Ship Mooring Drive Device with Self-Powering Anti-Rolling and Bidirectional Proportional Control Method

Abstract

The present invention provides a ship mooring drive device with self-powered energy reduction for roll damping and a bidirectional proportional control method. The device includes a hydraulic pump, a first reversing valve, a motor, a bidirectional control proportional valve, and a mooring oil cylinder. The P port of the hydraulic pump is connected to the P port of the first reversing valve. The A port of the first reversing valve is connected in parallel with the first oil port of the accumulator and then connected to the P port of the bidirectional control proportional valve. The B port of the first reversing valve is connected to the second oil port of the accumulator. The A port of the bidirectional control proportional valve is connected to the lower chamber of the mooring oil cylinder, and the B port of the bidirectional control proportional valve is connected to the upper chamber of the mooring oil cylinder. The control method mainly completes the docking recovery of the mooring robot and the ship, roll damping of the mooring, and energy recovery by controlling the bidirectional control proportional valve, the motor, and the hydraulic pump. The present invention controls the position and pressure of the mooring oil cylinder through the forward and reverse oil passage control of the bidirectional control proportional valve, and uses the accumulator, the motor, and the hydraulic pump to absorb and store the energy of the mooring oil cylinder doing negative work, realizing energy recovery.

Description

Technical Field

[0001] The present invention relates to the technical field of ship mooring drive systems, and particularly relates to a ship mooring drive device with self-energy feedback anti-rolling and a bidirectional proportional control method. Background Art

[0002] In recent years, the throughput of goods in ports of various countries has been increasing, the number and tonnage levels of ships have been getting higher and higher. Due to the six-degree-of-freedom rolling of ships under the action of wind, waves and surges, that is: sway, surge, heave, roll, pitch and yaw, which has a strong periodicity. Therefore, the problem of suppressing ship rolling, making the ship stop stably, safely and quickly at the berth, and significantly improving the economic efficiency and safety of ship mooring needs to be solved urgently. The self-energy feedback technology is a technology that absorbs and stores the energy generated by its own movement and uses it for its own control and drive. Due to the huge rolling energy of large ships caused by surges, if this energy can be utilized, it will contribute to the green environmental protection construction of port terminals. At present, the domestic ship mooring drive system technology is difficult to meet the requirements of quickly and stably performing safe mooring anti-rolling movement for ships. Few ship mooring systems have the characteristics of simplicity and high energy recovery rate, have poor adaptability to sea conditions, and the proportional control valves in the mooring system are traditionally used in the forward direction, making it difficult to adapt to the energy recovery working conditions of the ship mooring system. At the same time, in general hydraulic control systems, both at home and abroad, the proportional valve is limited to unidirectional oil inlet control, that is, the P port is only used as the oil inlet, and during the use of reverse oil inlet control, that is, the A port is used as the oil inlet, the response performance of the proportional valve is poor.

[0003] Therefore, it is of certain significance to develop a stable and fast ship mooring drive and self-energy feedback anti-rolling control system. Summary of the Invention

[0004] Aiming at the problems existing in the prior art, the present invention provides a ship mooring drive device with self-energy feedback anti-rolling and a bidirectional proportional control method. The bidirectional proportional control unit mainly controls a special bidirectional control proportional valve according to the bidirectional proportional control method, controls the position of the mooring oil cylinder according to the mooring oil cylinder displacement sensor, and controls the pressures of the upper and lower chambers of the mooring oil cylinder according to the lower chamber pressure sensor and the upper chamber pressure sensor, respectively realizing the docking and recovery movement and anti-rolling movement of the ship; according to the signals of the accumulator pressure sensor and the high-pressure accumulator pressure sensor, the accumulator, the continuous supercharger and the high-pressure accumulator are used to make the motor and the hydraulic pump be in different working conditions respectively, realizing the recovery and utilization of the ship rolling energy, thereby solving the problems of severe rolling and energy saving during the ship mooring process.

[0005] The present invention provides a ship mooring drive device with self-powered energy reduction for roll damping, which includes a motor, a hydraulic pump, an oil tank, a first reversing valve, an accumulator, a two-way control proportional valve, a mooring cylinder, an oil return check valve, a make-up oil check valve, a safety relief valve, an accumulator pressure sensor, a lower chamber pressure sensor, an upper chamber pressure sensor, a mooring cylinder displacement sensor, and a two-way proportional control unit. The motor drives the hydraulic pump. The first port of the hydraulic pump is communicated with the first oil port of the oil tank through a first filter. The second port of the hydraulic pump is communicated with the P port of the first reversing valve. The A port of the first reversing valve is connected in parallel with the first oil port of the accumulator and then communicated with the P port of the two-way control proportional valve. The first oil port of the B port of the first reversing valve is communicated with the second oil port of the accumulator. The T port of the first reversing valve is communicated with the second oil port of the oil tank through a throttle valve. The A port of the two-way control proportional valve is communicated with the lower chamber of the mooring cylinder. The B port of the two-way control proportional valve is communicated with the upper chamber of the mooring cylinder. The first oil port of the T port of the two-way control proportional valve is communicated with the third oil port of the oil tank through a second filter. The oil inlet of the oil return check valve is communicated with the second oil port of the T port of the two-way control proportional valve. The oil outlet of the oil return check valve is communicated with the fourth oil port of the oil tank. The oil outlet of the make-up oil check valve is communicated with the third oil port of the T port of the two-way control proportional valve. The oil inlet of the make-up oil check valve is communicated with the fifth oil port of the oil tank. The oil inlet of the relief valve is communicated with the third oil port of the accumulator. The oil outlet of the relief valve is communicated with the fourth oil port of the T port of the two-way control proportional valve. The oil port of the accumulator pressure sensor is communicated with the fourth oil port of the accumulator. The oil port of the lower chamber pressure sensor is communicated with the lower chamber of the mooring cylinder. The oil port of the upper chamber pressure sensor is communicated with the upper chamber of the mooring cylinder. The signal output terminals of the accumulator pressure sensor, the lower chamber pressure sensor, the upper chamber pressure sensor, and the mooring cylinder displacement sensor are respectively connected to the signal input terminals of the two-way proportional control unit. An output control signal is obtained through a two-way proportional control method and sent to the control end of the two-way control proportional valve to control the oil inlet or oil outlet of the P port and the T port of the two-way control proportional valve, so as to realize the docking, recovery, and roll damping of the mooring robot with the ship. And when the P port of the two-way control proportional valve discharges oil, energy recovery is realized by using the accumulator.

