A mining vessel wave compensation device, compensation system and compensation method

Abstract

The application discloses a wave compensation device for a mining ship, which comprises a collecting mechanism, a control mechanism connected with the collecting mechanism, and a hydraulic mechanism connected with the control mechanism; the collecting mechanism comprises a displacement sensor arranged on the mining ship and a wave motion collecting unit connected with the mining ship; and the hydraulic mechanism comprises a composite hydraulic cylinder, a main control valve and an oil pump connected with the composite hydraulic cylinder, and a liquid filling valve connected with the main control valve in parallel. The displacement sensor or the wave motion collecting unit is used for detecting the displacement of the mining ship or predicting the motion track of the mining ship in real time, so that the active and passive composite wave compensation is realized, the heave motion of the ocean mining ship is reduced, and the stable operation of the mining ship under the irregular influence of the sea waves is ensured, and the compensation precision is improved.

Description

Technical Field

[0001] This invention relates to the field of wave compensation devices for mining vessels, and more particularly to a wave compensation device, compensation system, and compensation method for mining vessels. Background Technology

[0002] Given the critical importance of marine resource extraction, mining vessels have become essential. To ensure the stability of these vessels during operation, wave compensation systems are also crucial. However, current wave compensation systems for mining vessels are designed and improved primarily from a mechanical perspective, resulting in large sizes and footprints. Furthermore, existing wave compensation systems for mining vessels cannot be used in conjunction with passive or active wave compensation systems, leading to low compensation accuracy.

[0003] Therefore, this invention needs to study a novel integrated active and passive wave compensation system, and further improve the accuracy of the wave compensation system for mining vessels through algorithm improvements. Summary of the Invention

[0004] This invention overcomes the shortcomings of the prior art and provides a wave compensation device, compensation system and compensation method for mining vessels.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a wave compensation device for a mining vessel, characterized in that it includes: a data acquisition mechanism, a control mechanism connected to the data acquisition mechanism, and a hydraulic mechanism connected to the control mechanism;

[0006] The acquisition mechanism includes: a displacement sensor installed on the mining vessel, and a wave motion acquisition unit connected to the mining vessel;

[0007] The hydraulic mechanism includes: a compound hydraulic cylinder, a main control valve and an oil pump connected to the compound hydraulic cylinder, and a filling valve connected in parallel with the main control valve;

[0008] The composite hydraulic cylinder includes: an outer cylinder, a piston rod disposed inside the outer cylinder, and an inner cylinder disposed inside the piston rod; a pulley is provided at one end of the piston rod, and the pulley is connected to the mining vessel by a rope;

[0009] The outer cylinder is divided into a first cylinder and a second cylinder by the end face of the piston rod; the main control valve is connected to the inner cylinder through a first pipeline, and the main control valve is connected to the second cylinder through a second pipeline; the first pipeline and the second pipeline are connected by a buffer pipeline; the filling valve is set in a third pipeline, one end of which is connected to the main pump, and the other end is connected to the first cylinder.

[0010] In a preferred embodiment of the present invention, the control mechanism is a fuzzy PID controller.

[0011] In a preferred embodiment of the present invention, the first pipeline and the third pipeline are connected by a connecting valve.

[0012] In a preferred embodiment of the present invention, a buffer valve is provided in the buffer pipeline.

[0013] In a preferred embodiment of the present invention, a voltage accumulator is connected in parallel to the third pipeline at the input end of the filling valve, and a compensation accumulator is connected in parallel to the third pipeline at the output end of the filling valve.

[0014] In a preferred embodiment of the present invention, the main pump is equipped with a safety valve.

[0015] In a preferred embodiment of the present invention, the pulley is capable of extending or retracting the rope.

[0016] This invention provides a compensation system for a wave compensation device for a mining vessel, applicable to the wave compensation device for a mining vessel described above. The compensation system includes a fuzzy PID control unit.

[0017] The fuzzy PID control unit receives detection signals from the displacement sensor and the wave motion acquisition unit; the fuzzy PID control unit sends control signals to the main control valve, the filling valve and the buffer valve in the hydraulic mechanism to control the opening, closing or switching of the main control valve, the filling valve and the buffer valve.

[0018] This invention provides a compensation method for a wave compensation device for a mining vessel;

[0019] When the mining vessel is in active compensation mode, the following steps are included: A1. Collect wave motion data according to the wave motion acquisition unit, analyze the wave motion using the algorithm, and determine the direction or amount of wave compensation for the mining vessel.

