Sea condition real simulation loading system and method for multifunctional high-integration marine towing winch

Abstract

The invention discloses a multifunctional highly-integrated marine towing winch sea condition simulation loading system and method. The system comprises a towing subsystem, a sensing subsystem and a loading subsystem. A pump control loop and a valve control loop of the dragging subsystem can work independently, and mode switching between the loops is achieved by controlling on-off of an oil way through an electromagnetic reversing valve. The sensing subsystem is composed of a sensing network composed of multi-source multi-physical-quantity sensors, carries out multi-physical-quantity real-time collection of the dragging subsystem, and is used for signal feedback to carry out system servo control. The loading subsystem is composed of a variable inertia disc and a magnetic powder brake, the mass of the inertia disc can be adjusted to simulate the actual system inertia of the marine towing winch, the input current of the magnetic powder brake can be adjusted to control the loading torque, and the inertia and the load of the actual marine towing subsystem can be simulated through combination of the inertia disc and the magnetic powder brake. According to the invention, the load working condition in the actual winch towing operation can be simulated, and a simple solution is provided for the development of a novel high-performance marine hydraulic winch system and a laboratory bench test.

Description

Technical Field

[0001] The invention belongs to the technical field of high-performance hydraulic winch system design and bench test, and in particular relates to a multifunctional highly integrated marine towing winch sea condition simulation loading system and method. Background Art

[0002] The marine towing winch has many advantages such as strong load capacity, high load stiffness, high power density, and high torque density. It is the core component of major marine engineering equipment such as sonar towing devices and deep-sea geological winches. Its high-performance operation is closely related to marine safety and deep-sea scientific research. The current marine towing winch hydraulic system basically adopts a single valve-controlled open circuit, and the output is controlled by throttling speed regulation. The operating principle is: the pump output flow is throttled by a proportional valve or servo valve, and then input into the hydraulic motor to drive the winch to rotate. It uses an electric proportional system flow control, and the system has fast dynamic response and high control accuracy, but the valve port throttling makes the system energy efficiency low, especially in ultra-long towing operations. The energy loss caused cannot be ignored. In recent years, with the vigorous development of marine scientific research, researchers have increasingly higher requirements for the performance of marine engineering equipment, and have put forward higher requirements and greater challenges for the design of high-performance winch towing systems. A pump-valve switchable speed control circuit is proposed by combining pump-controlled volume speed regulation and valve-controlled throttling speed regulation. It can switch between different operating modes under different sea conditions and loads, and can make up for each other's shortcomings, so that the system can take into account high energy efficiency, high dynamics and high precision. This concept will be an inevitable trend in the development of high-performance and high-power marine towing hydraulic winch technology.

[0003] At the same time, the relevant test cycle of marine engineering equipment such as towing winches at sea is long, risky and costly; it is easily affected by sea conditions, and offshore tests are not conducive to long-term and repeated verification; compared with offshore tests, onshore tests test the system under test through a load simulation loading system, which has the advantages of controllable risks, good repeatability and low cost. In order to verify the advantages of the proposed multifunctional and highly integrated hydraulic winch system, it is also necessary to design a loading simulation system that can simulate actual sea conditions to facilitate testing in the laboratory. At present, the hydraulic winch loading test system basically uses a torsion configuration, and the same specification hydraulic motor is used to run under pump conditions to tow the motor under test. Due to the rigid connection between the motor under test and the loading motor, there is a coupling effect between its flow pulsation and pressure fluctuation, which causes the problem of low-speed performance and difficulty in carrying out control tests.

[0004] In summary, the present invention proposes a multifunctional, highly integrated marine towing winch sea condition simulation loading system and method, which can be used for bench test research of new marine towing winch systems. The proposed new towing winch system can realize switching of multiple control modes through modular design and combination, and has the functions of a closed pump control system, an open valve control system, and a pump-valve switchable system, which can meet the requirements of precise deployment and stable recovery of marine winches under complex sea conditions. The proposed sea condition simulation test system includes a sensing system and a loading system that can meet the requirements of simulating actual sea conditions for loading of multiple types of marine winch systems and complete land load simulation tests. Summary of the invention