[0006] Preferably, it further includes a unloading check valve, a first check valve, a first sequence valve, a continuous booster, a high-pressure accumulator, and a second sequence valve. The oil inlet of the unloading check valve is communicated with the fifth oil port of the accumulator, the first oil port of the oil outlet of the unloading check valve is communicated with the second oil port of the B port of the first reversing valve, the oil outlet of the first check valve is communicated with the sixth oil port of the accumulator, the oil inlet of the first check valve is communicated with the oil outlet of the first sequence valve, the drain port of the first sequence valve is communicated with the seventh oil port of the accumulator, and the oil inlet of the first sequence valve is communicated with the second oil port of the oil outlet of the unloading check valve; the oil inlet of the continuous booster is communicated with the eighth oil port of the accumulator, the oil outlet of the continuous booster is communicated with the first oil port of the high-pressure accumulator, the second oil port of the high-pressure accumulator is communicated with the third oil port of the oil outlet of the unloading check valve, the drain port of the continuous booster is communicated with the oil inlet of the second sequence valve, and the oil outlet of the second sequence valve is communicated with the fifth oil port of the T port of the two-way control proportional valve.

[0007] Preferably, it further includes a safety valve group, which includes a lower chamber check valve, an upper chamber check valve, a lower chamber overflow valve, and an upper chamber overflow valve. The oil inlet of the lower chamber check valve is communicated with the lower chamber of the mooring cylinder, the oil outlet of the lower chamber check valve is communicated with the sixth oil port of the T port of the two-way control proportional valve, the oil outlet of the upper chamber check valve is communicated with the oil outlet of the lower chamber check valve, and the oil inlet of the upper chamber check valve is communicated with the upper chamber of the mooring cylinder; the oil inlet of the lower chamber overflow valve is communicated with the lower chamber of the mooring cylinder, the oil outlet of the lower chamber overflow valve is communicated with the seventh oil port of the T port of the two-way control proportional valve, the oil inlet of the upper chamber overflow valve is communicated with the upper chamber of the mooring cylinder, and the oil outlet of the upper chamber overflow valve is communicated with the eighth oil port of the T port of the two-way control proportional valve.

[0008] Preferably, the first control end of the two-way proportional control unit is connected to the control end of the two-way control proportional valve, the second control end of the two-way proportional control unit is connected to the control end of the first reversing valve, and the third control end of the two-way proportional control unit is connected to the motor drive control end. Preferably, it further includes a high-pressure accumulator pressure sensor and a motor driver. The oil port of the high-pressure accumulator pressure sensor is communicated with the third oil port of the high-pressure accumulator; the first control end of the motor driver is connected to the fourth control end of the two-way proportional control unit, and the second control end of the motor driver is connected to the control end of the motor driver of the motor.

[0009] Preferably, the number of the mooring cylinders is at least one, and the number of the mooring cylinder displacement sensors, the lower chamber pressure sensors, the upper chamber pressure sensors, and the two-way control proportional valves is equal to the number of the mooring cylinders.

[0010] In a second aspect of the present invention, there is provided a two-way proportional control method using the aforementioned ship mooring drive device with self-feed energy anti-rolling, which includes the following steps:

[0011] S1. Input the distance x0 (x0≥0) between the mooring robot and the ship into the two-way proportional control unit, and judge the working condition of the mooring cylinder through the output signal of the mooring cylinder displacement sensor:

[0012] The expression for the work done by the mooring cylinder is:

[0013] W 油缸 =(P 下腔 A 下腔 —P 上腔 A 上腔 )·ΔL

[0014] Wherein, P 下腔 is the pressure in the lower chamber of the mooring cylinder, A 下腔 is the effective acting area of the lower chamber of the mooring cylinder, P 上腔 is the pressure in the upper chamber of the mooring cylinder, A 上腔 is the effective acting area of the upper chamber of the mooring cylinder, ΔL is the telescopic amount of the mooring cylinder and is positive when the mooring cylinder extends;

[0015] If the mooring cylinder is in the docking and recovery working condition and the mooring cylinder does positive work, the two-way proportional control unit transmits a control signal to the control end of the two-way control proportional valve, controls the two-way control proportional valve to conduct oil in the forward direction, and adjusts the spool displacement of the two-way control proportional valve according to the mooring cylinder displacement sensor to complete the docking or recovery movement of the mooring robot and the ship;

[0016] If the mooring cylinder is in the mooring anti-rolling working condition and the mooring cylinder does negative work, the two-way proportional control unit transmits a control signal to the control end of the two-way control proportional valve, controls the two-way control proportional valve to conduct oil in the reverse direction, and adjusts the spool position of the two-way control proportional valve according to the signals of the mooring cylinder displacement sensor, the lower chamber pressure sensor and the upper chamber pressure sensor to reduce the damping force of the mooring cylinder and complete the anti-rolling of the ship;

[0017] S2. Perform energy recovery according to the working condition of the mooring cylinder obtained in step S1 and the signal of the accumulator pressure sensor:

[0018] If the mooring cylinder is in the docking and recovery working condition and the mooring cylinder does positive work, no energy recovery is performed; if the mooring cylinder is in the mooring anti-rolling working condition and the mooring cylinder does negative work, energy recovery is completed through the accumulator;

[0019] S3. Perform active unloading according to the signal of the accumulator pressure sensor obtained in step S2:

[0020] If the signal of the accumulator pressure sensor is equal to the active unloading value i set by the two-way proportional control unit 卸荷 then manually control the two-way proportional control unit to output a control signal i 换向阀 to the first reversing valve to make the first reversing valve in the neutral position, and manually open the throttle valve to complete the active unloading of the high-pressure accumulator and the accumulator.

