A marine crane motion control system and method of use thereof

Abstract

A kind of offshore crane motion control system and its using method, its system includes man-machine interaction unit, control unit, sensor unit, control valve group and other function groups;Man-machine interaction unit includes touch screen, control panel and electric control handle group;Control unit includes IO module, PLC controller, proportional valve, relay and remote module;Sensor unit includes encoder limit switch, temperature sensor, liquid level switch, pressure switch, angle sensor, weight sensor, anemograph;Control valve group includes hoisting control valve group, luffing control valve group and slewing control valve group;In application, the control signal sent by electric control handle group is collected by remote module, then is transmitted to PLC controller, PLC controller generates given signal, simultaneously detects system state, then according to speed mode gives corresponding control curve and is transmitted to proportional valve, proportional valve controls control valve group to carry out corresponding action.Therefore, the design not only is higher in operation efficiency, and is safer.

Description

Technical Field

[0001] The present invention relates to a control system, belongs to the field of marine engineering equipment, and in particular to a marine crane motion control system and a use method thereof. Background Art

[0002] As a key equipment on offshore engineering platforms, offshore engineering cranes are required to undertake important tasks such as the transfer of cargo and personnel between offshore platforms and ships, material supply, equipment installation, and underwater operations as the demand for offshore resources increases, including offshore oil, offshore wind power, and seabed mining.

[0003] At present, regardless of the mechanical structure, most offshore cranes with a lifting capacity of less than 300 tons in the industry are driven by hydraulic systems. The function of the electronic control system is to collect operator input signals, combine them with current status information, and then calculate and generate control signals to transmit to the hydraulic system. Finally, the hydraulic system transmits them to the actuator to complete the boom luffing, rotation, hook lifting and other actions.

[0004] Operating a crane can be divided into three stages: hooking, spatial movement, and hook dropping. These three stages have different performance requirements for the crane. Taking the installation of wind turbine blades as an example, in the hooking stage, the operator cooperates with the equipment installers to hook the blades and continuously fine-tune the hook position to find the center of gravity of the cargo. This stage requires the crane to move slowly and accurately to facilitate the conditions for equipment lifting and operation; in the spatial movement stage, the operator works alone and does not need the participation of equipment installers. This stage requires the crane to move relatively quickly and respond promptly to reduce the operator's working time and the installer's waiting time; in the hook dropping stage, the operator transfers the blades to the wind turbine installation point. The blade installation interface may be offset due to factors such as wind changes, deviation of the wind turbine's center of gravity, and installation operations. Therefore, the operator is also required to fine-tune the hook position at any time.

[0005] Traditional cranes often pursue the speed of crane movement but ignore the requirements of slow movement and precision, which causes the operator to repeatedly adjust the position during the hook raising and lowering stages or fail to operate in the ideal position, resulting in low operating efficiency and certain safety hazards.

[0006] The information disclosed in this background technology section is only intended to increase understanding of the overall background of the application and should not be considered as an admission or any form of suggestion that the information constitutes the prior art already known to ordinary technicians in this field. Summary of the Invention

[0007] The purpose of the present invention is to overcome the defects and problems of low operating efficiency and potential safety hazards in the prior art, and to provide a marine crane motion control system with high operating efficiency and relatively high safety and a method of using the same.

[0008] To achieve the above objectives, the technical solution of the present invention is: a motion control system for an offshore crane, the control system comprising a human-machine interaction unit, a control unit, a sensor unit, a control valve group and other functional groups;

[0009] The human-computer interaction unit includes a touch screen, a control panel and an electric control handle group;

[0010] The control unit includes an IO module, a PLC controller, a proportional valve, a relay and a remote module;

[0011] The sensor unit includes an encoder limit switch, a temperature sensor, a liquid level switch, a pressure switch, an angle sensor, a weight sensor, and an anemometer;

[0012] The control valve group includes a lifting control valve group, a luffing control valve group and a slewing control valve group;

[0013] The signal output ends of the touch screen, control panel, and electric control handle group are all communicatively connected to the signal input end of the remote module, and the signal output end of the remote module is communicatively connected to the signal input end of the PLC controller;

[0014] The signal output ends of the encoder limit switch, temperature sensor, liquid level switch, pressure switch, angle sensor, weight sensor, and anemometer are all communicatively connected to the signal input end of the IO module, and the signal output end of the IO module is communicatively connected to the signal input end of the PLC controller;

[0015] The signal output end of the PLC controller is communicatively connected to the signal input ends of the proportional valve and the relay respectively; the signal output end of the proportional valve is communicatively connected to the signal input ends of the lifting control valve group, the amplitude control valve group, and the rotation control valve group respectively; the signal output end of the relay is communicatively connected to the signal input ends of other functional groups.

