CN103149959B - Digital electric hydraulic control system for retraction and release of offshore spill oil recovery treatment device - Google Patents
Digital electric hydraulic control system for retraction and release of offshore spill oil recovery treatment device Download PDFInfo
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- CN103149959B CN103149959B CN201310100747.XA CN201310100747A CN103149959B CN 103149959 B CN103149959 B CN 103149959B CN 201310100747 A CN201310100747 A CN 201310100747A CN 103149959 B CN103149959 B CN 103149959B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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Abstract
The invention discloses a digital electric hydraulic control system for the retraction and release of an offshore spill oil recovery treatment device based on a water level robot. The digital electric hydraulic control system comprises a hydraulic transmission loop, an electric control system and a detection system, and is used for realizing the intelligentized control cover the retraction and release process of the offshore spill oil recovery treatment device. The hydraulic transmission loop comprises an oil tank, a motor, a variable-displacement pump, a filter, a one-way valve, a proportional overflow valve, a proportional direction valve, a proportional balance valve, a two-way hydraulic motor, and a winding drum lifting mechanism. The electric control system is used to complete the sequential control over electric appliances, and comprises a speed regulation control process based on speed feedback and a force control process based on force feedback. The detection system comprises a displacement sensor, a speed sensor and a force sensor. According to the digital electric hydraulic control system disclosed by the invention, the operational output is carried out in a controller by means of monitoring the speed and force output by the system ceaselessly, the control over the speed and force of the system is realized through regulating the proportional direction valve and the proportional overflow valve, and the stability, safety and reliability of the retraction and release control process under a high sea condition are realized.
Description
Technical field
The present invention relates to a kind of folding and unfolding control system of marine carrying platform, particularly relate to a kind of numerically controlled electrohydraulic control system.
Background technology
If folding and unfolding oil spilling recycling and processing device considers the interaction of unmanned boat, wave, marine oil overflow recycling and processing device, draw off gear under high sea situation.In the process of oil spilling recycling and processing device folding and unfolding, the effect of wave makes the safe folding and unfolding of oil spilling recycling and processing device very undesirable, therefore the function introducing now tension force and velocity feedback alleviates the adverse effect that wave brings to the folding and unfolding of marine oil overflow process water surface robot as far as possible.
Various ship is taken formula skimming system and is all needed the safe folding and unfolding that a good draw off gear realizes spilled-oil recovery unit.A lot of research be have also been made to this both at home and abroad.Global Davit GmbH company can provide draw off gear scheme for working ship and ro-ro passenger ship, and all Rhp.HC.type type draw off gears are A type structure, adopts integrated hydraulic system, and equipment meets SOLAS and requires and MED identification.For quick rescue boat, arm is equipped with integrated snubber assembly, automatic wave compensation system, tele-control system and subtract the devices such as oscillator system.The equipment of Norway VestDavit adopts HYDRAULIC CONTROL SYSTEM completely, and emergency system meets SOLAS and requires and IMO regulation have buffer system, constant tension system and subtract oscillator system.Norway Hydramarine AS, typical feature: high speed heave compensation system, hydropneumatic damping of shocks system, the pendulum that subtracts of diaxon is.Current marine folding and unfolding control system needs to complete when there are personnel involved mostly, and the electric hydraulic control system integration degree realizing Digital Control is not high, intelligent low.
Summary of the invention
The problem to be solved in the present invention is under high sea situation, when load change, by electric-hydraulic proportion control technique, realizes the control to speed and power in folding and unfolding control procedure, realizes the steady folding and unfolding of system.The technical scheme that technical solution problem of the present invention adopts is as described below.
