CN108798558A - A kind of passive heave compensator of winch type master and its working method - Google Patents
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
- E21B19/09—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods specially adapted for drilling underwater formations from a floating support using heave compensators supporting the drill string
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Abstract
本发明涉及一种绞车式主被动升沉补偿装置及其工作方法，属于海上作业技术领域，包括绞车、平台加速传感器、旋转编码器、PLC控制器、矢量变频系统，绞车通过绳索经支撑架连接有定滑轮和动滑轮，定滑轮上方设置有拉力传感器，旋转编码器与绞车的滚筒轴连接，拉力传感器、旋转编码器、平台加速传感器的输出端均连接至PLC控制器，PLC控制器的输出端连接矢量变频系统；绞车包括绞车滚筒、绞车滚筒轴、液压盘刹和行星减速器，行星减速器的一个行星齿轮通过第一联轴器连接有被动补偿控制组件，另一个行星齿轮连接有主动补偿控制组件，绞车式主被动升沉补偿装置沿绞车滚筒两侧对称布置。本发明结构简单、响应快、补偿精度高、效率高。
The invention relates to a winch-type active and passive heave compensation device and its working method, belonging to the technical field of offshore operations, including a winch, a platform acceleration sensor, a rotary encoder, a PLC controller, and a vector frequency conversion system. The winch is connected through a support frame through a rope There are fixed pulleys and movable pulleys, a tension sensor is set above the fixed pulley, and the rotary encoder is connected to the drum shaft of the winch. The output terminals of the tension sensor, rotary encoder and platform acceleration sensor are all connected to the PLC controller, and the output terminals of the PLC controller Connect the vector frequency conversion system; the winch includes winch drum, winch drum shaft, hydraulic disc brake and planetary reducer, one planetary gear of the planetary reducer is connected with passive compensation control components through the first coupling, and the other planetary gear is connected with active compensation The control components and winch-type active and passive heave compensation devices are arranged symmetrically along both sides of the winch drum. The invention has the advantages of simple structure, quick response, high compensation precision and high efficiency.
Description
技术领域technical field
本发明涉及一种绞车式主被动升沉补偿装置及其工作方法，属于海上作业技术领域。The invention relates to a winch-type active and passive heave compensation device and a working method thereof, belonging to the technical field of offshore operations.
背景技术Background technique
随着我国技术的发展，海洋的开发越来越容易，海上作业的种类和数量也越来越多。但是海上环境恶劣，平台会随着风浪等因素进行不规则运动，极大的影响了海上作业的安全性和精确性。在这些不规则运动中，影响最大的主要是升沉方向的运动，因此，我们需要对升沉方向进行补偿。With the development of our country's technology, the development of the ocean has become easier and easier, and the types and quantities of offshore operations have also increased. However, the offshore environment is harsh, and the platform will move irregularly with factors such as wind and waves, which greatly affects the safety and accuracy of offshore operations. Among these irregular movements, the most influential one is the movement in the heave direction, so we need to compensate for the heave direction.
升沉补偿器是集合了电、气、液、控等为一体的装置。目前的升沉补偿器按照其安装位置分为天车式升沉补偿器、绞车式升沉补偿器以及游车和大钩间的升沉补偿装置。其中的绞车式是一项新的技术，它具有效率高，设备重心低，传动简单等特点，目前很受欢迎，但仍存在电机功率低等问题。The heave compensator is a device that integrates electricity, gas, liquid, control, etc. The current heave compensator is divided into crane type heave compensator, winch type heave compensator and heave compensation device between traveling block and hook according to its installation position. Among them, the winch type is a new technology, which has the characteristics of high efficiency, low equipment center of gravity, and simple transmission. It is very popular at present, but there are still problems such as low motor power.
升沉补偿器按照补偿形式则分为主动补偿、被动补偿和主被动补偿形式。被动补偿是依靠海浪的举升力和船的重力共同控制液压缸的活塞的运动，船在海浪的作用下向上运动时，控制活塞压缩气瓶，达到补偿的目的。在船向下运动时则释放压缩气瓶，推动活塞，进行补偿。被动式补偿器精确度较低，滞后较大，一般适用于精确度要求不高的海洋作业中。主动补偿器是依靠系统本身的能源动力进行工作的，比较精确，但是存在耗费能源较大，能源效率不高等问题。主被动补偿器是主动补偿和被动补偿的结合，应用较为广泛，但仍存在能量损失，结构复杂等缺点。Heave compensators are divided into active compensation, passive compensation and active and passive compensation according to the compensation form. Passive compensation relies on the lifting force of the waves and the gravity of the ship to jointly control the movement of the piston of the hydraulic cylinder. When the ship moves upwards under the action of the waves, the piston is controlled to compress the cylinder to achieve the purpose of compensation. As the boat moves downwards, the compressed gas cylinder is released, pushing the piston to compensate. Passive compensators have low precision and large lag, and are generally suitable for marine operations that do not require high precision. The active compensator works by relying on the energy power of the system itself, which is relatively accurate, but there are problems such as large energy consumption and low energy efficiency. The active-passive compensator is a combination of active compensation and passive compensation. It is widely used, but it still has the disadvantages of energy loss and complex structure.
