Heave compensation system, method and mining system

Abstract

The present invention relates to the field of mining, and specifically to a heave compensation system, method and mining system. The heave compensation system includes: a compensation hydraulic cylinder, which includes a cylinder body and a piston movably connected to the cylinder body. Among them, the cylinder body is rigidly connected to the mining ship, and the piston is rigidly connected to the relay bin; a first displacement sensor, which is arranged on the mining ship to detect the first displacement of the mining ship; a fuzzy controller, which is connected to the compensation hydraulic cylinder and the first displacement sensor, and controls the piston to move in the opposite direction of the movement of the mining ship by a second displacement according to the first displacement obtained by the first sensor, so that the distance between the relay bin and the seabed remains unchanged. According to the heave compensation system of the present invention, the compensation hydraulic cylinder can be accurately adjusted, so that the distance between the relay bin and the seabed remains unchanged, ensuring the safety of mining operations.

Description

Technical Field

[0001] The present invention relates to the field of mining, and particularly to a heave compensation system, method and mining system. Background Art

[0002] When a mining ship performs mining operations at sea, due to the irregular movement of ocean waves, the mining ship will generate six-degree-of-freedom movements. Its heave movement will drive the movement of the relay bin connected to its bottom, which may cause damage to the mining pipeline and result in safety accidents. Summary of the Invention

[0003] Aiming at the above problems of the prior art, the purpose of the present invention is to provide a heave compensation system, method and mining system, which can accurately adjust the compensation hydraulic cylinder, enable the distance between the relay bin and the seabed to remain unchanged, avoid damage to the mining pipeline and mining device caused by the fluctuation of the mining ship, and ensure the safety of mining operations.

[0004] To solve the above problems, on the one hand, the present invention provides a heave compensation system, which includes:

[0005] A compensation hydraulic cylinder, which includes a cylinder body and a piston movably connected to the cylinder body. Among them, the cylinder body is rigidly connected to the mining ship, and the piston is rigidly connected to the relay bin;

[0006] A first displacement sensor, which is arranged on the mining ship to detect the first displacement of the mining ship;

[0007] A fuzzy controller, which is connected to the compensation hydraulic cylinder and the first displacement sensor, and controls the piston to move in the opposite direction of the movement of the mining ship by a second displacement according to the first displacement obtained by the first sensor, so that the distance between the relay bin and the seabed remains unchanged.

[0008] Further, the heave compensation system further includes:

[0009] An electromagnetic directional valve, through which the fuzzy controller is connected to the compensation hydraulic cylinder to control the movement of the piston.

[0010] Further, the electromagnetic directional valve includes a valve core. The fuzzy controller controls the opening of the valve core through a current of a predetermined value output according to the first displacement, thereby controlling the flow rate of the hydraulic oil of the compensation hydraulic cylinder, and further controlling the movement of the piston.

[0011] Further, the heave compensation system further includes:

[0012] A second displacement sensor, the second displacement sensor being connected to the piston or the relay bin to detect a third displacement of the piston;

[0013] An adder, the fuzzy controller being connected to the first displacement sensor through the adder, the adder also being connected to the second displacement sensor to calculate a difference between the first displacement and the third displacement, and inputting the difference into the fuzzy controller,

[0014] The fuzzy controller corrects the control of the electromagnetic directional valve according to the difference.

[0015] Further, the first displacement sensor and the second displacement sensor are Hall sensors.

[0016] Further, the Hall sensor is a linear Hall sensor, which is composed of a Hall element, a linear amplifier, and an emitter follower.

[0017] Further, the fuzzy controller is an adaptive fuzzy PID controller.

[0018] Further, the fuzzy controller performs fuzzy control based on an error (e) and a rate of change of error (e c ) in input variables.

[0019] On the other hand, the present invention provides a heave compensation method, the heave compensation method comprising:

[0020] Step S1, detecting a first displacement of a mining ship through a first displacement sensor;

[0021] Step S2, the fuzzy controller obtaining the first displacement and controlling a piston of the compensation hydraulic cylinder to move in a direction opposite to the first displacement by a second displacement;

[0022] Step S3, according to the control of the fuzzy controller, the piston of the compensation hydraulic cylinder moves the second displacement so that the relative distance between the relay bin and the seabed remains unchanged.

[0023] On yet another aspect, the present invention provides a mining system, the mining system comprising: a mining ship floating on the sea surface;

[0024] A relay bin located below the mining ship;

[0025] A heave compensation system connected between the mining ship and the relay bin, the heave compensation system being any one of the above-mentioned heave compensation systems;

[0026] A mining pipeline, a first end of the mining pipeline being connected to the relay bin;

[0027] A mining device, which is connected to the second end of the mining pipeline and is used for mining on the seabed.