A folding and unfolding digital electrohydraulic control system for marine oil overflow recycling and processing device, comprises hydraulic drive circuit, electric control system and detection system:
Described hydraulic drive circuit comprises and has luffing range of cantilever support organization hydraulic pressure drive circuit and retracting device folding and unfolding hydraulic drive circuit, and above-mentioned two drive circuit adopt identical drive circuit design;
Described hydraulic drive circuit comprises motor 1, variable output pump 2, retaining valve 3, proportional pressure control valve 4, oil cylinder 5, filtrator 17, proportional direction valve 6, first equalizing valve 7, second equalizing valve 8, two-way hydraulic motor 14, variator 16, ball-screw 9, roller 10, reel 15; Motor 1 is connected with variable output pump 2 by shaft coupling; The oil-in of variable output pump 2 is connected with oil cylinder 5, and the oil-out of variable output pump 2 is connected with the oil-in of retaining valve 3; The oil-in of filtrator 17 is connected with the oil-out of retaining valve 3, and connects the oil-in of proportional pressure control valve 4; The oil-out of proportional pressure control valve 4 is connected with oil cylinder 5; The P mouth of proportional direction valve 6 is connected with the oil-out of filtrator 17, and the T mouth of proportional direction valve 6 is connected with oil cylinder 5, and the A mouth of proportional direction valve 6 is connected with the T mouth of the first equalizing valve 7, and the B mouth of proportional direction valve 6 is connected with the T mouth of the second equalizing valve 8; The hydraulic fluid port of the side of two-way hydraulic motor 14 is connected with the P mouth of the first equalizing valve 7, and the opposite side hydraulic fluid port of two-way hydraulic motor 14 is connected with the hydraulic fluid port of the second equalizing valve 8; Two-way hydraulic motor 14 is connected with reel 15 by reducing gear 16; Ball-screw 9 is connected with roller 10, and is connected with spool shaft by reducing gear 16;
Described electric control system comprises the closed-loop control system based on velocity feedback, the closed-loop control system based on force feedback and emergency situations disposal system.
The described closed-loop control system based on velocity feedback comprises reel photoelectric encoder 12, ball-screw photoelectric encoder 13, velocity reversal controller 20, proportional amplifier 22; The speed of reel 15 measured by reel photoelectric encoder 12; The speed of ball-screw 9 measured by ball-screw photoelectric encoder 13; The speed of reel and the speed of ball-screw are as the input signal of velocity reversal controller 20; The output signal of velocity reversal controller 20 is as the input signal of proportional amplifier 22; The output signal of proportional amplifier is as the input control signal of proportional direction valve 6.
The described closed-loop control system based on force feedback comprises tension pick-up 18, force controller 21, proportional amplifier 23; The tension force of rope measured by tension pick-up 18; The tension force of the rope measured is as the input signal of force controller 21; The output signal of force controller is as the input signal of proportional amplifier 23; The output signal of proportional amplifier is as the input signal of the first equalizing valve 7, second equalizing valve 8 and proportional pressure control valve 4.
Described emergency situations control system comprises tail end approach switch sensor 11, initiating terminal proximity switch 19; The output signal of tail end approach switch sensor 11, initiating terminal proximity switch 19 is as the input signal of controller 24, and the output signal of controller 24 is as the control signal of motor 1.
Described detection system comprises the reel photoelectric encoder 12 be installed on reel 15, the ball-screw photoelectric encoder 13 be installed on ball-screw 9, the tension pick-up 18 be installed in rope kinematic train, tail end approach switch sensor 11, initiating terminal proximity switch 19.
The good effect that the present invention has is:
1) adopt the feedback control loop based on speed, when loading speed changes, by regulating and controlling the aperture governing speed of proportional pressure control valve, it is not steady that release rate changes.
2) adopt the feedback control loop based on power, when the stressed change of load, by adjusting the pressure of stream proportional pressure control valve, the output torque of regulator solution pressure motor, realizes the control of the power to folding and unfolding process.
3) changed by the state of detection system, realize Digital Control, intelligent unmanned control.