[0020] A2. By controlling the amount of oil pumped from the main pump through the third and second pipelines, the amount of oil in the first and second cylinders can be controlled, thereby enabling the piston rod to move left and right.

[0021] When the mining vessel is in passive compensation mode, the following steps are included: B1. Determine the direction or amount of wave compensation for the mining vessel by measuring the actual displacement of the mining vessel based on the displacement sensor; B2. Pump oil into the inner cylinder through the main control valve, adjust the oil volume between the inner cylinder and the second cylinder through the buffer pipeline, and input oil into the first cylinder through the compensation accumulator to realize the left and right movement of the piston rod.

[0022] In a preferred embodiment of the present invention, in A1, the trajectory of wave motion is divided according to time. With a fixed step size set, the actual trajectory of wave motion in the next step size is predicted and analyzed by the control mechanism. At the same time, the error between the actual trajectory and the expected value is calculated, and continuous iterative calculation and rolling optimization are performed to determine the direction or amount of wave compensation for the mining vessel.

[0023] This invention addresses the shortcomings of the prior art and has the following beneficial effects:

[0024] (1) The present invention provides a wave compensation device for mining vessels. By using a displacement sensor or a wave motion acquisition unit, the displacement of the mining vessel can be detected in real time or the trajectory of the mining vessel can be predicted, thereby realizing a combination of active and passive wave compensation, reducing the heave motion of the marine mining vessel, and thus ensuring that the mining vessel can operate stably under the irregular influence of ocean waves, thereby improving the accuracy of compensation.

[0025] (2) The algorithm in this invention is based on the short-term prediction algorithm of wave motion in time series. The trajectory of wave motion is divided according to time. With a fixed step size set, the actual trajectory of wave motion in the next step size is predicted and analyzed by the action of the control mechanism. At the same time, the error between the expected value and the actual value is calculated, and continuous iterative calculation and rolling optimization are performed to determine the direction or amount of wave compensation for mining vessel, and then the displacement of piston rod is obtained, which facilitates the control of the amount of oil in the first and second oil cylinders.

[0026] (3) In the active compensation mode, the movement amplitude of the mining vessel is small, that is, the compensation amount is small. The oil volume in the first and second cylinders is calculated in advance by the control mechanism, that is, only the specified oil volume needs to be delivered to the first and second cylinders. In the passive compensation mode, the actual displacement of the mining vessel is measured in real time by the displacement sensor. In this state, the movement amplitude of the mining vessel is large, that is, the compensation is more frequent, resulting in a large change in the oil volume in the first and second cylinders. By storing oil in the inner cylinder and the compensation accumulator in advance, it is convenient to quickly adjust the oil volume in the first or second cylinder, thereby achieving rapid compensation. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the hydraulic mechanism according to a preferred embodiment of the present invention;

[0029] Figure 2 This is a flowchart of the compensation method in the active compensation mode of a preferred embodiment of the present invention;

[0030] Figure 3 This is a flowchart of a compensation method in the passive compensation mode of a preferred embodiment of the present invention;

[0031] In the diagram: 1. Composite hydraulic cylinder; 2. First cylinder; 3. Second cylinder; 4. Piston rod; 5. Inner cylinder; 6. Pulley; 7. First pipeline; 8. Second pipeline; 9. Third pipeline; 10. Buffer pipe; 11. Main control valve; 12. Oil pump; 13. Filling valve; 14. Connecting valve; 15. Buffer valve; 16. Safety valve; 17. Voltage stabilizing accumulator; 18. Compensating accumulator. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein. Therefore, the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0035] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] This invention provides a wave compensation device for a mining vessel. The wave compensation device includes: a data acquisition mechanism, a control mechanism connected to the data acquisition mechanism, and a hydraulic mechanism connected to the control mechanism.

[0037] The acquisition mechanism in this invention includes: a displacement sensor mounted on a mining vessel, and a wave motion acquisition unit connected to the mining vessel. The displacement sensor is used to detect the position of the mining vessel, and the wave motion acquisition unit includes one or more floats placed in the water, and motion sensors mounted on the floats.

[0038] In this invention, the trajectory of wave motion is divided according to time. The motion amount and trajectory of the float are detected under a fixed step size. The detection results are input into the control mechanism. The control mechanism performs fuzzy prediction on the detection results, calculates the error with the expected value, and performs continuous iterative calculation and rolling optimization to predict the motion amount and trajectory of the float in the future, thereby determining the direction or amount of wave compensation for the mining vessel.

