CN203922520U - A kind of control setup of heave compensator - Google Patents
A kind of control setup of heave compensator Download PDFInfo
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- CN203922520U CN203922520U CN201420123709.6U CN201420123709U CN203922520U CN 203922520 U CN203922520 U CN 203922520U CN 201420123709 U CN201420123709 U CN 201420123709U CN 203922520 U CN203922520 U CN 203922520U
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Abstract
本实用新型公开了一种波浪补偿器的控制装置，包括计算机控制装置；所述计算机控制装置连接有AD采样模块和DA控制模块；所述AD采样模块连接力伺服液压控制系统的力传感器；所述DA控制模块电连接力伺服液压控制系统的各油路的电磁阀；所述力伺服液压控制系统由平衡回路/同步保压回路、减压节流回路、力伺服液压控制回路和供油系统构成；本新型的波浪补偿器的控制装置，以液压马达作为执行元件，采用力伺服液压控制；能够直接快速、准确、稳定地控制绳索所受到的交变载荷，同时也能对被吊的货物的速度进行一定波浪补偿作用。
The utility model discloses a control device of a wave compensator, which comprises a computer control device; the computer control device is connected with an AD sampling module and a DA control module; the AD sampling module is connected with a force sensor of a force servo hydraulic control system; The DA control module is electrically connected to the solenoid valves of each oil circuit of the force servo hydraulic control system; the force servo hydraulic control system consists of a balance circuit/synchronous pressure maintaining circuit, a decompression and throttling circuit, a force servo hydraulic control circuit and an oil supply system Composition; the control device of the new wave compensator uses hydraulic motor as the actuator and adopts force servo hydraulic control; it can directly, quickly, accurately and stably control the alternating load on the rope, and at the same time, it can control the load of the hoisted goods. speed to perform a certain wave compensation effect.
Description
Technical field
This novel a kind of hydraulic control device, particularly control setup of a kind of heave compensator of relating to.
Background technology
Heave compensator is the important component part of marine engineering equipment, and its effect is while reducing engineer equipment operation at sea, to be subject to the impact of stormy waves motion; Along with continuous developing and the development of marine field, the heave compensator field of application that is applied to marine field is more and more extensive, and the operations such as the supply of offshore construction, drilling platform, ship, deep-sea resources exploitation all will be used compensation of undulation technology; In existing domestic immediate wave compensation technique, be divided into two kinds of compensation techniques, a kind of is servo-actuated compensation way, and another kind is active heave compensation control technology.
Servo-actuated compensation way is impact-absorbing power well, before and after operation, can guarantee the relative static conditions of load hook and servo-actuated suspension hook, and the effect of compensation increases, and can guarantee preferably the safety of the person and goods; Its shortcoming is to have because servo-actuated suspension hook need to be connected to controlled object the reference environment that similarity degree is very high, and this mode has certain requirement to accepting ship, under special circumstances, accept ship and not necessarily can meet in accepting the region of ship and connect and can bear by the pulling force hawser requirement of hoisting thing twice gravity, under current conditions, be not easy to realize; The jib of this compensation crane and to accept the power that the mounting point of ship bears very large, requires crane arm support to bear very large static capsizing moment during work, this requires very high to the structure of hoisting crane and material, structural strength, improves the cost of hoisting crane.
Active heave compensation control technology adopts servo-hydraulic technology, and its Servo hydraulic control system, speed servo hydraulic control system are answered land used and extensive.Speed, position hydraulic servo control system combine the advantage of electrical control and fluid control two aspects, both there is electric aspect to the detection of signal, feedback, correction and amplification, flexibly and easily, the horsepower output again with Hydraulic power units large simultaneously, fast response time, the large feature of anti-load disturbance rigidity.Electrohydraulic control technology can convenient combine with computing machine, makes electrohydraulic control system make full use of the information processing capability of computing machine, makes system have more complicated function and comformability widely; In prior art, conventionally using hydraulic actuating cylinder as power element, and hydraulic actuating cylinder has, speed of response is slow, stroke is short, hydraulic efficiency impact is larger, the shortcomings such as poor stability of control, can not meet well the needs of compensation of undulation.
utility model content
(1) technical matters that will solve
In order to address the above problem, this novel control setup that proposes a kind of heave compensator, usings HM Hydraulic Motor as power element, adopts force servo fluid control scheme; Speed of response stability fast, that control is relatively good.