[0016] The electric control handle group includes at least one single-axis 64-bit Gray code handle for lifting action and at least one dual-axis 64-bit omnidirectional Gray code handle for luffing and rotation actions; the electric control handle group outputs a total of three independent Gray code signals, which can be used for single action, double linkage and triple linkage. The output Gray code signals are collected by the remote module.

[0017] The remote module is a distributed IO module.

[0018] The usage method is as follows: the electric control handle group sends a control signal to the remote module, the remote module transmits the collected control signal to the PLC controller, the PLC controller generates a given signal based on the received control signal, and detects the system status at the same time, and then gives a control curve corresponding to the given signal according to the speed mode, and finally transmits the given signal to the proportional valve, and the proportional valve outputs a corresponding action signal to the control valve group to perform corresponding action according to the received given signal.

[0019] The speed modes include: normal mode, fast mode and micro mode.

[0020] The system status includes the following three types:

[0021] The first one: If no alarm signal for limiting the action is detected, it is the normal mode and the corresponding action runs normally;

[0022] The second type: If an alarm signal prohibiting an action is detected, no action signal will be generated for the corresponding action, and the corresponding action will not be executed;

[0023] The third type: If a warning signal is detected, the corresponding action automatically enters the inching mode. After the warning signal disappears for a certain period of time, the corresponding action automatically switches to the normal mode and the corresponding action operates normally.

[0024] The given signal of the electric control handle group is obtained as follows: first, the PLC controller converts the received control signal from a Gray code signal into a binary signal to obtain the actual resolution of the electric control handle group, and then normalizes the actual resolution to obtain the given signal;

[0025] The method of converting the Gray code signal into a binary signal is as follows: the output signal of the electric control handle group consists of 8 digital quantities, G0 to G7, of which G6 is a forward signal, G7 is a reverse signal, and the remaining bits are action amplitude signals. The forward signal and the reverse signal both include several operation interval values. The conversion formula is as follows:

[0026] B5=G5; Bi-1=Gi-1⊕Bi(i=1~5);

[0027] Among them: B is binary code, G is Gray code.

[0028] The actual resolution is obtained in the following manner: the electric control handle group is provided with an operation dead zone, a dead zone value range of the operation dead zone is set in the touch screen, and the actual resolution is obtained by subtracting the dead zone value from the operation range value.

[0029] Normalizing the actual resolution to obtain a given signal refers to: using the NORM_X function to normalize the actual resolution to obtain a given signal.

[0030] The conversion method of the given signal of a single handle in the electric control handle group and the action signal of the proportional valve includes any one or any combination of the following:

[0031] The first type: if X>0;

[0032] The calculation formula is: Y=13824*k*(1+X)+α;

[0033] In single action mode;

[0034] Y=min{y,27648};

[0035] In the dual linkage mode, the maximum output of the dual linkage is set to y1;

[0036] Y=min{y,y1};

[0037] In the triple linkage mode, the maximum output of the triple linkage is set to y2;

[0038] Y=min{y,y2};

[0039] The second type: if X < 0;

[0040] The calculation formula is: y=13824*k*(1+X)-α;

[0041] In single action mode;

[0042] Y=max{y,0};

[0043] In the dual linkage mode, the maximum output of the dual linkage is set to y3;

[0044] Y=max{y,y3};

[0045] In triple linkage mode, the maximum output of triple linkage is set to y4;

[0046] Y=max{y,y4};