[0021] Preferably, the two-way proportional control method further includes the following steps:

[0022] S4. Set the opening pressure of the first sequence valve to P c1 and the opening pressure of the second sequence valve to P c2 respectively;

[0023] S5. Perform energy recovery according to the working conditions of the mooring cylinder, the signal of the accumulator pressure sensor, and the signal of the high-pressure accumulator pressure sensor obtained in step S2:

[0024] If the mooring cylinder is in the mooring anti-rolling working condition and the mooring cylinder does negative work, judge the relationship between the signal i of the accumulator pressure sensor 蓄 and the opening pressure P of the second sequence valve c2 :

[0025] If the signal i of the accumulator pressure sensor 蓄 is less than the opening pressure P of the second sequence valve c2 then close the second sequence valve, recover the pressure oil at the P port of the two-way control proportional valve to the accumulator to complete the energy recovery of the hydraulic pressure energy;

[0026] If the signal i of the accumulator pressure sensor 蓄 is greater than or equal to the opening pressure P of the second sequence valve c2 open the second sequence valve, use the oil outlet of the continuous supercharger to fill the high-pressure accumulator. At this time, if the signal i of the high-pressure accumulator pressure sensor 高 reaches the set value i of the two-way proportional control unit 电 then the two-way proportional control unit controls the motor driver and the first reversing valve respectively to make the motor reverse, make the hydraulic pump in the motor working condition, make the first reversing valve in the left position. At this time, the pressure oil at the oil port of the high-pressure accumulator drives the hydraulic pump to complete the energy recovery of the hydraulic pressure energy in the form of electric energy;

[0027] S6. Perform partial utilization of the recovered energy according to the opening pressure P of the first sequence valve c1 and the signal of the accumulator pressure sensor obtained in step S2:

[0028] If the signal i of the accumulator pressure sensor 蓄 and the opening pressure P of the first sequence valve c1The sum is less than or equal to the signal i of the high-pressure accumulator pressure sensor 高 When this occurs, the first sequence valve is opened, allowing the high-pressure accumulator to replenish oil to the accumulator, thereby partially utilizing the recovered energy;

[0029] S7. Perform active unloading based on the high-pressure accumulator pressure sensor signal obtained in step S5 and the accumulator sensor signal obtained in step S2:

[0030] If the high-pressure accumulator pressure sensor signal i 高 and the accumulator pressure sensor signal i 蓄 The sum is equal to the active unloading value i set by the bi-directional proportional control unit 卸荷 When this occurs, manually control the bi-directional proportional control unit to output the control signal i 换向阀 To the first reversing valve, making the first reversing valve in the neutral position, and manually opening the throttle valve to complete the active unloading of the high-pressure accumulator and the accumulator.

[0031] Preferably, when the mooring cylinder is in the docking recovery condition, the bi-directional proportional control unit controls the motor driver to make the motor in the forward rotation condition, the hydraulic pump in the pumping condition, and adjusts the motor speed through the motor driver to control the maximum flow rate of the hydraulic pump; when the mooring cylinder is in the mooring anti-rolling condition, the bi-directional proportional control unit controls the motor driver to make the motor in the reverse rotation condition, the hydraulic pump in the motor condition, and adjusts the motor torque through the motor driver to make the hydraulic pump drive the motor to generate electricity.

[0032] Compared with the prior art, the present invention has the following advantages:

[0033] 1. The present invention uses a bi-directional control proportional valve to perform bi-directional control of the position and pressure of the mooring cylinder. When the P port of the proportional valve is used as the oil inlet, the T port as the oil drain port, and the A and B ports as the oil outlet ports respectively for forward oil passage to control the position of the mooring cylinder, it realizes a safer and more stable docking and recovery movement between the mooring robot and the ship; when the P port of the proportional valve is used as the oil outlet, the T port as the oil return port, and the A or B port as the oil inlet for reverse oil passage to control the pressure of the two chambers of the mooring cylinder, thereby adjusting the damping force of the mooring cylinder and realizing the anti-rolling of the ship under the action of the damping force of the mooring cylinder. It has the advantages of simple system, energy saving, etc.

[0034] 2. The bi-directional control proportional valve in the present invention can achieve reverse oil passage control compared with the existing general proportional valve technology, that is, the P port of the bi-directional control proportional valve is used as the oil outlet, the T port as the oil return port, and the A or B port as the oil inlet, and it has the advantages of fast response speed and high precision when reversing oil passage.

[0035] 3. The present invention absorbs and stores the energy generated when the mooring cylinder does negative work under the damping force adjustment condition through an accumulator and a hydraulic pump, thereby realizing energy recovery and achieving an energy-saving effect.

[0036] 4. The drive and anti-rolling control system of the mooring robot is greatly simplified by the two-way oil passage control method of the proportional valve and the integrated drive and power generation of the hydraulic pump motor. Description of the Drawings

[0037] Figure 1 It is the basic structure and signal transmission diagram of the ship mooring drive device with self-feed energy anti-rolling of the present invention;

[0038] Figure 2 It is the connection diagram of the unloading check valve, the first check valve, the first sequence valve, the continuous booster, the high-pressure accumulator and the second sequence valve in the ship mooring drive device with self-feed energy anti-rolling of the present invention;

[0039] Figure 3 It is the connection diagram of the safety valve group in the ship mooring drive device with self-feed energy anti-rolling of the present invention;

[0040] Figure 4 It is the structural diagram of the safety valve group in the ship mooring drive device with self-feed energy anti-rolling of the present invention;

[0041] Figure 5 It is the connection diagram of the high-pressure accumulator pressure sensor and the motor driver in the ship mooring drive device with self-feed energy anti-rolling of the present invention;

[0042] Figure 6 It is the brief flow chart of the two-way proportional method in the two-way proportional control method of the ship mooring drive device with self-feed energy anti-rolling of the present invention;

[0043] Figure 7 It is the overall control flow chart of the ship mooring drive device with self-feed energy anti-rolling and the two-way proportional control method of the present invention.

[0044] Main reference numerals:

[0045] Fuel tank 1, first filter 2, hydraulic pump 3, motor 4, first reversing valve 5, accumulator 6, accumulator pressure sensor 7, two-way control proportional valve 8, lower chamber pressure sensor 9, upper chamber pressure sensor 10, mooring cylinder 11, mooring cylinder displacement sensor 12, overflow valve 13, oil return check valve 14, oil replenishing check valve 15, throttle valve 16, two-way proportional control unit 17, unloading check valve 18, first check valve 19, first sequence valve 20, second sequence valve 21, continuous supercharger 22, high-pressure accumulator 23, safety valve group 24, high-pressure accumulator pressure sensor 25, motor driver 26, second filter 27, lower chamber check valve 2401, upper chamber check valve 2402, upper chamber overflow valve 2403, lower chamber overflow valve 2404. Detailed implementation manner

[0046] To elaborate on the technical content, structural features, achieved objectives, and effects of the present invention, the following will be described in detail with reference to the accompanying drawings of the specification.