(2) technical scheme
The control setup of the heave compensator that this is novel, comprises Computer Control Unit; Described Computer Control Unit is connected with AD sampling module and DA control module; Described AD sampling module connects the power sensor of force servo hydraulic control system; Described DA control module is electrically connected to the electromagnetic valve of each oil circuit of force servo hydraulic control system; Described force servo hydraulic control system consists of balanced loop/synchronous pressure dwelling loop, decompression throttle circuit, force servo hydraulic control circuit and fuel-feed system;
Described balanced loop/synchronous pressure dwelling loop comprises the first check valve, the first solenoid directional control valve, two amplitude oil cylinder, balance cock, hydraulic control one-way valve and the synchronous motor connecting successively; Described hydraulic control one-way valve is also connected to the first solenoid directional control valve;
Described decompression throttle circuit comprises flow regulating valve, reducing valve, the second solenoid directional control valve and the motor brake oil circuit connecting successively;
Described force servo hydraulic control circuit comprises the first oil absorption filter, servovalve, oil absorption filter, the HM Hydraulic Motor connecting successively; Strong sensor is installed at described HM Hydraulic Motor place; Described power sensor is connected to servovalve by servoamplifier;
Described fuel-feed system comprises fuel tank, fuel feeding branch road and oil return branch road; Described fuel feeding branch road comprises the second oil absorption filter, shutoff valve, controllable capacity pump and the second check valve connecting successively; Described controllable capacity pump is connected to electrical motor by coupler; Described oil return branch road is connected with electromagnetic relief valve, hydrocooler and return filter in turn.
Further, described fuel feeding branch road both sides also and be connected to manual pump stand-by system.
Further, on described fuel feeding branch road, be provided with charging water gauge assembly and pressure measuring tie-in.
Further, the first described check valve rear end is also connected with energy storage branch road.
(3) beneficial effect
This is compared with prior art novel, and it has following beneficial effect: the control setup of the heave compensator that this is novel, using HM Hydraulic Motor as power element, and adopt force servo fluid control; Can directly fast, accurately, stably control the suffered reverse load of rope, also can carry out certain compensation of undulation effect to the speed of the goods being hung simultaneously.
Accompanying drawing explanation
Fig. 1 is this novel overall system structure figure.Fig. 2 is this novel hydraulic system principle figure.
The specific embodiment
The control setup principle of the heave compensator that this is novel is to using HM Hydraulic Motor as power element, adopts force servo fluid control, when meeting the suffered reverse load of control rope, also can carry out certain compensation of undulation effect to the speed of the goods being hung.
As shown in Figure 1 and Figure 2, the control setup of the heave compensator that this is novel, comprises Computer Control Unit 1; Described Computer Control Unit 1 is connected with AD sampling module 2 and DA control module 3; Described AD sampling module 2 connects the power sensor of force servo hydraulic control system 4; Described DA control module 3 is electrically connected to the electromagnetic valve of each oil circuit of force servo hydraulic control system 4; Described force servo hydraulic control system 4 consists of balanced loop/synchronous pressure dwelling loop, decompression throttle circuit, force servo hydraulic control circuit and fuel-feed system;
Described balanced loop/synchronous pressure dwelling loop comprises the first check valve 16, the first solenoid directional control valve 22, two amplitude oil cylinder 33, balance cock 25, hydraulic control one-way valve 24 and the synchronous motor 23 connecting successively; Described hydraulic control one-way valve 24 is also connected to the first solenoid directional control valve 22;
Described decompression throttle circuit comprises flow regulating valve 18, reducing valve 19, the second solenoid directional control valve 20 and motor brake 27 oil circuits that connect successively;
Described force servo hydraulic control circuit comprises the first oil absorption filter 17, servovalve 21, oil absorption filter 32, the HM Hydraulic Motor 26 connecting successively; Strong sensor 29 is installed at described HM Hydraulic Motor 26 places; Described power sensor logical 29 is crossed servoamplifier 30 and is connected to servovalve 21; The boats and ships vertical lifting of take compares as incoming signal with through the pulling force signal of the wirerope of exertin sensor 29 feedback, obtain deviation signal, then this signal is reduced to the suffered reverse load of rope by the size and Orientation of the opening of servoamplifier 30 control servovalves 21 and then the output torque of control HM Hydraulic Motor; Also can carry out certain compensation of undulation effect to the speed of the goods being hung simultaneously.