发明内容Contents of the invention
本发明提供一种结构简单、响应快、补偿精度高、效率高的绞车式主被动升沉补偿装置及其工作方法。The invention provides a winch type active and passive heave compensation device with simple structure, fast response, high compensation precision and high efficiency and its working method.
一方面，本发明提供一种绞车式主被动升沉补偿装置，包括绞车、平台加速传感器、旋转编码器、PLC控制器、矢量变频系统，所述绞车和平台加速传感器固定于海洋平台上，所述绞车的连接绳索的一端，另一端通过支撑架连接有定滑轮和动滑轮，所述动滑轮用于连接负载，所述定滑轮上方设置有拉力传感器，所述旋转编码器与所述绞车的滚筒轴连接，所述拉力传感器、旋转编码器、平台加速传感器的输出端均连接至所述PLC控制器，所述PLC控制器的输出端连接所述矢量变频系统，从而控制绞车的转动；On the one hand, the present invention provides a winch-type active and passive heave compensation device, including a winch, a platform acceleration sensor, a rotary encoder, a PLC controller, and a vector frequency conversion system. The winch and the platform acceleration sensor are fixed on the ocean platform, and the One end of the connecting rope of the winch, the other end is connected with a fixed pulley and a movable pulley through a support frame, the movable pulley is used to connect the load, a tension sensor is arranged above the fixed pulley, and the rotary encoder is connected with the drum shaft of the winch connected, the output ends of the tension sensor, the rotary encoder, and the platform acceleration sensor are all connected to the PLC controller, and the output ends of the PLC controller are connected to the vector frequency conversion system, thereby controlling the rotation of the winch;
所述绞车包括绞车滚筒、绞车滚筒轴、液压盘刹和行星减速器，所述行星减速器的一个行星齿轮通过第一联轴器连接有被动补偿控制组件，另一个行星齿轮连接有主动补偿控制组件，两个行星齿轮共同控制太阳轮，从而带动绞车转动，所述绞车式主被动升沉补偿装置为两套，沿绞车滚筒两侧对称布置共同控制绞车的转动。The winch includes a winch drum, a winch drum shaft, a hydraulic disc brake and a planetary reducer, one planetary gear of the planetary reducer is connected to a passive compensation control assembly through a first coupling, and the other planetary gear is connected to an active compensation control Assemblies, two planetary gears jointly control the sun gear, thereby driving the winch to rotate. The winch-type active and passive heave compensation devices are two sets, which are arranged symmetrically along both sides of the winch drum to jointly control the rotation of the winch.
根据本发明优选的，所述主动补偿控制组件包括主动液压缸，所述主动液压缸的活塞杆连接于另一个行星齿轮上，所述主动液压缸的无杆腔连接电液伺服阀的A口，所述主动液压缸的有杆腔连接电液伺服阀的B口，所述电液伺服阀的C口、D口分别连接第一液压泵和第二液压泵的高压油口，所述第一液压泵的低压油口通过第一单向阀与第一油箱相连，所述第一液压泵的高压油口还连接有第一液压蓄能器，既提高了能量使用效率，又提高了系统的功率，第一液压泵的斜盘与带有发电功能的第一电动机机械连接，所述第一电动机的另一侧连接有逆变器和电容；Preferably, according to the present invention, the active compensation control assembly includes an active hydraulic cylinder, the piston rod of which is connected to another planetary gear, and the rodless chamber of the active hydraulic cylinder is connected to port A of the electro-hydraulic servo valve , the rod cavity of the active hydraulic cylinder is connected to the B port of the electro-hydraulic servo valve, and the C port and the D port of the electro-hydraulic servo valve are respectively connected to the high-pressure oil ports of the first hydraulic pump and the second hydraulic pump. The low-pressure oil port of a hydraulic pump is connected with the first oil tank through the first check valve, and the high-pressure oil port of the first hydraulic pump is also connected with the first hydraulic accumulator, which not only improves the energy utilization efficiency, but also improves the efficiency of the system. power, the swash plate of the first hydraulic pump is mechanically connected with the first electric motor with power generation function, and the other side of the first electric motor is connected with an inverter and a capacitor;
所述第二液压泵的低压油口通过第二单向阀与第二油箱相连，所述第二液压泵的高压油口还连接有第二液压蓄能器，既提高了能量使用效率，又提高了系统的功率，第二液压泵的斜盘与带有发电功能的第二电动机机械连接，所述第二电动机的另一侧连接所述逆变器和电容。The low-pressure oil port of the second hydraulic pump is connected with the second oil tank through the second check valve, and the high-pressure oil port of the second hydraulic pump is also connected with the second hydraulic accumulator, which not only improves the energy use efficiency, but also The power of the system is improved, the swash plate of the second hydraulic pump is mechanically connected with the second electric motor with power generation function, and the other side of the second electric motor is connected with the inverter and capacitor.