[0047] Where: k is the proportional coefficient, which is =1 in normal mode, <1 in inching mode, and >1 in quick mode; α is the input deadband setting value of the proportional valve; min is the minimum value, and max is the maximum value; X is the given signal, and Y is the action signal.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] 1. In the marine crane motion control system and the use method thereof, the system comprises a man-machine interaction unit, a control unit, a sensor unit, a control valve group and other functional groups; the man-machine interaction unit comprises a touch screen, a control panel and an electric control handle group; the control unit comprises an IO module, a PLC controller, a proportional valve, a relay and a remote module; the sensor unit comprises an encoder limit switch, a temperature sensor, a liquid level switch, a pressure switch, an angle sensor, a weight sensor and an anemograph; the control valve group comprises a hoisting control valve group, an amplitude control valve group and a slewing control valve group; in application, the electric control handle group sends a control signal to the remote module, the remote module transmits the collected control signal to the PLC controller, the PLC controller generates a given signal according to the received control signal, detects the system state, then gives a control curve corresponding to the given signal according to the speed mode, and finally transmits the given signal to the proportional valve, which outputs a corresponding action signal to the control valve group according to the received given signal; when facing different requirements, different control signals are given according to different modes, the requirement of accurate control is achieved, repeated adjustment operations are reduced, and the safety hazards caused by operation are reduced. Therefore, the application is not only high in operation efficiency, but also safe.

[0050] 2. In the marine crane motion control system and the use method thereof, the electric control handle group comprises at least one single-shaft 64-bit Gray code handle for hoisting action and at least one double-shaft 64-bit omnidirectional Gray code handle for amplitude and slewing action; a total of three independent Gray code signals are output, single action, double linkage and triple linkage can be performed, and the output Gray code signals are collected by the remote module; in application, the 64-bit Gray code handle is low in power consumption and high in reliability, can accurately and rapidly control corresponding actions, improves operation efficiency, and the handle is high in reliability and can reduce safety hazards in operation. Therefore, the application is not only high in operation efficiency, but also low in safety hazards.

[0051] 3. In the marine crane motion control system and the use method thereof, the remote module is a distributed IO module for receiving signals of the man-machine interaction unit; in application, the distributed IO saves wiring and IO points of the PLC controller itself, reduces data transmission and feedback time, is beneficial to improving system response speed in single linkage or multi-linkage, further improves response speed of corresponding actions, improves operation efficiency, the design is low in installation cost and can save debugging time, and is beneficial to system maintenance. Therefore, the application is not only high in operation efficiency, but also convenient in maintenance. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 It is a control system schematic diagram of the application.

[0053] Figure 2 is the schematic diagram of the control unit structure of the present application.

[0054] Figure 3 is the handle input signal conversion curve in the present application.

[0055] Figure 4 is the proportional valve control signal output control logic diagram in the present application.

[0056] Figure 5 is the proportional valve given signal conversion curve in the present application.

[0057] In the figure: human-computer interaction unit 1, touch screen 11, control panel 12, electric control handle group 13, single-axis 64-bit Gray code handle 131, double-axis 64-bit omnidirectional Gray code handle 132, control unit 2, IO module 211, PLC controller 212, proportional valve 213, relay 214, remote module 215, sensor unit 3, encoder limit switch 31, temperature sensor 32, liquid level switch 33, pressure switch 34, angle sensor 35, weight sensor 36, anemograph 37, control valve group 4, hoisting control valve group 41, amplitude control valve group 42, rotary control valve group 43, other function group 5. DETAILED DESCRIPTION

[0058] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] Referring to Figure 1 — Figure 5 A marine crane motion control system, the control system comprising a human-computer interaction unit 1, a control unit 2, a sensor unit 3, a control valve group 4 and an other function group 5.

[0060] The human-computer interaction unit 1 comprises a touch screen 11, a control panel 12 and an electric control handle group 13.

[0061] The control unit 2 comprises an IO module 211, a PLC controller 212, a proportional valve 213, a relay 214 and a remote module 215.

[0062] The sensor unit 3 comprises an encoder limit switch 31, a temperature sensor 32, a liquid level switch 33, a pressure switch 34, an angle sensor 35, a weight sensor 36 and an anemograph 37.