[0047] A ship mooring drive device with self-feed energy anti-rolling, as Figure 1 , Figure 2 , Figure 3 and Figure 5 shown, includes a fuel tank 1, a first filter 2, a hydraulic pump 3, a motor 4, a first reversing valve 5, an accumulator 6, an accumulator pressure sensor 7, a two-way control proportional valve 8, a lower chamber pressure sensor 9, an upper chamber pressure sensor 10, a mooring cylinder 11, a mooring cylinder displacement sensor 12, an overflow valve 13, an oil return check valve 14, an oil replenishing check valve 15, a throttle valve 16, a two-way proportional control unit 17, an unloading check valve 18, a first check valve 19, a first sequence valve 20, a second sequence valve 21, a continuous supercharger 22, a high-pressure accumulator 23, a safety valve group 24, a high-pressure accumulator pressure sensor 25, a motor driver 26, and a second filter 27; specifically, in the ship mooring drive device of the present invention, the first oil port, second oil port, third oil port, fourth oil port, fifth oil port, sixth oil port, seventh oil port, and eighth oil port of the T ports of the accumulator 6 and the two-way control proportional valve 8 are respectively interconnected, the first oil port, second oil port, third oil port, fourth oil port, and fifth oil port of the fuel tank 1 are interconnected, and the first oil port and second oil port of the B port of the first reversing valve 5 are interconnected.

[0048] In a preferred embodiment of the present invention, through the control of the control end signal of the two-way proportional valve 8 by the two-way proportional control unit 17, the two-way control proportional valve 8 performs two-way control of the position or pressure of the mooring cylinder 9, so as to achieve mooring docking or anti-rolling. The accumulator 6 is connected between the two-way control proportional valve 8 and the hydraulic pump 3. During the anti-rolling condition, the hydraulic oil in the high-pressure chamber of the mooring cylinder 9 is discharged into the accumulator 6 after being regulated by the two-way control proportional valve 8, or the hydraulic oil of the accumulator 6 is regulated by the two-way control proportional valve 8 to supply oil to the mooring cylinder 9; the hydraulic oil in the high-pressure chamber of the mooring cylinder 9 can be pressurized by the continuous supercharger 22 and then sent to the high-pressure accumulator 23. The high-pressure accumulator 23 is further connected to the accumulator 6 through the first sequence valve 20, so as to realize the energy storage and pressure regulation of the accumulator 6 and the high-pressure accumulator 23 in the ship mooring drive device. The hydraulic oil of the high-pressure accumulator 23 can also further drive the hydraulic pump 3 to rotate, so as to drive the motor 4 to rotate and realize the energy feeding of power generation.

[0049] Specifically, as Figure 1 shown, the motor 4 drives the hydraulic pump 3. The first port of the hydraulic pump 3 is communicated with the first oil port of the oil tank 1 through the first filter 2. The second port of the hydraulic pump 3 is communicated with the P port of the first reversing valve 5. The A port of the first reversing valve 5 is connected in parallel with the first oil port of the accumulator 6 and then communicated with the P port of the two-way control proportional valve 8. The first oil port of the B port of the first reversing valve 5 is communicated with the second oil port of the accumulator 6. The T port of the first reversing valve 5 is communicated with the second oil port of the oil tank 1 through the throttle valve 16.

[0050] Specifically, when the first reversing valve 5 is in the middle position, the A port, the B port and the T port of the first reversing valve 5 are communicated, and the accumulator 6 unloads; when the first reversing valve 5 is in the right position, the A port, the B port and the P port of the first reversing valve 5 are communicated, and the motor 4 drives the hydraulic pump 3 to supply oil to the system; when the first reversing valve 5 is in the left position, the P port of the first reversing valve 5 is communicated with the B port of the first reversing valve 5, and the A port of the first reversing valve 5 is communicated with the T port of the first reversing valve 5. The hydraulic pump 3 rotates in the reverse direction as a motor to drive the motor 4 to generate electricity.

[0051] The A port of the two-way control proportional valve 8 is communicated with the lower chamber of the mooring cylinder 11, the B port of the two-way control proportional valve 8 is communicated with the upper chamber of the mooring cylinder 11, and the first oil port of the T port of the two-way control proportional valve 8 is communicated with the third oil port of the oil tank 1 through the second filter 27; the oil inlet of the oil return check valve 14 is communicated with the second oil port of the T port of the two-way control proportional valve 8, and the oil outlet of the oil return check valve 14 is communicated with the fourth oil port of the oil tank 1. The oil outlet of the oil supply check valve 15 is communicated with the third oil port of the T port of the two-way control proportional valve 8, and the oil inlet of the oil supply check valve 15 is communicated with the fifth oil port of the oil tank 1; the oil inlet of the overflow valve 13 is communicated with the third oil port of the accumulator 6, and the oil outlet of the overflow valve 13 is communicated with the fourth oil port of the T port of the two-way control proportional valve 8.

[0052] The oil port of the accumulator pressure sensor 7 is communicated with the fourth oil port of the accumulator 6. The oil port of the lower chamber pressure sensor 9 is communicated with the lower chamber of the mooring cylinder 11. The oil port of the upper chamber pressure sensor 10 is communicated with the second end of the upper chamber of the mooring cylinder 11. The signal output ends of the accumulator pressure sensor 7, the lower chamber pressure sensor 9, the upper chamber pressure sensor 10 and the mooring cylinder displacement sensor 12 are respectively connected to the signal input ends of the bidirectional proportional control unit 17. The first control end of the bidirectional proportional control unit 17 is connected to the control end of the bidirectional control proportional valve 8. The second control end of the bidirectional proportional control unit 17 is connected to the control end of the first reversing valve 5. The third control end of the bidirectional proportional control unit 17 is connected to the control end of the motor driver 26. After processing the input signals, the bidirectional proportional control unit 17 inputs control signals to the mooring cylinder 11; by controlling the bidirectional control proportional valve 8, the motion form of the mooring cylinder 11 is switched between the two working modes of docking recovery and self-feedback energy-saving anti-rolling. The accumulator pressure sensor 7 and the high-pressure accumulator pressure sensor 25 assist in regulating the ship mooring drive and self-feedback energy-saving anti-rolling control system. Through the output signal of the high-pressure accumulator sensor 23, an input signal is given to the motor driver 26 to switch the motor 4 to the power generation mode.