根据本发明优选的，所述主动液压缸的活塞杆依次通过第二联轴器、螺杆、螺母和法兰连接于所述行星减速器的另一个行星齿轮上，螺杆与第二联轴器之间机械连接，所述第二联轴器与活塞杆相连，所述螺母和螺杆组成滚动螺旋副。Preferably according to the present invention, the piston rod of the active hydraulic cylinder is sequentially connected to the other planetary gear of the planetary reducer through the second coupling, screw, nut and flange, and the connection between the screw and the second coupling The second coupling is connected with the piston rod, and the nut and the screw rod form a rolling screw pair.
根据本发明优选的，所述第一单向阀和第二单向阀的两侧均并联有过滤阀；所述第一液压泵和第二液压泵的两侧均并联有溢流阀，溢流阀并联在第一液压泵和第二液压泵两侧，起到保护作用。Preferably, according to the present invention, filter valves are connected in parallel on both sides of the first check valve and the second check valve; overflow valves are connected in parallel on both sides of the first hydraulic pump and the second hydraulic pump, and the overflow valve The flow valve is connected in parallel on both sides of the first hydraulic pump and the second hydraulic pump to play a protective role.
进一步优选的，所述被动补偿控制组件包括被动补偿液压泵，所述被动补偿液压泵通过所述第一联轴器与所述行星减速器的一个行星齿轮连接，所述被动补偿液压泵通过液气转换器连接多个高压气瓶，所述被动补偿液压泵连接所述液气转换器的液腔连接，所述高压气瓶连接所述液气转换器的气腔。Further preferably, the passive compensation control assembly includes a passive compensation hydraulic pump, the passive compensation hydraulic pump is connected to a planetary gear of the planetary reducer through the first coupling, and the passive compensation hydraulic pump is connected through a hydraulic The gas converter is connected to a plurality of high-pressure gas cylinders, the passive compensation hydraulic pump is connected to the liquid cavity of the liquid-gas converter, and the high-pressure gas cylinder is connected to the gas cavity of the liquid-gas converter.
另一方面，本发明提供一种上述绞车式主被动升沉补偿装置的工作方法，包括：On the other hand, the present invention provides a working method of the above-mentioned winch-type active and passive heave compensation device, including:
当海洋平台随着波浪上升、下降时，平台加速传感器检测海洋平台的加速度信号，拉力传感器检测绳索的张力信号，旋转编码器检测绞车的转速信号，并将输出信号传给PLC控制器，PLC控制器输出控制信号给矢量变频系统，从而控制绞车的转动以保证负载的空间绝对位置不变；When the ocean platform rises and falls with the waves, the platform acceleration sensor detects the acceleration signal of the ocean platform, the tension sensor detects the tension signal of the rope, and the rotary encoder detects the speed signal of the winch, and sends the output signal to the PLC controller, and the PLC controls The controller outputs control signals to the vector frequency conversion system to control the rotation of the winch to ensure that the absolute position of the load remains unchanged in space;
当海洋平台上升时，PLC控制器接收到平台加速传感器、拉力传感器和旋转编码器的信号，并控制主动补偿控制组件的电液伺服阀的A口通电，此时，位于M侧的第二电动机为发电机，主动液压缸无杆腔的油通过第二液压泵带动发电机旋转，产生的电能通过逆变器存储在电容中；位于N侧的第一电动机为电动机，电容中储存的电能经逆变器带动电动机推动第一液压泵，主动液压缸有杆腔油压升高，在二者的共同作用下，主动液压缸带动行星减速器转动，绞车释放绳索，回收负载重力势能，与此同时，被动补偿液压泵开始工作，压缩液气转换器的气腔，使高压气瓶压力升高，储存负载的重力势能；When the ocean platform rises, the PLC controller receives the signals from the platform acceleration sensor, tension sensor and rotary encoder, and controls the A port of the electro-hydraulic servo valve of the active compensation control component to be energized. At this time, the second motor on the M side The oil in the rodless chamber of the active hydraulic cylinder drives the generator to rotate through the second hydraulic pump, and the generated electric energy is stored in the capacitor through the inverter; the first motor on the N side is an electric motor, and the electric energy stored in the capacitor is passed through The inverter drives the electric motor to drive the first hydraulic pump, and the active hydraulic cylinder has the rod chamber oil pressure rises. Under the joint action of the two, the active hydraulic cylinder drives the planetary reducer to rotate, the winch releases the rope, and recovers the gravitational potential energy of the load. At the same time, the passive compensation hydraulic pump starts to work, compressing the gas cavity of the liquid-gas converter, increasing the pressure of the high-pressure gas cylinder, and storing the gravitational potential energy of the load;