[0063] The control valve group 4 comprises a hoisting control valve group 41, an amplitude control valve group 42 and a rotary control valve group 43.

[0064] The signal output ends of the touch screen 11, the control panel 12 and the electric control handle group 13 are in communication connection with the signal input ends of the remote module 215, and the signal output ends of the remote module 215 are in communication connection with the signal input ends of the PLC controller 212;

[0065] The signal output ends of the encoder limit switch 31, the temperature sensor 32, the liquid level switch 33, the pressure switch 34, the angle sensor 35, the weight sensor 36 and the anemograph 37 are in communication connection with the signal input ends of the IO module 211, and the signal output ends of the IO module 211 are in communication connection with the signal input ends of the PLC controller 212;

[0066] The signal output ends of the PLC controller 212 are in communication connection with the signal input ends of the proportional valve 213 and the relay 214 respectively; the signal output ends of the proportional valve 213 are in communication connection with the signal input ends of the hoisting control valve group 41, the luffing control valve group 42 and the slewing control valve group 43 respectively; and the signal output ends of the relay 214 are in communication connection with the signal input ends of the other function group 5.

[0067] The electric control handle group 13 comprises at least one single-axis 64bit Gray code handle 131 for hoisting action and at least one double-axis 64bit omnidirectional Gray code handle 132 for luffing and slewing action; the electric control handle group 13 outputs three independent Gray code signals in total, can perform single action, double linkage and triple linkage, and the output Gray code signals are collected by the remote module 215.

[0068] The remote module 215 is a distributed IO module.

[0069] The use method is that the electric control handle group 13 sends a control signal to the remote module 215, the remote module 215 transmits the collected control signal to the PLC controller 212, the PLC controller 212 generates a given signal according to the received control signal, detects the system state at the same time, then gives a control curve corresponding to the given signal according to the speed mode, and finally transmits the given signal to the proportional valve 213, and the proportional valve 213 outputs a corresponding action signal to the control valve group 4 according to the received given signal to perform corresponding action.

[0070] The speed mode comprises a normal mode, a speed action mode and a fine action mode.

[0071] The system state comprises the following three kinds:

[0072] The first kind: if no alarm signal of limited action is detected, it is the normal mode, and the corresponding action is normally operated;

[0073] The second kind: if an alarm signal of prohibited action is detected, the corresponding action will not generate an action signal, and the corresponding action will not be operated;

[0074] Third: if the early warning signal is detected, the corresponding action automatically enters the micro-motion mode, and after a certain time after the early warning signal disappears, the corresponding action automatically converts to the normal mode, and the corresponding action runs normally.

[0075] The acquisition mode of the given signal of the electric control handle group 13 is: first, the PLC controller 212 converts the received control signal from the Gray code signal to the binary signal to obtain the actual resolution of the electric control handle group 13, and then the actual resolution is standardized to obtain the given signal;

[0076] The conversion mode of the Gray code signal to the binary signal is: the output signal of the electric control handle group 13 is composed of G0-G7, a total of 8 digital quantities, wherein G6 is a forward signal, G7 is a reverse signal, and the remaining bits are action amplitude signals, wherein the forward signal and the reverse signal each include a plurality of operation interval values, and the conversion formula is as follows:

[0077] B5=G5;B i-1 =G i-1 ⊕B i (i=1~5);

[0078] Wherein: B is a binary code, and G is a Gray code.

[0079] The acquisition mode of the actual resolution is: the electric control handle group 13 is provided with an operation dead zone, and the dead zone value range of the operation dead zone is set in the touch screen 11. The actual resolution is obtained by subtracting the dead zone value from the operation interval value.

[0080] The actual resolution is standardized to obtain the given signal, that is, the actual resolution is standardized by using the NORM_X function to obtain the given signal.