Accompanying drawing explanation
Fig. 1 is the mechanical construction drawing of the folding and unfolding digital electrohydraulic control system of marine oil overflow recycling and processing device in the embodiment of the present invention
Fig. 2 is the electric liquid structure principle chart of the folding and unfolding digital electrohydraulic control system of marine oil overflow recycling and processing device of the present invention
Embodiment
Provide preferred embodiment of the present invention below, these embodiments unrestricted content of the present invention.
embodiment
As shown in Figure 1, in the present invention the luffing range of cantilever support mechanism of marine oil overflow recycling and processing device by hoisting mechanism 101, guide wheel 201, wire rope 301, jib 401, guide wheel 501, jib 801; The retracting device jack of oil spilling recycling and processing device is by hoisting mechanism 601, guide wheel 701, wire rope 901, jib 1001, spilled-oil recovery unit 1101.
Workflow is: first luffing range of cantilever support mechanism is under the driving of described electrohydraulic control system, completes the stretching, extension of horizontal direction, by detecting the angular transducer 1301 be arranged between jib 401 and jib 801, determines whether the stretch amplitude reaching need of work; When angle reaches requirement, the jack of spilled-oil recovery unit carries out folding and unfolding action under the driving of electrohydraulic control system.
As shown in Figure 2, the folding and unfolding digital electrohydraulic control system of marine oil overflow recycling and processing device of the present invention, comprises hydraulic drive circuit, electric control system and detection system:
Described hydraulic drive circuit comprises and has luffing range of cantilever support organization hydraulic pressure drive circuit and retracting device folding and unfolding hydraulic drive circuit, and above-mentioned two drive circuit adopt identical drive circuit design;
Described hydraulic drive circuit comprises motor 1, variable output pump 2, retaining valve 3, proportional pressure control valve 4, oil cylinder 5, filtrator 17, proportional direction valve 6, first equalizing valve 7, second equalizing valve 8, two-way hydraulic motor 14, variator 16, ball-screw 9, roller 10, reel 15; Motor 1 is connected with variable output pump 2 by shaft coupling; The oil-in of variable output pump 2 is connected with oil cylinder 5, and the oil-out of variable output pump 2 is connected with the oil-in of retaining valve 3; The oil-in of filtrator 17 is connected with the oil-out of retaining valve 3, and connects the oil-in of proportional pressure control valve 4; The oil-out of proportional pressure control valve 4 is connected with oil cylinder 5; The P mouth of proportional direction valve 6 is connected with the oil-out of filtrator 17, and the T mouth of proportional direction valve 6 is connected with oil cylinder 5, and the A mouth of proportional direction valve 6 is connected with the T mouth of the first equalizing valve 7, and the B mouth of proportional direction valve 6 is connected with the T mouth of the second equalizing valve 8; The hydraulic fluid port of the side of two-way hydraulic motor 14 is connected with the P mouth of the first equalizing valve 7, and the opposite side hydraulic fluid port of two-way hydraulic motor 14 is connected with the hydraulic fluid port of the second equalizing valve 8; Two-way hydraulic motor 14 is connected with reel 15 by reducing gear 16; Ball-screw 9 is connected with roller 10, and is connected with spool shaft by reducing gear 16;
Described electric control system comprises the closed-loop control system based on velocity feedback, the closed-loop control system based on force feedback and emergency situations disposal system.
The described closed-loop control system based on velocity feedback comprises reel photoelectric encoder 12, ball-screw photoelectric encoder 13, velocity reversal controller 20, proportional amplifier 22; The speed of reel 15 measured by reel photoelectric encoder 12; The speed of ball-screw 9 measured by ball-screw photoelectric encoder 13; The speed of reel 15 and the speed of ball-screw 9 are as the input signal of velocity reversal controller 20; The output signal of velocity reversal controller 20 is as the input signal of proportional amplifier 22; The output signal of proportional amplifier is as the input control signal of proportional direction valve 6.