当海洋平台下降时，PLC控制器接收到平台加速传感器、拉力传感器和旋转编码器的信号，并控制主动补偿控制组件的电液伺服阀的B口通电，此时位于N侧的第一电动机为发电机，主动液压缸有杆腔的油通过第一液压泵带动发电机旋转，产生的电能通过逆变器存储在电容中；位于M侧的第二电动机为电动机，电容中储存的电能经逆变器带动电动机推动第二液压泵，主动液压缸无杆腔油压升高，在二者的共同作用下，主动液压缸带动行星减速器转动，绞车回收绳索，保证负载的绝对位置不变，与此同时，液气转换器开始工作，高压气瓶中的气体推动液气转换器带动被动补偿液压泵旋转，补偿绞车回收负载的运动。When the ocean platform descends, the PLC controller receives the signals from the platform acceleration sensor, tension sensor and rotary encoder, and controls the B port of the electro-hydraulic servo valve of the active compensation control component to be energized. At this time, the first motor on the N side is Generator, the oil in the rod cavity of the active hydraulic cylinder drives the generator to rotate through the first hydraulic pump, and the generated electric energy is stored in the capacitor through the inverter; the second motor on the M side is an electric motor, and the electric energy stored in the capacitor is passed through the inverter The inverter drives the motor to drive the second hydraulic pump, and the oil pressure in the rodless chamber of the active hydraulic cylinder increases. Under the joint action of the two, the active hydraulic cylinder drives the planetary reducer to rotate, and the winch recovers the rope to ensure that the absolute position of the load remains unchanged. At the same time, the liquid-gas converter starts to work, and the gas in the high-pressure gas cylinder pushes the liquid-gas converter to drive the passive compensation hydraulic pump to rotate, compensating the movement of the winch to recover the load.
值得注意的是，本文提到的PLC控制器、拉力传感器、旋转编码器、平台加速传感器和矢量变频系统均可采用本领域的常规选择，此处不再赘述。It is worth noting that the PLC controller, tension sensor, rotary encoder, platform acceleration sensor and vector frequency conversion system mentioned in this article can all be conventional choices in the field, and will not be repeated here.
与现有技术相比，本发明的有益效果为：Compared with prior art, the beneficial effect of the present invention is:
1)本发明在常规的绞车基础上，增加了液压二次调节系统，系统中没有原理性节流损失，提高了系统效率。1) The present invention adds a hydraulic secondary adjustment system on the basis of a conventional winch, and there is no principle throttling loss in the system, which improves the system efficiency.
2)本发明使用了主被动结合的补偿方式，提高了补偿的精度，并且加入了能量回收装置，利用发电机回收负载的重力势能并存储在电容中，然后在提升负载时使用出来，进一步降低了能量的损耗。2) The present invention uses a combination of active and passive compensation methods, which improves the accuracy of compensation, and adds an energy recovery device, which uses the generator to recover the gravitational potential energy of the load and store it in the capacitor, and then use it when lifting the load, further reducing the energy loss.
3)本发明使用了液压蓄能器装置，液压蓄能器能够提高系统的功率，一定程度上弥补了电动机功率偏低的缺点。3) The present invention uses a hydraulic accumulator device, and the hydraulic accumulator can increase the power of the system, which makes up for the shortcoming of the low power of the electric motor to a certain extent.
4)本发明结构紧凑，重心低，传动简单，占用空间小，可以大大节省工作空间。4) The present invention has compact structure, low center of gravity, simple transmission and small occupied space, which can greatly save working space.