[0081] The conversion mode of the given signal of a single handle in the electric control handle group 13 and the action signal of the proportional valve 213 includes any one or any combination of the following:

[0082] First: if X>0;

[0083] The calculation formula is: Y=13824*k*(1+X)+a;

[0084] In single-action mode;

[0085] Y=min{y,27648};

[0086] In double-action mode, assume that the maximum output of double-action is y1;

[0087] Y=min{y,y1};

[0088] In the triple linkage mode, the maximum output of the triple linkage is y2;

[0089] Y = min{y, y2};

[0090] The second: if X < 0;

[0091] The calculation formula is: y = 13824 * k * (1 + X) - a;

[0092] In the single linkage mode,

[0093] Y = max{y, 0};

[0094] In the double linkage mode, the maximum output of the double linkage is y3;

[0095] Y = max{y, y3};

[0096] In the triple linkage mode, the maximum output of the triple linkage is y4;

[0097] Y = max{y, y4};

[0098] Wherein: k is a proportional coefficient, = 1 in the normal mode, < 1 in the fine mode, and > 1 in the fast mode; a is a proportional valve input dead zone setting value; min is the minimum value, and max is the maximum value; X is a given signal, and Y is an action signal.

[0099] The principle of the application is as follows:

[0100] The console of the cab is made of carbon steel, the surface is treated by black oxidation, the handle, button indicator light and buzzer are embeddedly installed above the panel, the remote module 215 is arranged inside the console, the touch screen 11 is arranged in front of the left seat through a mounting bracket; the control unit 2 is located in the wall-mounted control box and arranged at the rear side of the cab, the control box is provided with a PLC controller 212, an IO module 211, a proportional valve 213, a relay 214, a switch and the like; the digital and analog state signals collected by the sensor unit 3 are collected by the IO module 211, the encoder limit switch 31, the touch screen 11 and the remote module 215 transmit data signals in the Profinet mode and are connected with the PLC controller 212 through the switch.

[0101] Example 1:

[0102] Referring to Figure 1 — Figure 5A motion control system for an offshore crane, the control system comprising a human-machine interaction unit 1, a control unit 2, a sensor unit 3, a control valve group 4 and other functional groups 5; the human-machine interaction unit 1 comprises a touch screen 11, a control panel 12 and an electric control handle group 13; the control unit 2 comprises an IO module 211, a PLC controller 212, a proportional valve 213, a relay 214 and a remote module 215 (preferably a distributed IO module); the sensor unit 3 comprises an encoder limit switch 31, a temperature sensor 32, a liquid level switch 33, a pressure switch 34, an angle sensor 35, a weight sensor 36 and an anemometer 37; the control valve group 4 comprises a lifting control valve group 41, a variable amplitude control valve group 42 and a slewing control valve group 43; the signal output ends of the touch screen 11, the control panel 12 and the electric control handle group 13 are all connected to the signal output ends of the remote module 215 The input end is communicatively connected, and the signal output end of the remote module 215 is communicatively connected to the signal input end of the PLC controller 212; the signal output ends of the encoder limit switch 31, the temperature sensor 32, the liquid level switch 33, the pressure switch 34, the angle sensor 35, the weight sensor 36, and the anemometer 37 are all communicatively connected to the signal input end of the IO module 211, and the signal output end of the IO module 211 is communicatively connected to the signal input end of the PLC controller 212; the signal output end of the PLC controller 212 is communicatively connected to the signal input ends of the proportional valve 213 and the relay 214 respectively; the signal output end of the proportional valve 213 is communicatively connected to the signal input ends of the lifting control valve group 41, the amplitude control valve group 42, and the rotation control valve group 43 respectively; the signal output end of the relay 214 is communicatively connected to the signal input ends of other functional groups 5.

[0103] The method of use is as follows: the electric control handle group 13 sends a control signal to the remote module 215, the remote module 215 transmits the collected control signal to the PLC controller 212, the PLC controller 212 generates a given signal according to the received control signal, and detects the system status at the same time, and then gives a control curve corresponding to the given signal according to the speed mode, and finally transmits the given signal to the proportional valve 213, the proportional valve 213 outputs a corresponding action signal to the control valve group 4 according to the received given signal to perform corresponding action.