[0039] The control mechanism in this invention is a fuzzy PID controller. This invention takes into account the potential response lag in practical engineering systems; therefore, it focuses on time delay-based research and utilizes intelligent algorithms designed based on artificial intelligence and reinforcement learning to control the wave compensation system. This approach further enhances the system's versatility, reduces errors between research and practical application, and improves accuracy.

[0040] like Figure 1 The diagram shows a schematic representation of the hydraulic mechanism of this invention. The hydraulic mechanism includes: a compound hydraulic cylinder 1, a main control valve 11 and an oil pump 12 connected to the compound hydraulic cylinder 1, and a filling valve 13 connected in parallel with the main control valve 11.

[0041] The composite hydraulic cylinder 1 includes: an outer cylinder, a piston rod 4 disposed inside the outer cylinder, and an inner cylinder 5 disposed inside the piston rod 4; a pulley 6 is provided at one end of the piston rod 4, and the pulley 6 is connected to the mining vessel by a rope.

[0042] It should be noted that in this invention, the pulley 6 can extend or retract the rope.

[0043] The outer cylinder is divided by the end face of the piston rod 4 to form the first cylinder 2 and the second cylinder 3; the main control valve 11 is connected to the inner cylinder 5 through the first pipeline 7, and the main control valve 11 is connected to the second cylinder 3 through the second pipeline 8; the first pipeline 7 and the second pipeline 8 are connected by a buffer pipe 10; a buffer valve 15 is provided in the buffer pipe 10 for exchanging oil in the inner cylinder 5 and the second cylinder 3.

[0044] The filling valve 13 is installed in the third pipeline 9, one end of which is connected to the main pump and the other end is connected to the first oil cylinder 2.

[0045] The first pipeline 7 and the third pipeline 9 are connected by a connecting valve 14.

[0046] A voltage accumulator 17 is connected in parallel to the third pipe 9 at the input end of the filling valve 13, and a compensation accumulator 18 is connected in parallel to the third pipe 9 at the output end of the filling valve 13.

[0047] In this invention, the main pump is equipped with a safety valve 16.

[0048] The present invention provides a compensation system for a wave compensation device for a mining vessel, which is applied to the aforementioned wave compensation device for a mining vessel. The compensation system includes a fuzzy PID control unit.

[0049] The fuzzy PID control unit receives detection signals from the displacement sensor and the wave motion acquisition unit; the fuzzy PID control unit sends control signals to the main control valve 11, the filling valve 13 and the buffer valve 15 in the hydraulic mechanism to control the opening, closing or switching of the main control valve 11, the filling valve 13 and the buffer valve 15.

[0050] This invention provides a compensation method for a wave compensation device for a mining vessel;

[0051] like Figure 2 As shown, when the mining vessel is in active compensation mode, the following steps are included:

[0052] A1. Collect wave motion data from the wave motion acquisition unit, analyze the wave motion using algorithms, and determine the direction or amount of wave compensation for the mining vessel.

[0053] A2. By controlling the amount of oil pumped from the main pump through the third pipeline 9 and the second pipeline 8, the amount of oil in the first cylinder 2 and the second cylinder 3 is controlled, thereby realizing the left and right movement of the piston rod 4.

[0054] In active compensation mode, the movement range of the mining vessel is small, that is, the compensation amount is small. The oil volume in the first cylinder 2 and the second cylinder 3 is calculated in advance by the control mechanism, that is, only the specified amount of oil needs to be delivered to the first cylinder 2 and the second cylinder 3.

[0055] The algorithm in this invention is based on a short-term wave motion prediction algorithm based on time series. It divides the wave motion trajectory according to time. With a fixed step size set, the actual wave motion trajectory at the next step size is predicted and analyzed by the control mechanism. At the same time, the error between the actual value and the expected value is calculated, and continuous iterative calculation and rolling optimization are performed to determine the direction or amount of wave compensation for the mining vessel. This results in the displacement of the piston rod 4, which facilitates the control of the oil volume in the first cylinder 2 and the second cylinder 3.

[0056] like Figure 3 As shown, when the mining vessel is in passive compensation mode, the following steps are included:

[0057] B1. Determine the direction or amount of wave compensation for the mining vessel based on the actual displacement measured by the displacement sensor.