[0053] Specifically, the mooring cylinder 11 includes two working conditions: docking recovery and mooring anti-rolling. As Figure 6 shown, when the mooring cylinder 11 is in the docking recovery working condition, the bidirectional proportional control unit 17 transmits a control signal to the control end of the bidirectional control proportional valve 8, so that the bidirectional control proportional valve 8 is in forward oil passage. At this time, the P end of the bidirectional control proportional valve 8 is used as the oil inlet, the T end is used as the oil drain port, and the A end or the B end is used as the oil outlet. The bidirectional proportional control unit 17 adjusts the spool displacement of the bidirectional control proportional valve 8 according to the signal of the mooring cylinder displacement sensor 12, thereby controlling the movement of the mooring cylinder 11 to complete the docking and recovery movement of the mooring robot and the ship. When the mooring cylinder 11 is in the mooring anti-rolling working condition, the mooring cylinder 11 exerts a damping force on the ship and does negative work to achieve anti-rolling. The bidirectional proportional control unit 17 transmits a control signal to the control end of the bidirectional control proportional valve 8. At this time, the P port of the bidirectional control proportional valve 8 is the oil outlet, and the T port is the oil inlet, so that the hydraulic oil in the high-pressure chamber of the mooring cylinder 11 flows back into the accumulator 6 through the bidirectional control proportional valve 8 in the reverse direction, realizing self-feedback energy storage and mooring anti-rolling of the ship; the bidirectional proportional control unit 17 adjusts the spool position of the bidirectional control proportional valve 8 according to the signals of the mooring cylinder displacement sensor 12, the lower chamber pressure sensor 9 and the upper chamber pressure sensor 10, and adjusts the damping force of the mooring cylinder 11 to achieve an ideal anti-rolling effect.

[0054] As Figure 2As shown, the oil inlet of the unloading check valve 18 is communicated with the fifth oil port of the accumulator 6, and the oil outlet of the unloading check valve 18 and the first oil port are communicated with the second oil port of the B port of the first reversing valve 5; the oil outlet of the first check valve 19 is communicated with the sixth oil port of the accumulator 6, the oil inlet of the first check valve 19 is communicated with the oil outlet of the first sequence valve 20, the drain port of the first sequence valve 20 is communicated with the seventh oil port of the accumulator 6, and the oil inlet of the first sequence valve 20 is communicated with the second oil port of the oil outlet of the unloading check valve 18; the oil inlet of the continuous supercharger 22 is communicated with the eighth oil port of the accumulator 6, the oil outlet of the continuous supercharger 22 is communicated with the first oil port of the high-pressure accumulator 23, the second oil port of the high-pressure accumulator 23 is communicated with the third oil port of the oil outlet of the unloading check valve 18, the drain port of the continuous supercharger 22 is communicated with the oil inlet of the second sequence valve 21, and the oil outlet of the second sequence valve 21 is communicated with the fifth oil port of the T port of the two-way control proportional valve 8.

[0055] The safety valve group 24, as Figure 3 and Figure 4 shown, includes a lower chamber check valve 2401, an upper chamber check valve 2402, a lower chamber overflow valve 2404 and an upper chamber overflow valve 2403. The oil inlet of the lower chamber check valve 2401 is communicated with the third end of the lower chamber of the mooring cylinder 11, and the oil outlet of the lower chamber check valve 2401 is communicated with the sixth oil port of the T port of the two-way control proportional valve 8; the oil outlet of the upper chamber check valve 2402 is communicated with the oil outlet of the lower chamber check valve 2401, and the oil inlet of the upper chamber check valve 2402 is communicated with the upper chamber of the mooring cylinder 11. The oil inlet of the lower chamber overflow valve 2404 is communicated with the lower chamber of the mooring cylinder 11, and the oil outlet of the lower chamber overflow valve 2404 is communicated with the seventh oil port of the T port of the two-way control proportional valve 8; the oil inlet of the upper chamber overflow valve 2403 is communicated with the upper chamber of the mooring cylinder 11, and the oil outlet of the upper chamber overflow valve 2403 is communicated with the eighth oil port of the T port of the two-way control proportional valve 8.

[0056] As Figure 5 shown, the oil port of the high-pressure accumulator pressure sensor 25 is communicated with the third oil port of the high-pressure accumulator 23, the first control end of the motor driver 26 is connected to the fourth control end of the two-way proportional control unit 17, and the second control end of the motor driver 26 is connected to the drive control end of the motor 4.

[0057] The number of mooring cylinders 11 is at least one, and multiple mooring cylinders 11 are connected in parallel. The number of mooring cylinder displacement sensors 12, lower chamber pressure sensors 9, upper chamber pressure sensors 10, and two-way control proportional valves 8 is equal to the number of mooring cylinders 9.

[0058] Furthermore, in order to better exert the adjustment and control effects of the device of the present invention, the hydraulic pump 3 in the device has two working conditions: pump and motor, and the motor 4 has two working conditions: forward rotation and reverse rotation. When the mooring cylinder 11 is in the docking and recovery working condition, the two-way proportional control unit 17 outputs a control signal to the motor driver 26, and the motor driver 26 controls the motor 4. At this time, the motor 4 is in the forward rotation working condition, and the hydraulic pump 3 is in the pump working condition. The rotational speed of the motor is adjusted by outputting a signal from the two-way proportional control unit 17 to the motor driver 26, thereby controlling the maximum flow rate of the hydraulic pump 3. When the mooring cylinder 11 is in the mooring anti-rolling working condition, the two-way proportional control unit 17 controls the motor driver 26 according to the signal of the high-pressure accumulator pressure sensor 25, and the motor driver 26 controls the motor 4. At this time, the motor 4 is in the reverse rotation working condition, and the hydraulic pump 3 is in the motor working condition. The torque of the motor 4 is adjusted by the control signal output from the two-way proportional control unit 17 to the motor driver 26, so that the hydraulic pump 3 drives the motor 4 to achieve an ideal power generation effect.

[0059] The following further describes a ship mooring drive device with self-feed energy anti-rolling and a two-way proportional control method according to the present invention in conjunction with embodiments:

[0060] The control method of the ship mooring drive device with self-feed energy anti-rolling of the present invention is realized as follows. As Figure 6 and Figure 7 shown, the specific implementation steps are as follows:

[0061] S1. The opening pressure of the first sequence valve 20 is set to P c1 , and the opening pressure of the second sequence valve 21 is set to P c2 .