[0104] In the application, the touch screen 11 is provided with state modes, load information, action instructions and other control system state information; the state modes include cargo and personnel modes, resting modes, wave height modes, ship inside and outside modes, speed mode selections and the like; the load information includes boom angle, slewing angle, load weight and wind speed and the like; the action instructions include action direction, action speed, load ratio (i.e. current load / rated load) and load rate (i.e. current proportional valve received current / current maximum proportional valve received current); the other control system state information includes power system state, hydraulic system state, alarm information, cumulative hoisting weight and the like; the Ethernet communication mode is adopted between the touch screen 11 and the control unit 2; important functions such as running or stopping, resting mode selection, personnel mode selection, sea wave mode selection, system alarm indication and the like are arranged in the form of button indicator lights in the control panel 12, and a buzzer for sound and light alarm is further arranged thereon.

[0105] The working process is as follows: the control signal of the electric control handle group 13 in the man-machine interaction unit 1 is collected by the remote module 215 and then transmitted to the PLC controller 212 through Profinet, the state signal of the sensor unit 3 is collected by the IO module 212, after the control signal and the state signal are processed, the PLC controller 212 decomposes them into boom luffing signal, slewing ring slewing signal, hook lifting signal and the like and outputs them to the proportional valve 213 for modulation and amplification, finally the proportional valve 213 outputs PWM signal to the corresponding control valve group 4, the opening size of the control valve group 4 is controlled to control the flow of the winch motor, and then the running speed of the winch is controlled to achieve the purpose of action speed control, and the relay 214 is used to receive the control signal of the PLC controller 212 and transmit it to the other function group 5 for power control, system health or function valve group and the like corresponding functions.

[0106] Embodiment 2:

[0107] The basic content is the same as that in embodiment 1, and the difference is that:

[0108] The electric control handle group 13 includes at least one single-shaft 64bit Gray code handle 131 for lifting action and at least one double-shaft 64bit omnidirectional Gray code handle 132 for amplitude changing and slewing action; the electric control handle group 13 outputs 3 independent Gray code signals in total, can perform single action, double linkage and triple linkage, and the output Gray code signals are collected by the remote module 215; the output signals of the electric control handle group 13 are composed of G0-G7, 8 digital quantities in total, wherein G6 is a positive signal, G7 is a reverse signal, and the remaining bits are action amplitude signals; the positive signal and the reverse signal each include a plurality of operation interval values, and the conversion formula is as follows:

[0109] B5=G5;B i-1 =G i-1 ⊕Bi (i=1~5);

[0110] Wherein: B is a binary code, G is a Gray code.

[0111] The actual resolution is obtained in the following manner: the electric control handle group 13 is provided with an operation dead zone, the dead zone value range of the operation dead zone is set in the touch screen 11, and the actual resolution is obtained by subtracting the dead zone value from the operation interval value; the actual resolution is standardized to obtain a given signal; the conversion mode of the given signal of a single handle in the electric control handle group 13 and the action signal of the proportional valve 213 includes any one or any combination of the following modes:

[0112] The first mode: if X>0;

[0113] The calculation formula is: Y=13824*k*(1+X)+a;

[0114] In the single-action mode;

[0115] Y=min{y,27648};

[0116] In the double-action mode, assuming that the maximum output of the double-action is y1;

[0117] Y=min{y,y1};

[0118] In the triple-action mode, assuming that the maximum output of the triple-action is y2;

[0119] Y=min{y,y2};

[0120] The second mode: if X<0;

[0121] The calculation formula is: y=13824*k*(1+X)-a;

[0122] In the single-action mode;

[0123] Y=max{y,0};

[0124] In the double-action mode, assuming that the maximum output of the double-action is y3;

[0125] Y=max{y,y3};

[0126] In the triple-action mode, assuming that the maximum output of the triple-action is y4;

[0127] Y=max{y,y4};

[0128] Where: k is the proportional coefficient, which is =1 in normal mode, <1 in inching mode, and >1 in quick mode; α is the input deadband setting value of the proportional valve; min is the minimum value, and max is the maximum value; X is the given signal, and Y is the action signal.