The described closed-loop control system based on force feedback comprises tension pick-up 18, force controller 21, proportional amplifier 23; The tension force of rope measured by tension pick-up 18; The tension force of the rope measured is as the input signal of force controller 21; The output signal of force controller 21 is as the input signal of proportional amplifier 23; The output signal of proportional amplifier 23 is as the input signal of the first equalizing valve 7, second equalizing valve 8 and proportional pressure control valve 4.
Described emergency situations control system comprises tail end approach switch sensor 11, initiating terminal proximity switch 19; The output signal of tail end approach switch sensor 11, initiating terminal proximity switch 19 is as the input signal of controller 24, and the output signal of controller 24 is as the control signal of motor 1.
Described detection system comprises the reel photoelectric encoder 12 be installed on reel 15, the ball-screw photoelectric encoder 13 be installed on ball-screw 9, the tension pick-up 18 be installed in rope kinematic train, tail end approach switch sensor 11, initiating terminal proximity switch 19.
Its course of work is as follows: to controller 24 signal, controller 24 exports starter motor 1, and hydraulic system is started working.Fluid is divided into two-way by variable output pump 2, retaining valve 3, and a road connects the oil-in of proportional pressure control valve 4, and the outlet fluid of passing ratio surplus valve 4 flows into oil cylinder 5, and system can set up opening pressure by setting surplus valve 4.Another road connects the P mouth of proportional direction valve 6, velocity reversal controller 20 is by control ratio amplifier 22 control ratio direction valve 6, when the left side proportion electro-magnet of proportional direction valve 6 obtains electric, the P mouth of proportional direction valve 6 and the A mouth of the first equalizing valve 7 are connected, the B mouth of proportional direction valve 6 and the T mouth of the first equalizing valve 7 are connected, two-way hydraulic motor 14 rotates forward, and two-way hydraulic motor 14 drives reel 15 to rotate by gear 16, and system completes the process of putting down; When the right side proportion electro-magnet of proportional direction valve 6 obtains electric, the P mouth of proportional direction valve 6 and the B mouth of the second equalizing valve 8 are connected, the A mouth of proportional direction valve 6 and the T mouth of the second equalizing valve 8 are connected, two-way hydraulic motor 14 reverses, two-way hydraulic motor 14 drives reel 15 to rotate by gear 16, and system completes the process of packing up.Rotating and reverse in process, can the size that outputs signal of passing ratio amplifier 22, obtained the aperture of electric size by-pass valve control by control ratio electromagnet, thus the speed of regulating system.Force controller 21 outputs signal control ratio amplifier 23, proportional amplifier signal exports control ratio first equalizing valve 7, second equalizing valve 8, set the back pressure of forward and backward process oil return line respectively, under the system with proportional pressure control valve 4 pressure setting coordinates, the control of completion system output torque.
The described speed measuring reel 15 based on the reel photoelectric encoder 12 in the closed-loop control system of velocity feedback; The speed of ball-screw 9 measured by ball-screw photoelectric encoder 13; The speed of reel 15 and the speed of ball-screw 9 as the input signal of velocity reversal controller 20, compared with the speed of given input control device; Velocity reversal controller 20 through the output signal of computing as the input signal of proportional amplifier 22, according to the inclined extent of measuring speed and given speed, regulate the input signal of proportional amplifier 22, when deviation increases, the output signal of proportional amplifier 22 increases, when deviation signal reduces, the output signal of proportional amplifier 22 reduces.The change of the proportion electro-magnet by-pass valve control aperture of proportional direction valve 6 and the output signal of proportional amplifier 22 proportional, thus according to the velocity variations of rate signal regulating system of monitoring.
Described measures the tension force of rope based on tension pick-up 18 in the closed-loop control system of force feedback; The tension force of the rope measured is as the input signal of force controller 21; The output signal of force controller 21 is as the input signal of proportional amplifier 23; The output signal of proportional amplifier 23 is as the input signal of the first equalizing valve 7, second equalizing valve 8 and proportional pressure control valve 4, the proportion electro-magnet of the first equalizing valve 7, second equalizing valve 8 and proportional pressure control valve 4 obtains the directly proportional relation of output signal of electric size and proportional amplifier 23, by the pressure regulating proportional pressure control valve 4 can set in-line, by the back pressure regulating the first equalizing valve 7, second equalizing valve 8 can set oil return line, thus the output torque of the system of setting.