[0005] In view of the fact that the current ship-used towing winch has a single speed regulation mode and cannot meet the requirements of accurate delivery and stable recovery under complex sea conditions, the present invention proposes a new multifunctional highly integrated winch towing system; in view of the high cost and high risk of offshore testing, a multifunctional highly integrated ship-used towing winch sea condition simulation loading system and method is provided. The proposed new winch system realizes system control mode switching through multiple two-position two-way electromagnetic reversing valves, and can quickly adjust the control mode according to the actual changes in sea conditions, meeting the requirements of accurate delivery and stable recovery under complex sea conditions. The proposed sea condition simulation loading system can simulate the moment of inertia and load changes of the winch during actual operation, simulate the actual load spectrum to complete the land load simulation experiment, and reduce the test cost and risk.

[0006] The object of the present invention is achieved through the following technical solutions: a multifunctional highly integrated marine towing winch sea condition simulation loading system, the system comprising: The towing subsystem includes a closed pump control loop and an open valve control loop; the closed pump control loop is supplied with oil through a closed variable pump, and two oil ports of the closed variable pump are respectively connected to two two-position two-way electromagnetic reversing valves, and then respectively connected to the inlet and outlet oil ports of the low-speed high-torque hydraulic motor; the open valve control loop is supplied with oil through an open quantitative pump, and the open quantitative pump is connected to a three-position four-way servo proportional reversing valve through an externally controlled differential pressure reducing valve, and then connected to the inlet and outlet oil ports of the low-speed high-torque hydraulic motor; The sensing subsystem includes a torque sensor, an encoder, a flow meter for real-time monitoring of the oil flow of the towing subsystem, and a pressure sensor for the oil port pressure of the towing subsystem; the torque sensor is used to monitor the load force of the loading subsystem, and to feed back the torque signal for the torque servo control of the towing subsystem; the encoder is used to monitor the rotation angle and speed of the low-speed high-torque hydraulic motor, and the feedback angle signal is used for the position servo control and speed servo control of the towing subsystem; The loading subsystem includes a variable inertia disc and a magnetic powder brake. The variable inertia disc is used to simulate the rotational inertia of different towing winches by adjusting its mass and volume; the magnetic powder brake controls the braking resistance by adjusting the input current, thereby providing different load forces for the towing subsystem.

[0007] Furthermore, the closed pump control loop includes an oil replenishment pump and an accumulator, which are rigidly connected to the closed variable pump. The oil inlet is connected to the closed loop oil tank through a filter, and the oil outlet is connected to two oppositely installed one-way valves to prevent oil backflow and complete closed loop oil replenishment; the accumulator is connected to the two one-way valves through a two-position two-way proportional reversing valve, and together participates in system oil replenishment and eliminates pressure pulsation.

[0008] Furthermore, two closed-loop relief valves are respectively connected in parallel to the oil inlet and outlet ports of the low-speed, high-torque hydraulic motor for loop pressure protection.

[0009] Furthermore, one end of the open quantitative pump is connected to the open circuit oil tank via a filter, and the other end is connected to the open circuit overflow valve for circuit pressure protection, and the open circuit overflow valve is connected to the open circuit oil tank.

[0010] Furthermore, the external control oil hole of the externally controlled differential pressure reducing valve is connected to the oil inlet of the low-speed and high-torque hydraulic motor via a two-position two-way solenoid reversing valve, and the switch of the two-position two-way solenoid reversing valve is controlled to realize valve port pressure compensation of the three-position four-way servo proportional reversing valve to eliminate pressure fluctuations.

[0011] Furthermore, the P port of the three-position four-way servo proportional reversing valve is connected to the oil outlet of the externally controlled differential pressure reducing valve, the T port is connected to the open circuit oil tank, and the A and B ports are respectively connected to the oil inlet and outlet of the low-speed and high-torque hydraulic motor to throttle and control the motor speed.

[0012] Furthermore, the flowmeter in the sensing subsystem is used to monitor the flow rates at the inlet and outlet of the closed variable pump, the supplementary flow rate of the replenishing pump, the output flow rate of the open fixed displacement pump and the inlet and outlet flow rates of the low-speed, high-torque hydraulic motor; flow monitoring is used to evaluate and compare the system speed regulation capability and performance.