附图说明Description of drawings
图1为本发明的绞车式主被动升沉补偿装置的结构示意图；Fig. 1 is the structural representation of winch type active and passive heave compensation device of the present invention;
图2为本发明的绞车式主被动升沉补偿装置的绞车结构示意图；Fig. 2 is the schematic diagram of the structure of the winch of the winch type active and passive heave compensation device of the present invention;
图3为本发明的绞车式主被动升沉补偿装置的主被动液压系统原理图；Fig. 3 is the principle diagram of the active and passive hydraulic system of the winch type active and passive heave compensation device of the present invention;
其中：1-绞车，2-平台加速传感器，3-旋转编码器，4-PLC控制器，5-矢量变频系统，6-海洋平台，7-支撑架，8-定滑轮，9-动滑轮，10-负载，11-拉力传感器，12-滚筒轴，13-绞车滚筒，14-液压盘刹，15-行星减速器，16-第一联轴器，17-主动液压缸，18-电液伺服阀，19-第一液压泵，20-第二液压泵，21-第一单向阀，22-第一油箱，23-第一液压蓄能器，24-第一电动机，25-逆变器，26-电容，27-第二单向阀，28-第二油箱，29-第二液压蓄能器，30-第二电动机，31-第二联轴器，32-螺杆，33-螺母，34-法兰，35、35’-过滤阀，36、36’-溢流阀，37-被动补偿液压泵，38-液气转换器，39-高压气瓶。Among them: 1-winch, 2-platform acceleration sensor, 3-rotary encoder, 4-PLC controller, 5-vector frequency conversion system, 6-offshore platform, 7-support frame, 8-fixed pulley, 9-moving pulley, 10 -load, 11-tension sensor, 12-drum shaft, 13-winch drum, 14-hydraulic disc brake, 15-planetary reducer, 16-first coupling, 17-active hydraulic cylinder, 18-electro-hydraulic servo valve , 19-first hydraulic pump, 20-second hydraulic pump, 21-first check valve, 22-first oil tank, 23-first hydraulic accumulator, 24-first electric motor, 25-inverter, 26-capacitor, 27-second one-way valve, 28-second oil tank, 29-second hydraulic accumulator, 30-second electric motor, 31-second coupling, 32-screw, 33-nut, 34 -Flange, 35, 35'-filter valve, 36, 36'-overflow valve, 37-passive compensation hydraulic pump, 38-liquid-gas converter, 39-high pressure cylinder.
具体实施方式：Detailed ways:
为使本发明要解决的技术问题、技术方案和优点更加清楚，下面将结合附图及具体实施例进行详细描述，但不仅限于此，本发明未详尽说明的，均按本领域常规技术。In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments, but not limited thereto, and those not described in detail in the present invention shall be conventional techniques in this field.
实施例1：Example 1:
如图1-3所示，一种绞车式主被动升沉补偿装置，包括绞车1、平台加速传感器2、旋转编码器3、PLC控制器4、矢量变频系统5，绞车1和平台加速传感器2固定于海洋平台6上，绞车1的连接绳索的一端，绳索的另一端通过支撑架7连接有定滑轮8和动滑轮9，动滑轮9用于连接负载10，定滑轮9上方设置有拉力传感器11，旋转编码器3与绞车1的滚筒轴连接，拉力传感器11、旋转编码器3、平台加速传感器2的输出端均连接至PLC控制器4，PLC控制器4的输出端连接矢量变频系统5，从而控制绞车1的转动；As shown in Figure 1-3, a winch-type active and passive heave compensation device includes winch 1, platform acceleration sensor 2, rotary encoder 3, PLC controller 4, vector frequency conversion system 5, winch 1 and platform acceleration sensor 2 Fixed on the offshore platform 6, one end of the rope connected to the winch 1, the other end of the rope is connected to a fixed pulley 8 and a movable pulley 9 through a support frame 7, the movable pulley 9 is used to connect a load 10, and a tension sensor 11 is arranged above the fixed pulley 9, The rotary encoder 3 is connected to the drum shaft of the winch 1, the output ends of the tension sensor 11, the rotary encoder 3, and the platform acceleration sensor 2 are all connected to the PLC controller 4, and the output end of the PLC controller 4 is connected to the vector frequency conversion system 5, thereby Control the rotation of winch 1;
绞车1包括绞车滚筒13、绞车滚筒轴12、液压盘刹14和行星减速器15，行星减速器15的一个行星齿轮通过第一联轴器16连接有被动补偿控制组件，另一个行星齿轮连接有主动补偿控制组件，两个行星齿轮共同控制太阳轮，从而带动绞车1转动，绞车式主被动升沉补偿装置为两套，沿绞车滚筒13两侧对称布置共同控制绞车1的转动。The winch 1 includes a winch drum 13, a winch drum shaft 12, a hydraulic disc brake 14 and a planetary reducer 15, one planetary gear of the planetary reducer 15 is connected with a passive compensation control assembly through a first coupling 16, and the other planetary gear is connected with a The active compensation control component and the two planetary gears jointly control the sun gear, thereby driving the winch 1 to rotate. There are two sets of winch-type active and passive heave compensation devices, which are arranged symmetrically along both sides of the winch drum 13 to jointly control the rotation of the winch 1 .
