方法 技术领域
本发明涉及采矿船波浪补偿装置技术领域，尤其涉及一种采矿船波浪补偿装置、补偿系统和补偿方法。
背景技术
由于目前海洋资源的开采非常重要，因此采矿船就变得十分必要，但是为了保证采矿船在作业时候的稳定性，因此波浪补偿系统也十分必要，但是目前市面上对于采矿船波浪补偿系统的设计和改进都基于机械的角度来进行的，而且体积很大，占地面积大。此外，现有的采矿船波浪补偿系统无法实现被动型、主动型波浪补偿系统的配合使用，导致补偿精度较低。
因此，本发明有必要研究一种全新的主被动一体式复合型的波浪补偿系统，并通过算法的改进来进一步提高采矿船波浪补偿系统的精度。
发明内容
本发明克服了现有技术的不足，提供一种采矿船波浪补偿装置、补偿系统和补偿方法。
为达到上述目的，本发明采用的技术方案为：一种采矿船波浪补偿装置，其特征在于，包括：采集机构，与所述采集机构连接的控制机构，以及与所述控制机构连接的液压机构；
所述采集包括机构：设置在所述采矿船上的位移传感器，与所述采矿船连接的波浪运动采集单元；
所述液压机构包括：复合式液压缸，与所述复合式液压缸连接的主控制阀和油泵，以及与所述主控制阀并联的充液阀；
所述复合式液压缸包括：外油缸，设置在所述外油缸内部的活塞杆，以及设置在所述活塞杆内部的内油缸；所述活塞杆的一端设置有一滑轮，所述滑轮 通过绳索连接采矿船；
所述外油缸由所述活塞杆的端面分割形成第一油缸和第二油缸；所述主控制阀通过第一管路连接所述内油缸，所述主控制阀通过第二管路连接所述第二油缸；所述第一管路和所述第二管路之间通过缓冲管路连通；所述充液阀设置在第三管路中，所述第三管路的一端连接主泵，另一端连接所述第一油缸。
本发明一个较佳实施例中，所述控制机构为模糊PID控制器。
本发明一个较佳实施例中，所述第一管路与所述第三管路通过连接阀门连接。
本发明一个较佳实施例中，所述缓冲管路中设置有缓冲阀。
本发明一个较佳实施例中，所述充液阀的输入端的所述第三管路并联有一稳压蓄能器，所述所述充液阀的输出端的所述第三管路并联有一补偿蓄能器。
本发明一个较佳实施例中，所述主泵设置有安全阀。
本发明一个较佳实施例中，所述滑轮能够伸张或收缩所述绳索。
本发明提供了一种采矿船波浪补偿装置的补偿系统，应用于上述所述的采矿船波浪补偿装置，所述补偿系统包括模糊PID控制单元；
所述模糊PID控制单元接收所述位移传感器和所述波浪运动采集单元的检测信号；所述模糊PID控制单元向所述液压机构中所述主控制阀、所述充液阀和所述缓冲阀发送控制信号，用于控制所述主控制阀、所述充液阀和所述缓冲阀的启闭或切换。
本发明提供了一种采矿船波浪补偿装置的补偿方法；
当采矿船处于主动补偿模式下，包括以下步骤：A1、根据波浪运动采集单元采集波浪运动数据，利用算法对波浪运动进行分析，确定采矿船波浪补偿的方向或补偿量；
A2、通过控制第三管路和第二管路从主泵中泵入的油量，进而控制第一油 缸和第二油缸中的油量，实现活塞杆的左右移动；
当采矿船处于被动补偿模式下，包括以下步骤：B1、根据位移传感器测量采矿船的实际位移量，确定确定采矿船波浪补偿的方向或补偿量；B2、通过主控制阀向内油缸中泵入油，内油缸和第二油缸之间的油量通过缓冲管路调整，补偿蓄能器向第一油缸中输入油，实现活塞杆的左右移动。
本发明一个较佳实施例中，在A1中，将波浪运动的轨迹按照时间进行分割，在设置好固定的步长下，通过控制机构的作用对于下一个步长下的波浪运动实际轨迹进行预测和分析，同时计算出和期望值的误差，并进行不断迭代计算和滚动优化，进而确定采矿船波浪补偿的方向或补偿量。
本发明解决了背景技术中存在的缺陷，本发明具备以下有益效果：
(1)本发明提供了一种采矿船波浪补偿装置，通过位移传感器或波浪运动采集单元，实时检测采矿船位移量或预测采矿船运动轨迹，实现主被动复合型波浪补偿，减少海洋采矿船的升沉运动，从而让可以保证采矿船在海浪的无规律影响下也可以稳定运行，提高了补偿的精度。
(2)本发明中的算法基于时间序列的波浪运动短时间预报算法，将波浪运动的轨迹按照时间进行分割，在设置好固定的步长下，通过控制机构的作用对于下一个步长下的波浪运动实际轨迹进行预测和分析，同时计算出和期望值的误差，并进行不断迭代计算和滚动优化，进而确定采矿船波浪补偿的方向或补偿量，进而得到活塞杆的位移量，便于控制第一油缸和第二油缸中的油量。
(3)本发明在主动补偿模式下，此时状态下采矿船的运动幅度较小，即补偿量较小，第一油缸和第二油缸中的油量经过控制机构的提前测算，即只需向第一油缸和第二油缸中输送指定油量即可；在被动补偿模式下，通过位移传感器实时测定采矿船的实际位移量，此时状态下采矿船的运动幅度较大，即补偿较为频繁，导致第一油缸和第二油缸中的油量的变化量较大，通过提前向内油 缸和补偿蓄能器中储存油，便于快速调整第一油缸或第二油缸中的油量，进而实现快速补偿。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图；