[0028] Due to the above technical solution, the present invention has the following beneficial effects:

[0029] According to the heave compensation system of the embodiment of the present invention, it includes a compensation hydraulic cylinder, a first displacement sensor and a fuzzy controller. The waves drive the movement of the mining ship. The first displacement sensor on the mining ship obtains the first displacement of the movement of the mining ship. The fuzzy controller controls the piston of the compensation hydraulic cylinder to move in the opposite direction of the first displacement by a second displacement according to the first displacement, so that the distance between the relay bin and the seabed remains unchanged, which can keep the distance between the relay bin and the seabed unchanged, avoid the damage of the mining pipeline and the mining device due to the fluctuation of the mining ship, and ensure the safety of the mining operation. Description of the Drawings

[0030] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a schematic structural diagram of a mining system provided by an embodiment of the present invention;

[0032] Figure 2 It is a schematic diagram of a heave compensation system provided by an embodiment of the present invention;

[0033] Figure 3 It is a schematic flowchart of a heave compensation method provided by an embodiment of the present invention.

[0034] 100. Mining ship; 210. Compensation hydraulic cylinder; 220. Electromagnetic directional valve; 230. Fuzzy controller; 240. Adder; 250. First displacement sensor; 260. Second displacement sensor; 300. Relay bin; 400. Mining pipeline; 500. Mining device. Detailed Embodiments

[0035] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clearly understood, the following further details the embodiments of the present invention in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not used to limit the embodiments of the present invention. In the technical solutions of the embodiments of the present invention, the acquisition, storage, use, processing, etc. of data all comply with the relevant regulations of national laws and regulations.

[0038] The following describes the mining system of the embodiments of the present invention.

[0039] As Figure 1 shown, the mining system of this embodiment includes: a mining ship 100, a relay bin 300, a heave compensation system, a mining pipeline 400 and a mining device 500. Among them, the mining ship 100 can be a large ship that supports the self-weight load of the mining pipeline 400 to be 200 tons.

[0040] The mining device 500 mines at the seabed and conveys the mined ore to the relay bin 300 through the mining pipeline 400. The relay bin 300 is connected to the mining ship 100 through the compensation hydraulic cylinder 210 in the heave compensation system.

[0041] The waves fluctuate irregularly, causing the mining ship 100 to also fluctuate irregularly. The position of the relay bin 300 is adjusted through the heave compensation system, so that the distance of the relay bin 300 relative to the seabed remains unchanged, ensuring the safety of the mining pipeline 400 and the mining device 500. Thus, the safety and stability of mining can be improved.

[0042] The following describes the heave compensation system of the embodiments of the present invention.

[0043] As Figure 2 shown, the heave compensation system includes: a compensation hydraulic cylinder 210, a first displacement sensor 250 and a fuzzy controller 230.

[0044] First, the compensation hydraulic cylinder 210 will be described. The compensation hydraulic cylinder 210 includes a cylinder block and a piston movably connected to the cylinder block. Among them, the cylinder block is rigidly connected to the mining ship 100, and the piston is rigidly connected to the relay bin 300.

[0045] That is to say, the piston can drive the relay bin 300 to perform heaving motion. Through the movement of the piston of the compensation hydraulic cylinder 210, the relay bin 300 can move relative to the mining ship 100.

[0046] Next, the first displacement sensor 250 will be described. The first displacement sensor 250 is arranged on the mining ship 100 to detect the first displacement of the mining ship 100.

[0047] Through the first displacement sensor 250, the fluctuation of the mining ship 100 following the waves can be accurately known, which is convenient for subsequent adjustment.

[0048] Finally, the fuzzy controller 230 will be described. The fuzzy controller 230 is connected to the compensation hydraulic cylinder 210 and the first displacement sensor 250. According to the first displacement obtained by the first displacement sensor 250, it controls the piston to move in the opposite direction of the movement towards the mining ship 100 by a second displacement, so that the distance between the relay bin 300 and the seabed remains unchanged.

[0049] The fuzzy controller 230 describes the relationship between system variables. It uses linguistic fuzzy variables instead of numerical values to describe the system. It simplifies the complexity of system design and is especially suitable for the control of non-linear, time-varying, lagging, and model-incomplete systems. The fuzzy controller 230 is an ideal non-linear controller that is easy to control and master, and has better robustness, adaptability, robustness, and better fault tolerance. Among them, the fuzzy controller 230 is a known technology and will not be elaborated here.

[0050] For example, if the first displacement sensor 250 obtains that the first displacement of the mining ship 100 is moving upward by 1 meter, the fuzzy controller 230 calculates that the second displacement of the piston of the compensation hydraulic cylinder 210 is moving downward by 1 meter. The piston drives the relay bin 300 to move downward by 1 meter according to the control of the fuzzy controller 230, so that the relative position of the relay bin 300 and the seabed remains unchanged.