In described emergency situations control system, the output signal of tail end approach switch sensor 11, initiating terminal proximity switch 19 is as the input signal of controller 24, the output signal of controller 24 is as the control signal of motor 1, when roller exceed its setting scope of activities time, proximity switch outputs signal, and controller 24 Received signal strength controls cut-offfing of motor 1.
The present invention can be applied to the control of marine similar draw off gear, therefore present invention covers the change of the various control system fallen within the scope of appending claims.
Claims (4)
1. the folding and unfolding digital electrohydraulic control system of marine oil overflow recycling and processing device, is characterized in that, comprises hydraulic drive circuit, electric control system and detection system:
Described hydraulic drive circuit comprises and has luffing range of cantilever support organization hydraulic pressure drive circuit and retracting device folding and unfolding hydraulic drive circuit, and above-mentioned two drive circuit adopt identical drive circuit design;
Described hydraulic drive circuit comprises motor (1), variable output pump (2), retaining valve (3), proportional pressure control valve (4), oil cylinder (5), filtrator (17), proportional direction valve (6), the first equalizing valve (7), the second equalizing valve (8), two-way hydraulic motor (14), variator (16), ball-screw (9), roller (10), reel (15); Motor (1) is connected with variable output pump (2) by shaft coupling; The oil-in of variable output pump (2) is connected with oil cylinder (5), and the oil-out of variable output pump (2) is connected with the oil-in of retaining valve (3); The oil-in of filtrator (17) is connected with the oil-out of retaining valve (3), and connects the oil-in of proportional pressure control valve (4); The oil-out of proportional pressure control valve (4) is connected with oil cylinder (5); The P mouth of proportional direction valve (6) is connected with the oil-out of filtrator (17), the T mouth of proportional direction valve (6) is connected with oil cylinder (5), the A mouth of proportional direction valve (6) is connected with the T mouth of the first equalizing valve (7), and the B mouth of proportional direction valve (6) is connected with the T mouth of the second equalizing valve (8); The hydraulic fluid port of the side of two-way hydraulic motor (14) is connected with the P mouth of the first equalizing valve (7), and the opposite side hydraulic fluid port of two-way hydraulic motor (14) is connected with the hydraulic fluid port of the second equalizing valve (8); Two-way hydraulic motor (14) is connected with reel (15) by reducing gear (16); Ball-screw (9) is connected with roller (10), and is connected with spool shaft by reducing gear (16);
Described electric control system comprises the closed-loop control system based on velocity feedback, the closed-loop control system based on force feedback and emergency situations disposal system;
Described detection system comprises the reel photoelectric encoder (12) be installed on reel (15), the ball-screw photoelectric encoder (13) be installed on ball-screw (9), the tension pick-up (18) be installed in rope kinematic train, tail end proximity switch (11), initiating terminal proximity switch (19).
2. folding and unfolding digital electrohydraulic control system as claimed in claim 1, it is characterized in that, the described closed-loop control system based on velocity feedback comprises reel photoelectric encoder (12), ball-screw photoelectric encoder (13), velocity reversal controller (20), proportional amplifier (22); The speed of reel (15) measured by reel photoelectric encoder (12); The speed of ball-screw (9) measured by ball-screw photoelectric encoder (13); The speed of reel and the speed of ball-screw are as the input signal of velocity reversal controller (20); The output signal of velocity reversal controller (20) is as the input signal of proportional amplifier (22); The output signal of proportional amplifier is as the input control signal of proportional direction valve (6).