[0013] Furthermore, the pressure sensors in the sensing subsystem are used to monitor the inlet and outlet pressures of the closed variable pump, the outlet pressure of the open fixed displacement pump, the inlet and outlet pressures of the low-speed, high-torque hydraulic motor, and the P-port and T-port pressures of the three-position, four-way servo proportional reversing valve. The pressure drop at the valve port is measured by subtracting the monitored P-port and T-port pressures, and the feedback pressure signal is used for system control of the open valve control loop.

[0014] On the other hand, the present invention also provides a control method for a multifunctional highly integrated marine towing winch sea condition simulation loading system, the method comprising the following steps: (1) Adjust the variable inertia disc so that the system's moment of inertia reaches the actual moment of inertia of the benchmark towing winch; (2) Determine the torque load spectrum of simulated loading under sea conditions T d ; (3) Torque sensor in the currentt Collect the braking torque output by the magnetic powder brake at all times T As the feedback signal of the control system, after A / D conversion, it is compared with the torque load spectrum T d Compare the torque deviation e kT , combined with t -1 moment torque deviation e kT-1 , calculate the torque deviation change rate e cT = e kT - e kT-1 , using torque deviation and torque deviation change rate as the input of the fuzzy controller, the two parameters are fuzzified through the membership function; determine the fuzzy rule table, that is, the PID control parameter increment and e kT and e cT Fuzzy inference rules, defuzzification is performed through the fuzzy controller to output the PID control parameter increment; (3) The PID control parameter increment is combined with the control parameter of the previous moment as the update parameter of this moment, and the new parameters of the PID controller at this moment are used to control the output braking torque of the magnetic powder brake. The digital electrical signal output for control is converted into an analog voltage signal after D / A conversion. u , after signal amplification, the analog current signal is obtained i The input is sent to the magnetic powder brake to adjust the output braking torque, providing a stable load simulation for the towing winch to simulate the actual sea conditions. When the sea conditions change, the towing subsystem actively switches the pump control and valve control of the winch to adapt to the load changes.

[0015] Furthermore, the switching control process of the towing winch pump control and valve control is as follows: (1) Determine the speed load spectrum of the towing winch under actual sea conditions v d ; (2) Determine the mode switching conditions of the towing subsystem v s ; (3) When v d < v s , the towing subsystem switches to the valve-controlled circuit through the electromagnetic reversing valve to ensure the speed output accuracy and terminal positioning accuracy during towing work; v d ≥ v s, the towing subsystem switches to the pump control circuit through the electromagnetic reversing valve to meet the output speed and rapid increase requirements during towing work; (4) Both the closed pump control loop and the open valve control loop adopt fuzzy PID control. The control principle is: the encoder t Constantly collect the output speed of the low-speed, high-torque hydraulic motor v As the feedback signal of the control system, after A / D conversion, it is compared with the speed load spectrum v d Compare the speed deviation e kv , combined with t -1 time deviation e kv-1 , calculate the speed deviation change rate e cv = e kv - e kv-1 , the speed deviation and the speed deviation change rate are used as the input of the fuzzy controller, and the two parameters are fuzzified through the membership function; the fuzzy rule table is determined, that is, the PID control parameter increment and e kv and e cv Fuzzy inference rules, defuzzification is performed through the fuzzy controller to output the PID control parameter increment; the PID control parameter increment is combined with the control parameter of the previous moment as the update parameter of the moment, and the new parameters of the PID controller at the moment are used to control the output speed of the low-speed and high-torque hydraulic motor; (5) The speed of each acquisition v Then, step (3) is repeated to determine whether to switch control, and step (4) is continued to execute the control instruction at the current moment.

[0016] Beneficial effects of the present invention: The present invention provides a multifunctional, highly integrated marine towing winch sea condition simulation loading system. The towing winch system can cope with complex sea condition changes, switch between pump control and valve control modes, and meet the requirements of precise delivery and stable recovery. At the same time, the sensing system realizes multi-source physical quantity monitoring and feedback to realize servo control, and the loading system can simulate different load conditions. Based on this test bench, multi-type speed control and servo control research of low-speed, high-torque motors can be carried out, and general performance test requirements such as pressure, flow, efficiency, speed, torque pulsation, etc. can also be carried out. The present invention has made innovative designs for high-performance marine towing winch systems and bench test systems, especially in the compactness, multi-function and loading simulation system of marine towing winches. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1This is the schematic diagram of the comprehensive speed regulation performance test bench for low-speed, high-torque hydraulic motors.