[0051] In reality, the wave fluctuation speed is relatively fast, and the fluctuation of the mining ship 100 is also fast. However, there is a time difference in the response of the piston movement, so there are problems of lag and non-linearity. The fuzzy controller 230 performs fuzzy control on the movement of the piston, so as to maximize the distance between the relay bin 300 and the seabed remaining unchanged and ensure the safety of mining operations.

[0052] In the above heave compensation system, the waves drive the mining ship 100 to move. The first displacement sensor 250 on the mining ship 100 obtains the first displacement of the movement of the mining ship 100. The fuzzy controller 230 controls the piston of the compensation hydraulic cylinder 210 to move in the opposite direction of the first displacement by a second displacement according to the first displacement, so that the distance between the relay bin 300 and the seabed remains unchanged. Thus, the distance between the relay bin 300 and the seabed can be kept unchanged, avoiding damage to the mining pipeline 400 and the mining device 500 caused by the fluctuation of the mining ship 100, and ensuring the safety of the mining operation.

[0053] According to some embodiments of the present invention, the heave compensation system further includes an electromagnetic directional valve 220. The fuzzy controller 230 is connected to the compensation hydraulic cylinder 210 through the electromagnetic directional valve 220 to control the movement of the piston.

[0054] The fuzzy controller 230 is electrically connected to the electromagnetic directional valve 220, and the electromagnetic directional valve 220 is connected to the compensation hydraulic cylinder 210 to control the flow rate of the hydraulic oil driving the piston, thereby controlling the movement of the piston. Thus, the movement of the piston of the compensation hydraulic cylinder 210 can be controlled simply and precisely.

[0055] Further, the electromagnetic directional valve 220 includes a valve core. The fuzzy controller 230 outputs a current with a predetermined value according to the first displacement, and controls the opening degree of the valve core through the current, thereby controlling the flow rate of the hydraulic oil of the compensation hydraulic cylinder 210, and further controlling the movement of the piston.

[0056] The fuzzy controller 230 calculates the second displacement according to the first displacement and the third displacement, calculates the flow rate required for the piston to move the second displacement distance based on this, calculates the valve core opening degree corresponding to this flow rate, calculates the current corresponding to this valve core opening degree, and controls the piston movement with this current. Thus, the movement of the piston can be accurately controlled, and the response speed of this heave compensation system is fast, and the direction can be controlled by inertia with almost no lag.

[0057] Further, the heave compensation system further includes a second displacement sensor 260 and an adder 240. The second displacement sensor 260 is connected to the piston or the relay bin 300 to detect the third displacement of the piston. The fuzzy controller 230 is connected to the first displacement sensor 250 through the adder 240, and the adder 240 is also connected to the second displacement sensor 260 to calculate the difference between the first displacement and the third displacement, and input the difference into the fuzzy controller 230. The fuzzy controller 230 corrects the control of the electromagnetic directional valve 220 according to the difference.

[0058] For example, the first displacement sensor 250 obtains that the first displacement of the mining ship 100 is an upward movement of 3 meters, and the second displacement sensor 260 obtains that the third displacement of the piston is a downward movement of 2.5 meters. The adder 240 obtains a difference of 0.5 meters. The fuzzy controller 230 obtains this difference of 0.5 meters and adjusts the current input to the electromagnetic reversing valve 220 from 22 A to 23 A, thereby correcting the control of the piston.

[0059] Thereby, the movement of the piston can be adjusted more accurately, and the accuracy of the heave compensation system is increased.

[0060] Furthermore, the first displacement sensor 250 and the second displacement sensor 260 are Hall sensors. Among them, Hall sensors are divided into linear Hall sensors and switch Hall sensors.

[0061] Hall sensors have the characteristics of high sensor accuracy and good linearity. Thereby, the first displacement sensor 250 and the second displacement sensor 260 can accurately detect the displacement.

[0062] Furthermore, the Hall sensor is a linear Hall sensor, which is composed of a Hall element, a linear amplifier, and an emitter follower.

[0063] The linear Hall sensor, composed of a Hall element, a linear amplifier, and an emitter follower, outputs an analog quantity. Linear Hall sensors can be further divided into open-loop and closed-loop types. The closed-loop Hall sensor is also called a zero-flux Hall sensor. Linear Hall sensors are mainly used for AC and DC current and voltage measurements. Through the linear Hall sensor, the displacement can be detected more accurately.

[0064] According to some embodiments of the present invention, the fuzzy controller 230 is an adaptive fuzzy PID controller.

[0065] The PID parameters and their approximate change ranges can be preset. Based on the preset PID parameters, according to different sea waves, the preset PID parameters need to change within the preset range. The fuzzy controller 230 adjusts three contents, namely the preset PID parameters, the change range of the PID parameters, and the sorting of the fuzzy rules.

[0066] Furthermore, the fuzzy controller 230 performs fuzzy control based on the error (e) and the error change rate (e c ) in the input variables.