[0062] S2. The distance signal x0 (x0≥0) between the mooring robot and the ship is input into the two-way proportional control unit 17, and the working condition of the mooring cylinder 11 is judged through the signal of the mooring cylinder displacement sensor 12:

[0063] When x0 > 0, the mooring robot has not reached the working position. At this time, the mooring cylinder 11 is in the docking and recovery working condition and does positive work, that is, when W 油缸 =(P 下腔 A 下腔 —P 上腔 A 上腔 )·ΔL > 0, where F 油缸 is the load (thrust or tension) of the mooring cylinder, and S 油缸Let \(x_0\) be the stroke of the piston of the mooring cylinder. Then, the two-way proportional control unit 17 transmits a control signal to the control end of the two-way control proportional valve 8, making the two-way control proportional valve 8 conduct oil in the forward direction. At this time, the P port of the two-way control proportional valve 8 serves as the oil inlet, the T port serves as the oil drain port, and the A port or the B port serves as the oil outlet. The two-way proportional control unit 17 adjusts the spool displacement of the two-way control proportional valve 8 according to the signal of the mooring cylinder displacement sensor 12, thereby controlling the movement of the mooring cylinder to make \(x_0 = 0\), and completing the docking movement between the mooring robot and the ship.

[0064] When \(x_0 = 0\), the mooring robot and the ship complete the docking movement. The mooring robot reaches the working position and the mooring cylinder 11 is in the docking and recovery working condition to do positive work, that is, \(W\) 油缸 =(P 下腔 A 下腔 —P 上腔 A 上腔 )·ΔL>0, the two-way proportional control unit 17 transmits a control signal to the control end of the two-way control proportional valve 8, making the two-way control proportional valve 8 conduct oil in the forward direction. At this time, the P port of the two-way control proportional valve 8 serves as the oil inlet, the T port serves as the oil drain port, and the A port or the B port serves as the oil outlet. The two-way proportional control unit 17 adjusts the spool displacement of the two-way control proportional valve 8 according to the signal of the mooring cylinder displacement sensor 12, thereby controlling the movement of the mooring cylinder 11 to make the ship reach the designated position and complete the recovery movement of the mooring robot and the ship.

[0065] When \(x_0 = 0\), the mooring robot reaches the working position and the mooring cylinder is in the mooring anti-rolling working condition to do negative work, that is, \(W\) 油缸 =(P 下腔 A 下腔 —P 上腔 A 上腔 )·ΔL<0, the two-way proportional control unit 17 transmits a control signal to the control end of the two-way control proportional valve 8. At this time, the P port of the two-way control proportional valve 8 is the oil outlet, and the T port serves as the oil inlet, so that the hydraulic oil in the high-pressure chamber of the mooring cylinder 11 flows back into the accumulator 6 through the two-way control proportional valve 8 in the reverse direction, realizing self-feed energy storage and mooring anti-rolling of the ship; the two-way proportional control unit 17 adjusts the spool position of the two-way control proportional valve 8 according to the signals of the mooring cylinder displacement sensor 12, the lower chamber pressure sensor 9 and the upper chamber pressure sensor 10, thereby adjusting the damping force of the mooring cylinder 11 to realize an ideal anti-rolling effect.

[0066] S3. Perform energy recovery according to the working condition of the mooring cylinder 11 obtained in step S2, the signal of the accumulator pressure sensor 7 and the signal of the high-pressure accumulator pressure sensor 25:

[0067] When the mooring cylinder 11 is in the docking and recovery working condition, the mooring cylinder 11 does positive work and the two-way control proportional valve 8 conducts oil in the forward direction. At this time, no energy recovery is performed.

[0068] When the mooring oil cylinder 11 is in the mooring anti-rolling working condition, the mooring oil cylinder 11 does negative work, the two-way control proportional valve 8 conducts oil in the reverse direction, and the signal i of the accumulator pressure sensor 7 is judged 蓄 and the opening pressure P of the second sequence valve 21 c2 The relationship between them is:

[0069] When the signal i of the accumulator pressure sensor 7 蓄 is less than the opening pressure P of the second sequence valve 21 c2 , the second sequence valve 21 is closed. At this time, the pressure oil at the P port of the two-way control proportional valve 8 is recovered to the accumulator 6, and the energy recovery of the hydraulic pressure energy is completed.

[0070] When the signal i of the accumulator pressure sensor 7 蓄 is greater than or equal to the opening pressure P of the second sequence valve 21 c2 , the second sequence valve 21 is opened, and the oil outlet of the continuous supercharger 22 replenishes oil to the high-pressure accumulator 23. When the signal i of the high-pressure accumulator pressure sensor 25 高 reaches the set value i of the power generation signal in the two-way proportional control unit 17 电 , the two-way proportional control unit 17 outputs a control signal to the first control end of the motor driver 26 and the control end of the first reversing valve 5, so that the motor 4 is in the reverse working condition, the hydraulic pump 3 is in the motor working condition, and the first reversing valve 5 is in the left position. At this time, the pressure oil at the oil port of the high-pressure accumulator 23 drives the hydraulic pump 3, so that the hydraulic pump 3 drives the motor 4 to rotate, realizing an ideal power generation effect, and completing the energy recovery of the hydraulic pressure energy in the form of electric energy.

[0071] S4. Partially utilize the recovered energy according to the opening pressure of the first sequence valve 20 obtained in step S1 and the signal of the accumulator pressure sensor 7 obtained in step S3:

[0072] When the signal i of the accumulator pressure sensor 7 蓄 and the opening pressure P of the first sequence valve 20 c1 is less than or equal to the signal i of the high-pressure accumulator pressure sensor 25 高 , the first sequence valve 20 is opened, so that the high-pressure accumulator 23 replenishes oil to the accumulator 6, and the partial energy utilization after the energy recovery is completed.

[0073] S5. Perform active unloading according to the signal of the high-pressure accumulator pressure sensor 25 obtained in step S3 and the signal of the accumulator sensor 7 obtained in step S4:

[0074] When the signal i of the high-pressure accumulator pressure sensor 25 高 and the signal i of the accumulator pressure sensor 7 蓄The sum reaches the active unloading value i set by the bidirectional proportional control unit 17 卸荷 When this occurs, manually control the output control signal i of the bidirectional proportional control unit 17 换向阀 to the control end of the first reversing valve 5, so that the first reversing valve 5 is in the neutral position, and manually open the throttle valve 16 to complete the active unloading of the high-pressure accumulator 23 and the accumulator 6.