图1是本发明的优选实施例的液压机构的结构示意图；
图2是本发明的优选实施例的主动补偿模式下的补偿方法的流程图；
图3是本发明的优选实施例的被动补偿模式下的补偿方法的流程图；
图中：1、复合式液压缸；2、第一油缸；3、第二油缸；4、活塞杆；5、内油缸；6、滑轮；7、第一管路；8、第二管路；9、第三管路；10、缓冲管；11、主控制阀；12、油泵；13、充液阀；14、连接阀门；15、缓冲阀；16、安全阀；17、稳压蓄能器；18、补偿蓄能器。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是本发明还可以采用其他不同于在此描述的其他方式来实施，因此，本发明的保护范围并不受下面公开的具体实施例的限制。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外” 等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请保护范围的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或隐含指明所指示的技术特征的数量。因此，限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明创造的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以通过具体情况理解上述术语在本申请中的具体含义。
本发明提供了一种采矿船波浪补偿装置。该采矿船波浪补偿装置包括：采集机构，与采集机构连接的控制机构，以及与控制机构连接的液压机构。
本发明中采集包括机构：设置在采矿船上的位移传感器，与采矿船连接的波浪运动采集单元。位移传感器用于检测采矿船的位置量，波浪运动采集单元包括一个或多个置于水中的浮子，设置在浮子上的运动传感器。
本发明中将波浪运动的轨迹按照时间进行分割，在设置好固定的步长下对浮子的运动量和运动轨迹进行检测，将检测结果输入至控制机构中，控制机构对检测结果进行模糊预测，同时计算出和期望值的误差，并进行不断迭代计算和滚动优化，预测浮子未来一段时间的运动量和运动轨迹，进而确定采矿船波浪补偿的方向或补偿量。
本发明中的控制机构为模糊PID控制器。该发明考虑到工程实际中系统可能会存在一定的响应滞后性，因此基于时滞展开研究，同时基于人工智能和强 化学习设计智能算法来控制波浪补偿系统，可以进一步提高系统的普遍性，也可以减少研究和实际的误差，提高精度。
如图1所示，示出了本发明中液压机构的结构示意图。该液压机构包括：复合式液压缸1，与复合式液压缸1连接的主控制阀11和油泵12，以及与主控制阀11并联的充液阀13。
复合式液压缸1包括：外油缸，设置在外油缸内部的活塞杆4，以及设置在活塞杆4内部的内油缸5；活塞杆4的一端设置有一滑轮6，滑轮6通过绳索连接采矿船。
需要说明的是，本发明中滑轮6能够伸张或收缩绳索。
外油缸由活塞杆4的端面分割形成第一油缸2和第二油缸3；主控制阀11通过第一管路7连接内油缸5，主控制阀11通过第二管路8连接第二油缸3；第一管路7和第二管路8之间通过缓冲管10路连通；缓冲管10路中设置有缓冲阀15，用于内油缸5和第二油缸3中油的交换。
充液阀13设置在第三管路9中，第三管路9的一端连接主泵，另一端连接第一油缸2。
其中，第一管路7与第三管路9通过连接阀门14连接。
充液阀13的输入端的第三管路9并联有一稳压蓄能器17，充液阀13的输出端的第三管路9并联有一补偿蓄能器18。
本发明中主泵设置有安全阀16。
本发明提供了一种采矿船波浪补偿装置的补偿系统，应用于上述的采矿船波浪补偿装置，补偿系统包括模糊PID控制单元；
模糊PID控制单元接收位移传感器和波浪运动采集单元的检测信号；模糊PID控制单元向液压机构中主控制阀11、充液阀13和缓冲阀15发送控制信号，用于控制主控制阀11、充液阀13和缓冲阀15的启闭或切换。
本发明提供了一种采矿船波浪补偿装置的补偿方法；
如图2所示，当采矿船处于主动补偿模式下，包括以下步骤：
A1、根据波浪运动采集单元采集波浪运动数据，利用算法对波浪运动进行分析，确定采矿船波浪补偿的方向或补偿量；
A2、通过控制第三管路9和第二管路8从主泵中泵入的油量，进而控制第一油缸2和第二油缸3中的油量，实现活塞杆4的左右移动。
在主动补偿模式下，此时状态下采矿船的运动幅度较小，即补偿量较小，第一油缸2和第二油缸3中的油量经过控制机构的提前测算，即只需向第一油缸2和第二油缸3中输送指定油量即可。