实施例2：Example 2:
一种绞车式主被动升沉补偿装置，结构如实施例1所示，所不同的是，主动补偿控制组件包括主动液压缸17，主动液压缸17的活塞杆连接于另一个行星齿轮上，主动液压缸17的无杆腔连接电液伺服阀18的A口，主动液压缸17的有杆腔连接电液伺服阀18的B口，电液伺服阀18的C口、D口分别连接第一液压泵19和第二液压泵20的高压油口，第一液压泵19的低压油口通过第一单向阀21与第一油箱22相连，第一液压泵19的高压油口还连接有第一液压蓄能器23，既提高了能量使用效率，又提高了系统的功率，第一液压泵19的斜盘与带有发电功能的第一电动机24机械连接，第一电动机24的另一侧连接有逆变器25和电容26；A winch-type active and passive heave compensation device, the structure is as shown in Embodiment 1, the difference is that the active compensation control assembly includes an active hydraulic cylinder 17, the piston rod of the active hydraulic cylinder 17 is connected to another planetary gear, and the active The rodless chamber of the hydraulic cylinder 17 is connected to the A port of the electro-hydraulic servo valve 18, the rod chamber of the active hydraulic cylinder 17 is connected to the B port of the electro-hydraulic servo valve 18, and the C and D ports of the electro-hydraulic servo valve 18 are respectively connected to the first The high-pressure oil ports of the hydraulic pump 19 and the second hydraulic pump 20, the low-pressure oil port of the first hydraulic pump 19 are connected with the first oil tank 22 through the first check valve 21, and the high-pressure oil port of the first hydraulic pump 19 is also connected with the first A hydraulic accumulator 23 not only improves the energy utilization efficiency, but also improves the power of the system. The swash plate of the first hydraulic pump 19 is mechanically connected with the first electric motor 24 with power generation function, and the other side of the first electric motor 24 An inverter 25 and a capacitor 26 are connected;
第二液压泵20的低压油口通过第二单向阀27与第二油箱28相连，第二液压泵20的高压油口还连接有第二液压蓄能器29，既提高了能量使用效率，又提高了系统的功率，第二液压泵20的斜盘与带有发电功能的第二电动机30机械连接，第二电动机30的另一侧连接逆变器25和电容26。The low-pressure oil port of the second hydraulic pump 20 is connected with the second oil tank 28 through the second check valve 27, and the high-pressure oil port of the second hydraulic pump 20 is also connected with the second hydraulic accumulator 29, which not only improves the energy use efficiency, The power of the system is also improved. The swash plate of the second hydraulic pump 20 is mechanically connected to the second electric motor 30 with power generation function, and the other side of the second electric motor 30 is connected to the inverter 25 and the capacitor 26 .
实施例3：Example 3:
一种绞车式主被动升沉补偿装置，结构如实施例2所示，所不同的是，主动液压缸17的活塞杆依次通过第二联轴器31、螺杆32、螺母33和法兰34连接于行星减速器13的另一个行星齿轮上，螺杆32与第二联轴器31之间机械连接，第二联轴器31与活塞杆相连，螺母33和螺杆32组成滚动螺旋副。A winch-type active and passive heave compensation device, the structure of which is shown in Embodiment 2, the difference is that the piston rod of the active hydraulic cylinder 17 is sequentially connected by the second coupling 31, the screw rod 32, the nut 33 and the flange 34 On the other planetary gear of the planetary reducer 13, the screw rod 32 is mechanically connected to the second coupling 31, the second coupling 31 is connected to the piston rod, and the nut 33 and the screw rod 32 form a rolling screw pair.
实施例4：Example 4:
一种绞车式主被动升沉补偿装置，结构如实施例3所示，所不同的是，第一单向阀21和第二单向阀27的两侧分别并联有过滤阀35和35’；第一液压泵19和第二液压泵20的两侧分别并联有溢流阀36和36’，溢流阀36并联在第一液压泵19两侧，溢流阀36’并联在第二液压泵20两侧，起到保护作用。A winch-type active and passive heave compensation device, the structure of which is shown in Embodiment 3, the difference is that filter valves 35 and 35' are respectively connected in parallel on both sides of the first check valve 21 and the second check valve 27; Both sides of the first hydraulic pump 19 and the second hydraulic pump 20 are connected in parallel with relief valves 36 and 36' respectively, the relief valve 36 is connected in parallel with both sides of the first hydraulic pump 19, and the relief valve 36' is connected in parallel with the second hydraulic pump 20 sides, play a protective role.