[0075] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A ship mooring drive device with self-feed energy anti-rolling, which comprises a motor, a hydraulic pump, an oil tank, a first reversing valve, an accumulator, a two-way control proportional valve, a mooring oil cylinder, an oil return check valve, a make-up oil check valve, a safety overflow valve, an accumulator pressure sensor, a lower chamber pressure sensor, an upper chamber pressure sensor, a mooring oil cylinder displacement sensor and a two-way proportional control unit, and is characterized in that the motor drives the hydraulic pump, a first port of the hydraulic pump is communicated with a first oil port of the oil tank through a first filter, a second port of the hydraulic pump is communicated with a P port of the first reversing valve, an A port of the first reversing valve and a first oil port of the accumulator are connected in parallel and then communicated with a P port of the two-way control proportional valve, a first oil port of a B port of the first reversing valve is communicated with a second oil port of the accumulator, and a T port of the first reversing valve is communicated with a second oil port of the oil tank through a throttle valve; an A port of the two-way control proportional valve is communicated with a lower chamber of the mooring oil cylinder, a B port of the two-way control proportional valve is communicated with an upper chamber of the mooring oil cylinder, and a first oil port of a T port of the two-way control proportional valve is communicated with a third oil port of the oil tank through a second filter; an oil inlet of the oil return check valve is communicated with a second oil port of the T port of the two-way control proportional valve, and an oil outlet of the oil return check valve is communicated with a fourth oil port of the oil tank; an oil outlet of the make-up oil check valve is communicated with a third oil port of the T port of the two-way control proportional valve, and an oil inlet of the make-up oil check valve is communicated with a fifth oil port of the oil tank; an oil inlet of the overflow valve is communicated with a third oil port of the accumulator, and an oil outlet of the overflow valve is communicated with a fourth oil port of the T port of the two-way control proportional valve; an oil port of the accumulator pressure sensor is communicated with a fourth oil port of the accumulator; an oil port of the lower chamber pressure sensor is communicated with the lower chamber of the mooring oil cylinder; an oil port of the upper chamber pressure sensor is communicated with the upper chamber of the mooring oil cylinder; a signal output end of the accumulator pressure sensor, a signal output end of the lower chamber pressure sensor, a signal output end of the upper chamber pressure sensor and the mooring oil cylinder displacement sensor are respectively connected with a signal input end of the two-way proportional control unit, an output control signal is obtained through a two-way proportional control method and is transmitted to a control end of the two-way control proportional valve to control the P port and the T port of the two-way control proportional valve to intake or discharge oil, so as to realize the docking, recovery and mooring anti-rolling of the mooring robot and the ship, and when the P port of the two-way control proportional valve discharges oil, energy recovery is realized by using the accumulator.

2. The ship mooring drive device with self-power-feeding anti-rolling according to claim 1, characterized in that, It further includes a unloading check valve, a first check valve, a first sequence valve, a continuous booster, a high-pressure accumulator and a second sequence valve. The oil inlet of the unloading check valve is communicated with the fifth oil port of the accumulator. The first oil port of the oil outlet of the unloading check valve is communicated with the second oil port of the B port of the first reversing valve. The oil outlet of the first check valve is communicated with the sixth oil port of the accumulator. The oil inlet of the first check valve is communicated with the oil outlet of the first sequence valve. The drain port of the first sequence valve is communicated with the seventh oil port of the accumulator. The oil inlet of the first sequence valve is communicated with the second oil port of the oil outlet of the unloading check valve. The oil inlet of the continuous booster is communicated with the eighth oil port of the accumulator. The oil outlet of the continuous booster is communicated with the first oil port of the high-pressure accumulator. The second oil port of the high-pressure accumulator is communicated with the third oil port of the oil outlet of the unloading check valve. The drain port of the continuous booster is communicated with the oil inlet of the second sequence valve. The oil outlet of the second sequence valve is communicated with the fifth oil port of the T port of the two-way control proportional valve.

3. The ship mooring drive device with self-power-feed anti-rolling according to claim 1, characterized in that, It further includes a safety valve group, which includes a lower chamber check valve, an upper chamber check valve, a lower chamber overflow valve and an upper chamber overflow valve. The oil inlet of the lower chamber check valve is communicated with the lower chamber of the mooring cylinder. The oil outlet of the lower chamber check valve is communicated with the sixth oil port of the T port of the two-way control proportional valve. The oil outlet of the upper chamber check valve is communicated with the oil outlet of the lower chamber check valve. The oil inlet of the upper chamber check valve is communicated with the upper chamber of the mooring cylinder. The oil inlet of the lower chamber overflow valve is communicated with the lower chamber of the mooring cylinder. The oil outlet of the lower chamber overflow valve is communicated with the seventh oil port of the T port of the two-way control proportional valve. The oil inlet of the upper chamber overflow valve is communicated with the upper chamber of the mooring cylinder. The oil outlet of the upper chamber overflow valve is communicated with the eighth oil port of the T port of the two-way control proportional valve.

4. The ship mooring drive device with self-power feedback anti-rolling according to claim 1, 2 or 3, characterized in that The first control end of the two-way proportional control unit is connected to the control end of the two-way control proportional valve. The second control end of the two-way proportional control unit is connected to the control end of the first reversing valve. The third control end of the two-way proportional control unit is connected to the motor drive control end.

5. The ship mooring drive device with self-power feedback and roll reduction according to claim 1, characterized in that, It further includes a high-pressure accumulator pressure sensor and a motor driver. The oil port of the high-pressure accumulator pressure sensor is communicated with the third oil port of the high-pressure accumulator. The first control end of the motor driver is connected to the fourth control end of the two-way proportional control unit. The second control end of the motor driver is connected to the control end of the motor driver of the motor.

6. The ship mooring drive device with self-power-feedback anti-rolling according to claim 1, characterized in that, The number of the mooring cylinders is at least one, and the number of the mooring cylinder displacement sensors, the lower chamber pressure sensors, the upper chamber pressure sensors, the two-way control proportional valves is equal to the number of the mooring cylinders.