[0058] B2. Oil is pumped into the inner cylinder 5 through the main control valve 11. The oil volume between the inner cylinder 5 and the second cylinder 3 is adjusted through the buffer pipe 10. The accumulator 18 inputs oil into the first cylinder 2 to realize the left and right movement of the piston rod 4.

[0059] In passive compensation mode, the actual displacement of the mining vessel is measured in real time by displacement sensor. At this time, the movement amplitude of the mining vessel is large, that is, the compensation is more frequent, which leads to a large change in the amount of oil in the first cylinder 2 and the second cylinder 3. By storing oil in the inner cylinder 5 and the compensation accumulator 18 in advance, it is easy to quickly adjust the amount of oil in the first cylinder 2 or the second cylinder 3, thereby achieving rapid compensation.

[0060] Based on the preferred embodiments of the present invention described above, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A wave compensating device for a mining vessel, characterized in that include: A data acquisition mechanism, a control mechanism connected to the data acquisition mechanism, and a hydraulic mechanism connected to the control mechanism; The acquisition mechanism includes: a displacement sensor installed on the mining vessel, and a wave motion acquisition unit connected to the mining vessel; The hydraulic mechanism includes: a compound hydraulic cylinder, a main control valve and an oil pump connected to the compound hydraulic cylinder, and a filling valve connected in parallel with the main control valve; The composite hydraulic cylinder includes: an outer cylinder, a piston rod disposed inside the outer cylinder, and an inner cylinder disposed inside the piston rod; a pulley is disposed at one end of the piston rod, and the pulley is connected to the mining vessel via a rope; the pulley is capable of extending or retracting the rope; The outer cylinder is divided into a first cylinder and a second cylinder by the end face of the piston rod; the main control valve is connected to the inner cylinder through a first pipeline, and the main control valve is connected to the second cylinder through a second pipeline; the first pipeline and the second pipeline are connected by a buffer pipeline; the filling valve is set in a third pipeline, one end of the third pipeline is connected to the main pump, and the other end is connected to the first cylinder; The wave compensation device for the mining vessel mentioned above includes a fuzzy PID control unit in its compensation system. The fuzzy PID control unit receives detection signals from the displacement sensor and the wave motion acquisition unit; the fuzzy PID control unit sends control signals to the main control valve, the filling valve and the buffer valve in the hydraulic mechanism to control the opening, closing or switching of the main control valve, the filling valve and the buffer valve.

2. A wave compensating device for a mining vessel according to claim 1, characterised in that: The control mechanism is a fuzzy PID controller.

3. A wave compensating device for a mining vessel according to claim 1, characterised in that: The first pipeline and the third pipeline are connected by a connecting valve.

4. A wave compensating device for a mining vessel according to claim 1, characterized in that: A buffer valve is installed in the buffer pipeline.

5. A wave compensating device for a mining vessel according to claim 1, characterised in that: A voltage stabilizing accumulator is connected in parallel to the third pipeline at the input end of the filling valve, and a compensating accumulator is connected in parallel to the third pipeline at the output end of the filling valve.

6. A wave compensating device for a mining vessel according to claim 1, characterised in that: The main pump is equipped with a safety valve.

7. A compensation method for a wave compensation device for a mining vessel based on any one of claims 1-6, characterized in that: When the mining vessel is in active compensation mode, the following steps are included: A1. Wave motion data is collected by the wave motion acquisition unit, and the wave motion is analyzed by the algorithm to determine the direction or amount of wave compensation for the mining vessel; A2. The amount of oil pumped from the main pump by the third pipeline and the second pipeline is controlled, thereby controlling the amount of oil in the first cylinder and the second cylinder to realize the left and right movement of the piston rod. When the mining vessel is in passive compensation mode, the following steps are included: B1. Measure the actual displacement of the mining vessel according to the displacement sensor to determine the direction or amount of wave compensation for the mining vessel; B2. Pump oil into the inner cylinder through the main control valve, adjust the oil volume between the inner cylinder and the second cylinder through the buffer pipeline, and input oil into the first cylinder through the compensation accumulator to realize the left and right movement of the piston rod.

8. A method of compensation for a mining vessel wave compensation device as claimed in claim 7, characterised in that: In A1, the trajectory of the wave motion is divided according to time, and under the setting of a fixed step, the actual trajectory of the wave motion under the next step is predicted and analyzed through the action of the control mechanism, the error with the expected value is calculated, and continuous iterative calculation and rolling optimization are carried out, and then the direction or compensation amount of the wave compensation of the mining ship is determined.

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