[0129] In application, the control program selects the corresponding load curve according to the working condition of the control panel, and the crane can only work within the rated load; the logic of speed control is as follows: the electric control handle group 13 sends a control signal to the remote module 215, and the remote module 215 transmits the collected control signal to the PLC controller 212. The PLC controller 212 generates a given signal based on the collected control signal and detects the system status at the same time; if no alarm is detected that limits the action, the control curve corresponding to the given signal of the handle is given according to the speed mode. The default mode is normal mode, and there are also fast mode and micro mode that can be selected according to the actual working conditions; the speed mode is displayed and selected on the touch screen 11, and there will be a timed pop-up box to display the switch between modes; If an alarm prohibiting an action is detected, including an upper or lower alarm limit for lifting, an upper or lower alarm limit for amplitude variation, a left or right alarm limit for rotation, a load overload alarm, etc., the corresponding action will not generate an action signal for the proportional valve 213; if a warning signal is detected, including an upper or lower warning limit for lifting, an upper or lower warning limit for amplitude variation, a left or right warning limit for rotation, a load overload warning, a pipeline pressure alarm, etc., the corresponding action automatically enters the micro-motion mode, and the corresponding action automatically switches to the normal mode 3 seconds after the warning signal disappears; according to the maximum load capacity of the hydraulic system, there is a speed limit for each action in double or triple linkage, and the system ensures that the output control signal of the proportional valve 213 does not exceed the linkage limit value by collecting the linkage information of the handle.

[0130] Example 3:

[0131] The basic content is the same as Example 2, except that:

[0132] Preferably, the power supply voltage of the control valve group 4 is 24V, the control current is 350mA-675mA, the input current is 350mA when the control valve group 4 is at its minimum opening, and the input current is 675mA when the control valve group 4 is at its maximum opening; the input control signal of the single-action proportional valve is 4mA-20mA.

[0133] The proportional valve 213 is selected according to the electrical characteristics of the control valve group 4. The input control signal of the proportional valve 213 for a single action is 4mA-20mA. Taking the lifting action as an example, when the input current of the proportional valve 213 is 12mA, the main valve is in the middle position, and no current is output for lifting up or lifting down; the input current of 4mA-12mA corresponds to the main valve current of 675mA-350mA for lifting down, and the input current of 12mA-20mA corresponds to the main valve current of 350mA-675mA for lifting up.

[0134] The proportional valve 213 is programmed using CoDeSys, and the function JCD_Joystick is used to convert the received control signal. The function PVC_CurrentValvePairController is used to output the action signal of the proportional valve 213. Its important parameters are as follows:

[0135] .

[0136] The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiment. Any equivalent modifications or changes made by ordinary technicians in this field based on the contents disclosed in the present invention should be included in the protection scope recorded in the claims.

Claims

1. A motion control system for an offshore crane, characterized by: The control system comprises a human-machine interaction unit (1), a control unit (2), a sensor unit (3), a control valve group (4) and other functional groups (5); The human-machine interaction unit (1) comprises a touch screen (11), a control panel (12) and an electric control handle group (13); The control unit (2) includes an IO module (211), a PLC controller (212), a proportional valve (213), a relay (214) and a remote module (215); The sensor unit (3) includes an encoder limit switch (31), a temperature sensor (32), a liquid level switch (33), a pressure switch (34), an angle sensor (35), a weight sensor (36), and an anemometer (37); The control valve group (4) includes a lifting control valve group (41), a variable amplitude control valve group (42) and a rotary control valve group (43); The electric control handle group (13) includes at least one single-axis 64-bit Gray code handle (131) for lifting action and at least one double-axis 64-bit omnidirectional Gray code handle (132) for amplitude change and rotation action; the electric control handle group (13) outputs a total of three independent Gray code signals, which can be used for single action, double linkage and triple linkage, and the output Gray code signals are collected by the remote module (215); The conversion method of the given signal of a single handle in the electric control handle group (13) and the action signal of the proportional valve (213) includes any one or any combination of the following: The first type: if X>0; The calculation formula is: Y=13824*k*(1+X)+α; In single action mode; Y=min{y,27648}; In the dual linkage mode, the maximum output of the dual linkage is set to y1; Y=min{y,y1}; In the triple linkage mode, the maximum output of the triple linkage is set to y2; Y=min{y,y2}; The second type: if X < 0; The calculation formula is: y=13824*k*(1+X)-α; In single action mode; Y=max{y,0}; In the dual linkage mode, the maximum output of the dual linkage is set to y3; Y=max{y,y3}; In triple linkage mode, the maximum output of triple linkage is set to y4; Y=max{y,y4}; Where: k is the proportional coefficient, which is =1 in normal mode, <1 in inching mode, and >1 in quick mode; α is the input deadband setting value of the proportional valve; min is the minimum value, and max is the maximum value; X is the given signal, and Y is the action signal.