Described fuel-feed system comprises fuel tank 2, fuel feeding branch road and oil return branch road; Described fuel feeding branch road comprises the second oil absorption filter 4, shutoff valve 5, controllable capacity pump 6 and the second check valve 11 connecting successively; Described controllable capacity pump 6 is connected to electrical motor 8 by coupler 7; Described oil return branch road is connected with electromagnetic relief valve 13, hydrocooler 14 and return filter 15 in turn.
Wherein, also and be connected to manual pump stand-by system, while occurring having a power failure when device busy, manual pump 12 plays standby effect in described fuel feeding branch road both sides; On described fuel feeding branch road, be provided with charging water gauge assembly 9 and pressure measuring tie-in 10, can measure oil liquid pressure; The first described check valve 16 rear ends are also connected with energy storage branch road 28, can, as auxiliary power source, also for pressurize, the absorption of system, vibrate and impact on the other hand on the one hand.
The control setup working process of the heave compensator that this is novel is: first make electrical motor 8 obtain electric, by coupler 7, drive controllable capacity pump 6 work, inhalant liquid force feed from fuel tank 2, hydraulic oil is through oil absorption filter 4 and shutoff valve 5, and then hydraulic oil just can enter three hydraulic circuits through the second check valve 11; By electromagnetic relief valve 13 by unnecessary fluid after hydrocooler 14 cooling, then enter fuel tank 2 through return filter 15.
Article three, when hydraulic circuit is worked, first close force servo hydraulic control circuit and decompression throttle circuit, the first solenoid directional control valve 22 is obtained electric, make balanced loop/synchronous pressure dwelling loop carry out fuel feeding, principal arm rise or the reel of compensation crane are rotated.Then when the second solenoid directional control valve 20 when electric, the work of decompression throttle circuit, brake gear fuel feeding, controls motor brake 27, and hydraulic efficiency gear is stopped operating, and makes reel stop at certain fixed position, plays the effect of brake.Finally make servovalve 21 obtain electric, the servo-hydraulic control loop work of exerting all one's strength, drives HM Hydraulic Motor 26, makes compensation crane lifting hook work; The boats and ships vertical lifting of take compares as incoming signal with through the pulling force signal of the wirerope of exertin sensor 29 feedback, obtain deviation signal, then this signal is reduced to the suffered reverse load of rope by the size and Orientation of the opening of servoamplifier 30 control servovalves 21 and then the output torque of control HM Hydraulic Motor; Also can carry out certain compensation of undulation effect to the speed of the goods being hung simultaneously.
Embodiment recited above is described this novel preferred implementation, not this novel design and scope is limited.Do not departing under the prerequisite of this new design design; various modification and improvement that this area ordinary person makes this novel technical scheme; all should drop into this novel protection domain, this novel technology contents of asking for protection, is all documented in claims.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420123709.6U CN203922520U (en) | 2014-03-19 | 2014-03-19 | A kind of control setup of heave compensator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420123709.6U CN203922520U (en) | 2014-03-19 | 2014-03-19 | A kind of control setup of heave compensator |
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| CN203922520U true CN203922520U (en) | 2014-11-05 |
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| CN201420123709.6U Expired - Fee Related CN203922520U (en) | 2014-03-19 | 2014-03-19 | A kind of control setup of heave compensator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950846A (en) * | 2014-03-19 | 2014-07-30 | 安徽工程大学 | Control device of heave compensator |
| CN105417381A (en) * | 2015-12-22 | 2016-03-23 | 浙江大学 | Direct pump control type electro-hydraulic heaving compensation device |
| CN105626609A (en) * | 2015-12-31 | 2016-06-01 | 天津市欧曼液压装备系统工程有限公司 | Hydraulic control system of ship unloading machine |
-
2014
- 2014-03-19 CN CN201420123709.6U patent/CN203922520U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950846A (en) * | 2014-03-19 | 2014-07-30 | 安徽工程大学 | Control device of heave compensator |
| CN103950846B (en) * | 2014-03-19 | 2016-07-06 | 安徽工程大学 | A kind of control device of heave compensator |
| CN105417381A (en) * | 2015-12-22 | 2016-03-23 | 浙江大学 | Direct pump control type electro-hydraulic heaving compensation device |
| CN105626609A (en) * | 2015-12-31 | 2016-06-01 | 天津市欧曼液压装备系统工程有限公司 | Hydraulic control system of ship unloading machine |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141105 Termination date: 20150319 |
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| EXPY | Termination of patent right or utility model |