[0067] The fuzzy controller 230 uses the error e and the error change rate e cAs the input quantity of the controller, after the input quantity undergoes fuzzification and fuzzy inference, the output value of the fuzzy controller 230 can be obtained. The fuzzy controller 230 then needs to adjust its own parameters according to the output value of the fuzzy control. The fuzzy controller 230 describes the relationship between system variables. The system is described using linguistic fuzzy variables instead of numerical values. This simplifies the complexity of system design and is particularly suitable for the control of non-linear, time-varying, lagging, and systems with incomplete models. The fuzzy controller 230 is a linguistic controller that facilitates human-machine dialogue using natural language by the operator. The fuzzy controller 230 is an ideal non-linear controller that is easy to control and master, and has better robustness, adaptability, strongness, and better fault tolerance.

[0068] The heave compensation method according to an embodiment of the present invention will be described below.

[0069] As Figure 3 shown, the heave compensation method according to an embodiment of the present invention includes: Step S1, detecting the first displacement of the mining ship 100 through the first displacement sensor 250; Step S2, the fuzzy controller 230 obtains the first displacement and controls the piston of the compensation hydraulic cylinder 210 to move in the opposite direction of the first displacement by a second displacement; Step S3, according to the control of the fuzzy controller 230, the piston of the compensation hydraulic cylinder 210 moves by the second displacement so that the relative distance of the relay bin 300 from the seabed remains unchanged.

[0070] Thus, through the above heave compensation method, the relative distance of the relay bin 300 from the seabed can be kept unchanged, avoiding damage to the mining pipeline 400 and the mining device 500 due to the fluctuation of the mining ship 100, and ensuring the safety of the mining operation.

[0071] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A heave compensation system is applied to a mining ship and a relay bin. Characterized in that, Comprising: A compensation hydraulic cylinder, the compensation hydraulic cylinder includes a cylinder block and a piston movably connected to the cylinder block. Wherein, the cylinder block is rigidly connected to the mining ship, and the piston is rigidly connected to the relay bin; A first displacement sensor, the first displacement sensor is arranged on the mining ship to detect the first displacement of the mining ship; A fuzzy controller, the fuzzy controller is connected to the compensation hydraulic cylinder and the first displacement sensor, and according to the first displacement obtained by the first displacement sensor, controls the piston to move in the opposite direction of the mining ship by a second displacement, so that the distance of the relay bin relative to the seabed remains unchanged; An electromagnetic directional valve, the fuzzy controller is connected to the compensation hydraulic cylinder through the electromagnetic directional valve to control the movement of the piston. The electromagnetic directional valve includes a spool. The fuzzy controller controls the opening degree of the spool through a current of a predetermined value output according to the first displacement, thereby controlling the flow rate of the hydraulic oil of the compensation hydraulic cylinder, and further controlling the movement of the piston; A second displacement sensor, the second displacement sensor is connected to the piston or the relay bin to detect the third displacement of the piston; An adder, the fuzzy controller is connected to the first displacement sensor through the adder, and the adder is also connected to the second displacement sensor to calculate the difference between the first displacement and the third displacement, and input the difference into the fuzzy controller. The fuzzy controller corrects the control of the electromagnetic directional valve according to the difference.

2. The heave compensation system according to claim 1, Characterized in that, The first displacement sensor and the second displacement sensor are Hall sensors.

3. The heave compensation system according to claim 2, Characterized in that, The Hall sensor is a linear Hall sensor, which is composed of a Hall element, a linear amplifier and an emitter follower.

4. The heave compensation system according to claim 1, Characterized in that, The fuzzy controller is an adaptive fuzzy PID controller.

5. The heave compensation system according to claim 4, Characterized in that, The fuzzy controller performs fuzzy control based on the error ( e ), and the rate of change of error ( e c ) in the input variables.

6. A heave compensation method is applied to the heave compensation system according to any one of claims 1 to 5. Characterized in that, Comprising: Step S1, detecting the first displacement of the mining ship through the first displacement sensor; Step S2, the fuzzy controller obtains the first displacement and controls the piston of the compensation hydraulic cylinder to move in the opposite direction of the first displacement by a second displacement; Step S3, the compensation hydraulic cylinder moves the piston by the second displacement according to the control of the fuzzy controller, so that the distance of the relay bin relative to the seabed remains unchanged.

7. A mining system, Characterized in that, Comprising: A mining ship, the mining ship floats on the sea surface; A relay bin, the relay bin is located below the mining ship; A heave compensation system, the heave compensation system is connected between the mining ship and the relay bin, and it is the heave compensation system according to any one of claims 1 to 5; A mining pipeline, the first end of the mining pipeline being connected to the relay bin; A mining device, the mining device being connected to the second end of the mining pipeline for mining on the seabed.

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