实施例5：Example 5:
一种绞车式主被动升沉补偿装置，结构如实施例4所示，所不同的是，被动补偿控制组件包括被动补偿液压泵37，被动补偿液压泵37通过第一联轴器16与行星减速器15的一个行星齿轮连接，被动补偿液压泵37通过液气转换器38连接多个高压气瓶39，被动补偿液压泵37连接液气转换器38的液腔连接，高压气瓶38连接液气转换器38的气腔。A winch-type active and passive heave compensation device, the structure of which is shown in Embodiment 4, the difference is that the passive compensation control assembly includes a passive compensation hydraulic pump 37, and the passive compensation hydraulic pump 37 is connected to the planetary reduction gear through the first coupling 16 A planetary gear of the device 15 is connected, the passive compensation hydraulic pump 37 is connected to a plurality of high-pressure gas cylinders 39 through the liquid-gas converter 38, the passive compensation hydraulic pump 37 is connected to the liquid cavity of the liquid-gas converter 38, and the high-pressure gas cylinder 38 is connected to the liquid-gas The air cavity of the converter 38.
实施例6：Embodiment 6:
一种实施例5中的绞车式主被动升沉补偿装置的工作方法，包括：A working method of the winch type active and passive heave compensation device in Embodiment 5, comprising:
当海洋平台6随着波浪上升、下降时，平台加速传感器2检测海洋平台6的加速度信号，拉力传感器11检测绳索的张力信号，旋转编码器3检测绞车1的转速信号，并将输出信号传给PLC控制器4，PLC控制器4输出控制信号给矢量变频系统5，从而控制绞车1的转动以保证负载10的空间绝对位置不变；When the ocean platform 6 rises and falls with the waves, the platform acceleration sensor 2 detects the acceleration signal of the ocean platform 6, the tension sensor 11 detects the tension signal of the rope, and the rotary encoder 3 detects the rotational speed signal of the winch 1, and transmits the output signal to PLC controller 4, the PLC controller 4 outputs control signals to the vector frequency conversion system 5, thereby controlling the rotation of the winch 1 to ensure that the spatial absolute position of the load 10 remains unchanged;
当海洋平台上升时，PLC控制器4接收到平台加速传感器2、拉力传感器11和旋转编码器3的信号，并控制主动补偿控制组件的电液伺服阀18的A口通电，此时，位于M侧的第二电动机30为发电机，主动液压缸17无杆腔的油通过第二液压泵20带动发电机旋转，产生的电能通过逆变器25存储在电容26中；位于N侧的第一电动机24为电动机，电容26中储存的电能经逆变器25带动电动机推动第一液压泵19，主动液压缸17有杆腔油压升高，在二者的共同作用下，主动液压缸17带动行星减速器15转动，绞车1释放绳索，回收负载10重力势能，与此同时，被动补偿液压泵37开始工作，压缩液气转换器38的气腔，使高压气瓶39压力升高，储存负载10的重力势能；When the ocean platform rises, the PLC controller 4 receives the signals from the platform acceleration sensor 2, the tension sensor 11 and the rotary encoder 3, and controls the power-on of the A port of the electro-hydraulic servo valve 18 of the active compensation control assembly. The second motor 30 on the side is a generator, and the oil in the rodless cavity of the active hydraulic cylinder 17 drives the generator to rotate through the second hydraulic pump 20, and the generated electric energy is stored in the capacitor 26 through the inverter 25; The electric motor 24 is an electric motor, and the electric energy stored in the capacitor 26 drives the electric motor to push the first hydraulic pump 19 through the inverter 25, and the active hydraulic cylinder 17 has the rod cavity oil pressure rises, and under the joint action of the two, the active hydraulic cylinder 17 drives The planetary reducer 15 rotates, the winch 1 releases the rope, and recovers the gravitational potential energy of the load 10. At the same time, the passive compensation hydraulic pump 37 starts to work, compressing the air chamber of the liquid-gas converter 38, increasing the pressure of the high-pressure gas cylinder 39, and storing the load. Gravitational potential energy of 10;