[0018] In the figure, 1.1 closed-loop oil tank; 1.2 open-loop oil tank; 2 servo motor; 3 closed variable pump; 4 replenishing oil pump; 5.1 first flow meter; 5.2 second flow meter; 5.3 third flow meter; 5.4 fourth flow meter; 5.5 fifth flow meter; 5.6 sixth flow meter; 6.1 first pressure sensor; 6.2 second pressure sensor; 6.3 third pressure sensor; 6.4 fourth pressure sensor; 6.5 fifth pressure sensor; 6.6 sixth pressure sensor; 6.7 seventh pressure sensor; 7.1 first two-position two-way solenoid reversing valve; 7.2 second two-position two-way solenoid reversing valve; 7.3 first 3. Two-position two-way solenoid directional control valve; 7.4. Four-position two-way solenoid directional control valve; 8.1. First non-return valve; 8.2. Second non-return valve; 9. Two-position two-way proportional directional control valve; 10. Accumulator; 11. Three-phase asynchronous motor; 12. Open fixed-displacement pump; 13.1. First filter; 13.2. Second filter; 14.1. Open-loop relief valve; 14.2. First closed-loop relief valve; 14.3. Second closed-loop relief valve; 15. Externally controlled differential pressure reducing valve; 16. Three-position four-way servo proportional directional control valve; 17. Low-speed, high-torque hydraulic motor; 18. Torque sensor; 19. Encoder; 20. Variable inertia disc; 21. Magnetic powder brake.

[0019] Figure 2 Switch control logic schematic for towing winch.

[0020] Figure 3 Schematic diagram of the fuzzy PID controller used in the pump control loop and the valve control loop.

[0021] Figure 4 This is a schematic diagram of the simulated loading of the sea conditions according to the present invention. DETAILED DESCRIPTION

[0022] The present invention is described in detail below with reference to the accompanying drawings and specific examples: like Figure 1 As shown, the present invention provides a multifunctional highly integrated marine towing winch sea condition simulation loading system, which includes a towing subsystem, a sensor subsystem and a loading subsystem; The towing subsystem consists of two major loops: a closed pump control loop and an open valve control loop.

[0023] The closed pump control loop is composed of a closed loop oil tank 1.1, a servo motor 2, a closed variable pump 3, an oil replenishment pump 4, a first filter 13.1, a first non-return valve 8.1, a second non-return valve 8.2, a two-position two-way proportional directional valve 9, an accumulator 10, a first two-position two-way electromagnetic directional valve 7.1, a second two-position two-way electromagnetic directional valve 7.2, a first closed loop overflow valve 14.2 and a second closed loop overflow valve 14.3. The closed variable pump 3 is driven by the servo motor 2 to complete the closed loop oil supply; the oil replenishment pump 4 is rigidly connected to the closed variable pump 3, the oil inlet is connected to the closed loop oil tank 1.1 through the first filter 13.1, and the oil outlet is connected to the first non-return valve 8.1 and the second non-return valve 8.2 installed oppositely, which can prevent the oil from flowing back and complete the closed loop oil replenishment. The accumulator 10 is connected to the first check valve 8.1 and the second check valve 8.2 through the two-position two-way proportional reversing valve 9, and participates in the system oil replenishment and eliminates pressure pulsation. The two oil ports of the closed variable pump 3 are respectively connected to the first two-position two-way electromagnetic reversing valve 7.1 and the second two-position two-way electromagnetic reversing valve 7.2, and then respectively connected to the inlet and outlet of the low-speed high-torque hydraulic motor 17, and the oil drain port in the motor is connected to the closed circuit oil tank 1.1. The first closed circuit relief valve 14.2 and the second closed circuit relief valve 14.3 are respectively connected in parallel to the inlet and outlet of the low-speed high-torque hydraulic motor 17 for circuit pressure protection.