本发明中的算法基于时间序列的波浪运动短时间预报算法，将波浪运动的轨迹按照时间进行分割，在设置好固定的步长下，通过控制机构的作用对于下一个步长下的波浪运动实际轨迹进行预测和分析，同时计算出和期望值的误差，并进行不断迭代计算和滚动优化，进而确定采矿船波浪补偿的方向或补偿量，进而得到活塞杆4的位移量，便于控制第一油缸2和第二油缸3中的油量。
如图3所示，当采矿船处于被动补偿模式下，包括以下步骤：
B1、根据位移传感器测量采矿船的实际位移量，确定确定采矿船波浪补偿的方向或补偿量；
B2、通过主控制阀11向内油缸5中泵入油，内油缸5和第二油缸3之间的油量通过缓冲管10路调整，补偿蓄能器18向第一油缸2中输入油，实现活塞杆4的左右移动。
在被动补偿模式下，通过位移传感器实时测定采矿船的实际位移量，此时状态下采矿船的运动幅度较大，即补偿较为频繁，导致第一油缸2和第二油缸3中的油量的变化量较大，通过提前向内油缸5和补偿蓄能器18中储存油，便于快速调整第一油缸2或第二油缸3中的油量，进而实现快速补偿。
以上依据本发明的理想实施例为启示，通过上述的说明内容，相关人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定技术性范围。

Claims (10)

  1. 一种采矿船波浪补偿装置，其特征在于，包括：采集机构，与所述采集机构连接的控制机构，以及与所述控制机构连接的液压机构；
    所述采集包括机构：设置在所述采矿船上的位移传感器，与所述采矿船连接的波浪运动采集单元；
    所述液压机构包括：复合式液压缸，与所述复合式液压缸连接的主控制阀和油泵，以及与所述主控制阀并联的充液阀；
    所述复合式液压缸包括：外油缸，设置在所述外油缸内部的活塞杆，以及设置在所述活塞杆内部的内油缸；所述活塞杆的一端设置有一滑轮，所述滑轮通过绳索连接采矿船；
    所述外油缸由所述活塞杆的端面分割形成第一油缸和第二油缸；所述主控制阀通过第一管路连接所述内油缸，所述主控制阀通过第二管路连接所述第二油缸；所述第一管路和所述第二管路之间通过缓冲管路连通；所述充液阀设置在第三管路中，所述第三管路的一端连接主泵，另一端连接所述第一油缸。
  2. 根据权利要求1所述的一种采矿船波浪补偿装置，其特征在于：所述控制机构为模糊PID控制器。
  3. 根据权利要求1所述的一种采矿船波浪补偿装置，其特征在于：所述第一管路与所述第三管路通过连接阀门连接。
  4. 根据权利要求1所述的一种采矿船波浪补偿装置，其特征在于：所述缓冲管路中设置有缓冲阀。
  5. 根据权利要求1所述的一种采矿船波浪补偿装置，其特征在于：所述充液阀的输入端的所述第三管路并联有一稳压蓄能器，所述所述充液阀的输出端的所述第三管路并联有一补偿蓄能器。
  6. 根据权利要求1所述的一种采矿船波浪补偿装置，其特征在于：所述主泵设置有安全阀。
  7. 根据权利要求1所述的一种采矿船波浪补偿装置，其特征在于：所述滑轮能够伸张或收缩所述绳索。
  8. 一种采矿船波浪补偿装置的补偿系统，其特征在于，应用于如权利要求1-7中任一项所述的采矿船波浪补偿装置，所述补偿系统包括模糊PID控制单元；
    所述模糊PID控制单元接收所述位移传感器和所述波浪运动采集单元的检测信号；所述模糊PID控制单元向所述液压机构中所述主控制阀、所述充液阀和所述缓冲阀发送控制信号，用于控制所述主控制阀、所述充液阀和所述缓冲阀的启闭或切换。
  9. 基于权利要求1-7中任一项所述的一种采矿船波浪补偿装置的补偿方法，其特征在于：
    当采矿船处于主动补偿模式下，包括以下步骤：A1、根据波浪运动采集单元采集波浪运动数据，利用算法对波浪运动进行分析，确定采矿船波浪补偿的方向或补偿量；A2、通过控制第三管路和第二管路从主泵中泵入的油量，进而控制第一油缸和第二油缸中的油量，实现活塞杆的左右移动；
    当采矿船处于被动补偿模式下，包括以下步骤：B1、根据位移传感器测量采矿船的实际位移量，确定确定采矿船波浪补偿的方向或补偿量；B2、通过主控制阀向内油缸中泵入油，内油缸和第二油缸之间的油量通过缓冲管路调整，补偿蓄能器向第一油缸中输入油，实现活塞杆的左右移动。
  10. 根据权利要求9所述的一种采矿船波浪补偿装置的补偿方法，其特征在于：在A1中，将波浪运动的轨迹按照时间进行分割，在设置好固定的步长下，通过控制机构的作用对于下一个步长下的波浪运动实际轨迹进行预测和分析，同时计算出和期望值的误差，并进行不断迭代计算和滚动优化，进而确定采矿船波浪补偿的方向或补偿量。
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