当海洋平台下降时，PLC控制器4接收到平台加速传感器2、拉力传感器11和旋转编码器3的信号，并控制主动补偿控制组件的电液伺服阀18的B口通电，此时位于N侧的第一电动机24为发电机，主动液压缸17有杆腔的油通过第一液压泵19带动发电机旋转，产生的电能通过逆变器25存储在电容26中；位于M侧的第二电动机30为电动机，电容26中储存的电能经逆变器25带动电动机推动第二液压泵20，主动液压缸17无杆腔油压升高，在二者的共同作用下，主动液压缸17带动行星减速器15转动，绞车1回收绳索，保证负载10的绝对位置不变，与此同时，液气转换器38开始工作，高压气瓶39中的气体推动液气转换器38带动被动补偿液压泵37旋转，补偿绞车1回收负载10的运动。When the ocean platform descends, the PLC controller 4 receives the signals from the platform acceleration sensor 2, the tension sensor 11 and the rotary encoder 3, and controls the B port of the electro-hydraulic servo valve 18 of the active compensation control component to be energized, which is now located on the N side The first motor 24 is a generator, and the oil in the rod cavity of the active hydraulic cylinder 17 drives the generator to rotate through the first hydraulic pump 19, and the generated electric energy is stored in the capacitor 26 through the inverter 25; the second motor located on the M side 30 is an electric motor, and the electric energy stored in the capacitor 26 drives the electric motor to push the second hydraulic pump 20 through the inverter 25, and the oil pressure in the rodless chamber of the active hydraulic cylinder 17 increases, and under the joint action of the two, the active hydraulic cylinder 17 drives the planetary The reducer 15 rotates, and the winch 1 recovers the rope to ensure that the absolute position of the load 10 remains unchanged. At the same time, the liquid-gas converter 38 starts to work, and the gas in the high-pressure gas cylinder 39 pushes the liquid-gas converter 38 to drive the passive compensation hydraulic pump 37 rotation, compensating for the movement of the winch 1 to recover the load 10 .
综上，本发明在常规的绞车基础上，增加了液压二次调节系统，系统中没有原理性节流损失，提高了系统效率；本发明使用了主被动结合的方式，提高了补偿的精度，同时利用被动补偿装置和发电机回收了负载的重力势能，减少了能量的损耗，还通过液压蓄能装置，提高了系统的功率，一定程度上弥补了电机功率低的缺点，而且本装置还具有重心低，传动简单，占用空间少、工作效率高等优点。本发明可应用于舰船补给、深海打捞、海底安装等海上作业。To sum up, on the basis of the conventional winch, the present invention adds a hydraulic secondary adjustment system, there is no principle throttling loss in the system, and the system efficiency is improved; the present invention uses a combination of active and passive methods, which improves the compensation accuracy, At the same time, the gravitational potential energy of the load is recovered by using the passive compensation device and the generator, which reduces the energy loss. The power of the system is also increased through the hydraulic energy storage device, which makes up for the shortcoming of the low power of the motor to a certain extent, and the device also has It has the advantages of low center of gravity, simple transmission, less space occupation and high work efficiency. The invention can be applied to marine operations such as ship supply, deep sea salvage, seabed installation and the like.
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明所述原理的前提下，还可以作出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above description is a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.
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| WO2021012962A1 (en) * | 2019-07-25 | 2021-01-28 | 山东大学 | Deep-sea crane active heave compensation controller and control system |
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| CN111060427B (en) * | 2019-12-20 | 2022-04-15 | 河海大学 | Self-stabilizing high-precision sediment bed load measuring system and method |
| CN111573545B (en) * | 2020-05-21 | 2021-02-09 | 山东大学 | Distributed energy-saving active and passive composite heave compensation system and working method thereof |
| CN112097734A (en) * | 2020-08-06 | 2020-12-18 | 中海石油(中国)有限公司深圳分公司 | Semi-submersible platform heave measuring device |
| CN112097734B (en) * | 2020-08-06 | 2022-05-27 | 中海石油(中国)有限公司深圳分公司 | Semi-submersible platform heave measuring device |
| CN112174025A (en) * | 2020-09-28 | 2021-01-05 | 深蓝(天津)智能制造有限责任公司 | Double-platform hydraulic lifting casing device |
| CN113503282A (en) * | 2021-08-02 | 2021-10-15 | 烟台宏远载人压力舱工程技术研究院有限公司 | Active and passive heave compensation system for hoisting equipment |
| CN113503282B (en) * | 2021-08-02 | 2025-04-15 | 烟台宏远载人压力舱工程技术研究院有限公司 | Active and passive heave compensation system for hanging equipment |
| CN113942951A (en) * | 2021-09-24 | 2022-01-18 | 浙江汉德瑞智能科技有限公司 | Device and method for heave compensation of marine winch |
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