[0024] The valve control circuit is composed of an open circuit oil tank 1.2, a second filter 13.2, a three-phase asynchronous motor 11, an open metering pump 12, an open circuit relief valve 14.1, an externally controlled differential pressure reducing valve 15, a third two-position two-way electromagnetic reversing valve 7.3, a fourth two-position two-way electromagnetic reversing valve 7.4 and a three-position four-way servo proportional reversing valve 16. The three-phase asynchronous motor 11 drives the open metering pump 12 to supply oil to the valve control circuit. The oil inlet of the open metering pump 12 is connected to the open circuit oil tank 1.2 through the second filter 13.2, and the other end is connected to the open circuit relief valve 14.1 for circuit pressure protection. The oil inlet end of the externally controlled differential pressure reducing valve 15 is connected to the open type quantitative pump 12, and the oil outlet end is connected to the three-position four-way servo proportional reversing valve 16. The externally controlled oil hole of the externally controlled differential pressure reducing valve 15 is connected to the oil inlet of the low-speed high-torque hydraulic motor 17 through the third two-position two-way electromagnetic reversing valve 7.3. Controlling the switch of the third two-position two-way electromagnetic reversing valve 7.3 can realize the valve port pressure compensation of the servo proportional reversing valve 16 and eliminate pressure fluctuations. The P port of the three-position four-way servo proportional reversing valve 16 is connected to the oil outlet of the externally controlled differential pressure reducing valve 15, the T port is connected to the open circuit oil tank 1.2, and the A and B ports are respectively connected to the oil inlet and outlet of the low-speed high-torque hydraulic motor 17, which can throttle and control the motor speed.

[0025] The sensor subsystem includes a first flow meter 5.1 to a sixth flow meter 5.6, a first pressure sensor 6.1 to a seventh pressure sensor 6.7, a torque sensor 18 and an encoder 19; The first flowmeter 5.1 to the sixth flowmeter 5.6 are used for real-time monitoring of the flow of the towing subsystem. Since the speed of the low-speed high-torque hydraulic motor 17 is related to the input flow, flow monitoring can be used to evaluate and compare the speed regulation capability and performance of the system. The first flowmeter 5.1 and the second flowmeter 5.2 respectively monitor the flow of the inlet and outlet of the closed variable pump 3 in the closed pump control loop; the third flowmeter 5.3 monitors the supplementary flow of the supplementary oil pump 4 to the closed system; the fourth flowmeter 5.4 monitors the output flow of the open quantitative pump 12; the fifth flowmeter 5.5 and the sixth flowmeter 5.6 respectively monitor the inlet and outlet flow of the low-speed high-torque hydraulic motor 17, and can work in both the closed pump control loop and the valve-controlled open loop.

[0026] The first pressure sensor 6.1-the first pressure sensor 6.7 is used for real-time monitoring of the pressure of the towing subsystem of the winch. On the one hand, when the loading subsystem applies an external load, it monitors to ensure that the pressure at each location of the towing subsystem of the winch is less than the maximum pressure. On the other hand, the pressure signal feedback is used for servo control of the towing subsystem of the winch. The first pressure sensor 6.1 and the first pressure sensor 6.2 respectively monitor the pressure of the inlet and outlet of the closed variable pump 3 in the closed pump control loop, and alarm in time when the pressure is too high to avoid damage to the pump source; the third pressure sensor 6.3 monitors the pressure of the outlet of the open fixed pump 12, and alarms in time when the pressure is too high to avoid damage to the pump source; the fourth pressure sensor 6.4 and the fourth pressure sensor 6.5 respectively monitor the pressure of the P port and the T port of the three-position four-way servo proportional reversing valve 16, and the two sensors are subtracted to measure the pressure drop at the valve port, and the feedback pressure signal is used for valve-controlled open system control; the sixth pressure sensor 6.6 and the seventh pressure sensor 6.7 respectively monitor the inlet and outlet pressure of the low-speed high-torque hydraulic motor 17, and alarm in time when the pressure is too high to avoid damage to the motor.