2. The offshore crane motion control system according to claim 1, characterized in that: The remote module (215) is a distributed IO module.

3. The offshore crane motion control system according to claim 1, characterized in that: The signal output ends of the touch screen (11), the control panel (12), and the electric control handle group (13) are all communicatively connected to the signal input end of the remote module (215), and the signal output end of the remote module (215) is communicatively connected to the signal input end of the PLC controller (212); The signal output ends of the encoder limit switch (31), the temperature sensor (32), the liquid level switch (33), the pressure switch (34), the angle sensor (35), the weight sensor (36), and the anemometer (37) are all communicatively connected to the signal input end of the IO module (211), and the signal output end of the IO module (211) is communicatively connected to the signal input end of the PLC controller (212); The signal output end of the PLC controller (212) is communicatively connected to the signal input ends of the proportional valve (213) and the relay (214); the signal output end of the proportional valve (213) is communicatively connected to the signal input ends of the lifting control valve group (41), the amplitude control valve group (42), and the swing control valve group (43); and the signal output end of the relay (214) is communicatively connected to the signal input ends of the other functional groups (5).

4. A method for using the offshore crane motion control system according to any one of claims 1 to 3, characterized in that: The method of use is as follows: the electric control handle group (13) sends a control signal to the remote module (215), the remote module (215) transmits the collected control signal to the PLC controller (212), the PLC controller (212) generates a given signal according to the received control signal, detects the system state at the same time, and then gives a control curve corresponding to the given signal according to the speed mode, and finally transmits the given signal to the proportional valve (213), the proportional valve (213) outputs a corresponding action signal to the control valve group (4) according to the received given signal to perform a corresponding action.

5. The method for using a motion control system for an offshore crane according to claim 4, characterized in that: The speed modes include: normal mode, fast mode and micro mode.

6. The method for using a motion control system for an offshore crane according to claim 5, characterized in that: The system status includes the following three types: The first one: If no alarm signal for limiting the action is detected, it is the normal mode and the corresponding action runs normally; The second type: If an alarm signal prohibiting an action is detected, no action signal will be generated for the corresponding action, and the corresponding action will not be executed; The third type: If a warning signal is detected, the corresponding action automatically enters the inching mode. After the warning signal disappears for a certain period of time, the corresponding action automatically switches to the normal mode and the corresponding action operates normally.

7. The method for using a motion control system for an offshore crane according to claim 4, characterized in that: The given signal of the electric control handle group (13) is obtained in the following manner: first, the PLC controller (212) converts the received control signal from a Gray code signal into a binary signal to obtain the actual resolution of the electric control handle group (13), and then normalizes the actual resolution to obtain the given signal; The method of converting the Gray code signal into a binary signal is as follows: the output signal of the electric control handle group (13) is composed of 8 digital quantities, G0 to G7, wherein G6 is a forward signal, G7 is a reverse signal, and the remaining bits are action amplitude signals, wherein the forward signal and the reverse signal both include several operation interval values. The conversion formula is as follows: B5=G5;B i-1 =G i-1 ⊕B i (i=1~5); Among them: B is binary code, G is Gray code.

8. The method for using a motion control system for an offshore crane according to claim 6, characterized in that: The actual resolution is obtained in the following manner: the electric control handle group (13) is provided with an operation dead zone, a dead zone value range of the operation dead zone is set in the touch screen (11), and the actual resolution is obtained by subtracting the dead zone value from the operation range value.

9. The method for using a motion control system for an offshore crane according to claim 8, characterized in that: Normalizing the actual resolution to obtain a given signal refers to: using the NORM_X function to normalize the actual resolution to obtain a given signal.

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