3. folding and unfolding digital electrohydraulic control system as claimed in claim 1, it is characterized in that, the described closed-loop control system based on force feedback comprises tension pick-up (18), force controller (21), proportional amplifier (23); The tension force of rope measured by tension pick-up (18); The tension force of the rope measured is as the input signal of force controller (21); The output signal of force controller is as the input signal of proportional amplifier (23); The output signal of proportional amplifier is as the input signal of the first equalizing valve (7), the second equalizing valve (8) and proportional pressure control valve (4).
4. folding and unfolding digital electrohydraulic control system as claimed in claim 1, it is characterized in that, described emergency situations disposal system comprises tail end approach switch sensor (11), initiating terminal approach switch sensor (19); The output signal of tail end approach switch sensor (11), initiating terminal (19) is as the input signal of controller (24), and the output signal of controller (24) is as the control signal of motor (1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310100747.XA CN103149959B (en) | 2013-03-26 | 2013-03-26 | Digital electric hydraulic control system for retraction and release of offshore spill oil recovery treatment device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310100747.XA CN103149959B (en) | 2013-03-26 | 2013-03-26 | Digital electric hydraulic control system for retraction and release of offshore spill oil recovery treatment device |
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| CN103149959A CN103149959A (en) | 2013-06-12 |
| CN103149959B true CN103149959B (en) | 2015-06-03 |
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| CN201310100747.XA Expired - Fee Related CN103149959B (en) | 2013-03-26 | 2013-03-26 | Digital electric hydraulic control system for retraction and release of offshore spill oil recovery treatment device |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104591022B (en) * | 2014-11-26 | 2017-04-26 | 燕山大学 | Control method for automatic roller tension hydraulic control system of cable winding and unwinding trolley |
| CN106151142B (en) * | 2016-07-14 | 2017-11-28 | 浙江大学 | The independent spool control valve and its control method of flow proportional assignment |
| CN109502494B (en) * | 2017-09-14 | 2021-06-29 | 上海中车艾森迪海洋装备有限公司 | Deep sea cable winding and unwinding hydraulic system |
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| EP0970280B1 (en) * | 1997-03-03 | 2004-05-26 | Aron S.r.l. | Floating equipment for recovering supernatant oily products |
| CN1952265A (en) * | 2006-10-30 | 2007-04-25 | 江苏飞球专用车制造有限公司 | Method for avoiding obstacle for side brush of sweeping car and anti-collision retraction mechanism |
| CN201408970Y (en) * | 2009-05-22 | 2010-02-17 | 中钢集团衡阳重机有限公司 | Electric scraper cable reel with automatic matching rotating speed |
| CN102650304A (en) * | 2012-05-29 | 2012-08-29 | 中南大学 | Hydraulic synchronous driving system for adjusting unbalanced load based on proportional valve controlled energy accumulator |
| CN102705283A (en) * | 2012-05-29 | 2012-10-03 | 中南大学 | Hydraulic synchronous system for realizing load balance based on proportional relief valve |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3944303B2 (en) * | 1998-03-30 | 2007-07-11 | 三井造船株式会社 | Oil recovery device |
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2013
- 2013-03-26 CN CN201310100747.XA patent/CN103149959B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0970280B1 (en) * | 1997-03-03 | 2004-05-26 | Aron S.r.l. | Floating equipment for recovering supernatant oily products |
| CN1952265A (en) * | 2006-10-30 | 2007-04-25 | 江苏飞球专用车制造有限公司 | Method for avoiding obstacle for side brush of sweeping car and anti-collision retraction mechanism |
| CN201408970Y (en) * | 2009-05-22 | 2010-02-17 | 中钢集团衡阳重机有限公司 | Electric scraper cable reel with automatic matching rotating speed |
| CN102650304A (en) * | 2012-05-29 | 2012-08-29 | 中南大学 | Hydraulic synchronous driving system for adjusting unbalanced load based on proportional valve controlled energy accumulator |
| CN102705283A (en) * | 2012-05-29 | 2012-10-03 | 中南大学 | Hydraulic synchronous system for realizing load balance based on proportional relief valve |
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