7. A two-way proportional control method for a ship mooring drive device with self-power-feeding anti-rolling according to any one of claims 1-6, characterized in that, It includes the following steps: S1. Input the distance x0 (x0≥0) between the mooring robot and the ship into the two-way proportional control unit, and judge the working condition of the mooring cylinder through the output signal of the mooring cylinder displacement sensor: The expression for the mooring cylinder to do work is: W 油缸 = (P 下腔 · A 下腔 — P 上腔 · A 上腔 ) · ΔL Among them, P 下腔 is the pressure in the lower chamber of the mooring cylinder, A 下腔 is the effective acting area of the lower chamber of the mooring cylinder, P 上腔 is the pressure in the upper chamber of the mooring cylinder, A 上腔 is the effective acting area of the upper chamber of the mooring cylinder, and ΔL is the telescopic amount of the mooring cylinder, which is positive when the mooring cylinder extends; When the mooring cylinder is in the docking and recovery condition and the mooring cylinder does positive work, the bidirectional proportional control unit transmits a control signal to the control end of the bidirectional control proportional valve, controls the bidirectional control proportional valve to conduct oil in the forward direction, and adjusts the spool displacement of the bidirectional control proportional valve according to the mooring cylinder displacement sensor to complete the docking or recovery movement of the mooring robot and the ship; When the mooring cylinder is in the mooring anti-rolling condition and the mooring cylinder does negative work, the bidirectional proportional control unit transmits a control signal to the control end of the bidirectional control proportional valve, controls the bidirectional control proportional valve to conduct oil in the reverse direction, and adjusts the spool position of the bidirectional control proportional valve according to the signals of the mooring cylinder displacement sensor, the lower chamber pressure sensor and the upper chamber pressure sensor to reduce the damping force of the mooring cylinder and complete the anti-rolling of the ship; S2. Perform energy recovery according to the working condition of the mooring cylinder obtained in step S1 and the signal of the accumulator pressure sensor: If the mooring cylinder is in the docking and recovery condition and the mooring cylinder does positive work, no energy recovery is performed; if the mooring cylinder is in the mooring anti-rolling condition and the mooring cylinder does negative work, energy recovery is completed through the accumulator; S3. Perform active unloading according to the signal of the accumulator pressure sensor obtained in step S2: If the signal of the accumulator pressure sensor is equal to the active unloading value i set by the bi-directional proportional control unit 卸荷 then manually control the bi-directional proportional control unit to output a control signal i 换向阀 to the first reversing valve to make the first reversing valve in the neutral position, and manually open the throttle valve to complete the active unloading of the accumulator.

8. The bidirectional proportional control method of the ship mooring drive device with self-power-feedback anti-rolling according to claim 7, characterized in that, The following steps are further included: S4. Set the opening pressure of the first sequence valve to P c1 and the opening pressure of the second sequence valve to P c2 ; S5. Perform energy recovery according to the working condition of the mooring cylinder obtained in step S2, the signal of the accumulator pressure sensor and the signal of the high-pressure accumulator pressure sensor: If the mooring oil cylinder is in the mooring anti-rolling condition and the mooring oil cylinder does negative work, judge the signal i of the accumulator pressure sensor 蓄 and the opening pressure P of the second sequence valve c2 The relationship between them is: If the signal i of the accumulator pressure sensor 蓄 is less than the opening pressure P of the second sequence valve c2 then the second sequence valve is closed, and the pressure oil at the P port of the two-way control proportional valve is recovered to the accumulator to complete the energy recovery of the hydraulic pressure energy; If the signal i of the accumulator pressure sensor 蓄 is greater than or equal to the opening pressure P of the second sequence valve c2 , the second sequence valve is opened, and the oil outlet of the continuous supercharger is used to replenish oil to the high-pressure accumulator. At this time, if the signal i of the high-pressure accumulator pressure sensor 高 reaches the set value i of the two-way proportional control unit 电 , the two-way proportional control unit controls the motor driver and the first reversing valve respectively, so that the motor rotates in reverse, the hydraulic pump is in the motor condition, and the first reversing valve is in the left position. At this time, the pressure oil at the oil port of the high-pressure accumulator drives the hydraulic pump to complete the energy recovery of hydraulic pressure energy in the form of electric energy; S6. Partially utilize the recovered energy based on the opening pressure P of the first sequence valve c1 and the accumulator pressure sensor signal obtained in the step S2: If the signal i of the accumulator pressure sensor 蓄 and the opening pressure P of the first sequence valve c1 sum is less than or equal to the signal i of the high-pressure accumulator pressure sensor 高 then the first sequence valve is opened, allowing the high-pressure accumulator to replenish oil to the accumulator, thus partially utilizing the recovered energy; S7. Perform active unloading according to the signal of the high-pressure accumulator pressure sensor obtained in step S5 and the signal of the accumulator sensor obtained in step S2: If the sum of the signal i of the high-pressure accumulator pressure sensor 高 and the signal i of the accumulator pressure sensor 蓄 is equal to the active unloading value i set by the bi-directional proportional control unit 卸荷 then manually control the bi-directional proportional control unit to output the control signal i 换向阀 to the first reversing valve to make the first reversing valve in the middle position, and manually open the throttle valve to complete the active unloading of the high-pressure accumulator and the accumulator.

9. The bidirectional proportional control method for a ship mooring drive device with self-power feedback and roll reduction according to claim 7 or 8, characterized in that, When the bidirectional control proportional valve conducts oil in the forward direction, at this time, the P port of the bidirectional control proportional valve is used as the oil inlet port, the T port is used as the oil drain port, and the A port or the B port is used as the oil outlet port; when the bidirectional control proportional valve conducts oil in the reverse direction, at this time, the P port of the bidirectional control proportional valve is the oil outlet port, the T port is used as the oil inlet port, so that the hydraulic oil in the high-pressure chamber of the mooring cylinder flows back into the accumulator through the bidirectional control proportional valve in the reverse direction, realizing self-feed energy storage and mooring anti-rolling of the ship.

10. The bidirectional proportional control method for a ship mooring drive device with self-power feedback and roll reduction according to claim 7 or 8, characterized in that When the mooring cylinder is in the docking and recovery condition, the bidirectional proportional control unit controls the motor driver to make the motor in the forward rotation condition and the hydraulic pump in the pumping condition, and adjusts the motor speed through the motor driver to control the maximum flow rate of the hydraulic pump; when the mooring cylinder is in the mooring anti-rolling condition, the bidirectional proportional control unit controls the motor driver to make the motor in the reverse rotation condition and the hydraulic pump in the motor condition, and adjusts the motor torque through the motor driver to make the hydraulic pump drive the motor to generate electricity.

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