[0027] One end of the torque sensor 18 and encoder 19 is connected to the low-speed high-torque hydraulic motor 17 in the towing subsystem with a rigid shaft, and the other end is also connected to the loading subsystem with a rigid shaft. The torque sensor 18 monitors the load force of the loading subsystem, on the one hand to ensure that the loading force is less than the maximum load force of the towing subsystem of the winch to avoid damage caused by excessive pressure; on the other hand, the feedback torque signal is used for the torque servo control of the towing subsystem of the winch. The encoder 19 monitors the position angle and speed on the rigid shaft system, and then reflects the rotation angle and speed of the low-speed high-torque hydraulic motor 17. The feedback angle signal is used for the position servo control and speed servo control of the towing subsystem of the winch.

[0028] The loading subsystem includes a variable inertia disc 20 and a magnetic powder brake 21 .

[0029] The loading subsystem is rigidly connected to the towing subsystem of the winch directly through the torque sensor 18 and the encoder 19, which is used to simulate the load force under actual sea conditions to provide different load force conditions for the winch towing system. The variable inertia disc 20 is detachable, and the rotational inertia of the simulated system can be changed by adjusting its mass and volume, which is used to simulate the rotational inertia of different towing winches. The magnetic powder brake 21 can control the braking resistance by adjusting the input current, thereby providing different load forces for the towing subsystem of the winch.

[0030] like Figure 2 and Figure 3 As shown, the multifunctional highly integrated marine towing winch switching control method provided by the present invention is specifically implemented by the following steps: (1) Input the speed load spectrum of the towing winch under actual sea conditions v d .

[0031] (2) Input the mode switching conditions of the towing subsystem v s , its size can be adjusted by the user according to actual conditions.

[0032] (3) When v d <v s , the output speed of the towing subsystem is low, and the flow rate required by the system is small. It can be switched to the valve-controlled circuit through the electromagnetic reversing valve, which can ensure the speed output accuracy and terminal positioning accuracy in the towing work; when v d ≥ v s The towing subsystem is at a high output speed, and the system requires a large flow rate. By switching to the pump control circuit through the electromagnetic reversing valve, it can meet the high output speed and rapid increase requirements in the towing work.

[0033] (4) Fuzzy PID controllers are used in both pump control loop and valve control loop controllers, such as Figure 3 The overall control principle of the dragging subsystem is as follows: Encoder 19 is currently t The speed output by the low-speed high-torque hydraulic motor 17 is collected at all times v As the feedback signal of the control system, after passing through the A / D conversion module, it is compared with the speed load spectrum v d Compare the deviation e kv , combined with t -1 time deviation e kv-1 , calculate the deviation change rate e cv = e kv -e kv-1 , the speed deviation and speed deviation rate are used as the input of the fuzzy controller, and the two parameters are fuzzified through the membership function. Determine the fuzzy rule table, that is, k p , k i , k d The increment and e kv and e cv Fuzzy inference rules are used to defuzzify the output PID control parameter increment through the fuzzy controller. The PID control parameter increment is combined with the control parameter of the previous moment as the update parameter of this moment, and the new parameters of the PID controller at this moment are used to control the output speed of the low-speed and high-torque hydraulic motor.

[0034] (5) The speed of each acquisition v Then, step (3) is repeated to determine whether to switch control, and step (4) is continued to execute the control instruction at the current moment.

[0035] like Figure 4 As shown, the control method of the sea condition simulation loading system provided by the present invention is specifically implemented by the following steps: (1) Adjust the variable inertia disc 20 so that the system's rotational inertia reaches the actual rotational inertia of the benchmark towing winch.

[0036] (2) Input the torque load spectrum required for simulated sea conditions T d .

[0037] (3) Torque sensor 18 is currently t The braking torque output by the magnetic powder brake 21 is collected at all times T As the feedback signal of the control system, after passing through the A / D conversion module, it is compared with the torque load spectrum T d Compare the deviation e kT , combined with t -1 time deviation e kT-1 , calculate the deviation change rate e cT = e kT - e kT-1 , using torque deviation and torque deviation rate as the input of the fuzzy controller, the two parameters are fuzzified through the membership function. Determine the fuzzy rule table, that is, k p , k i, k d The increment and e kT and e cT Fuzzy inference rules are used to defuzzify the output PID control parameter increment through the fuzzy controller.

[0038] (3) The PID control parameter increment is combined with the control parameter of the previous moment as the update parameter of this moment, and the new parameters of the PID controller at this moment are used to control the output braking torque of the magnetic powder brake. The digital electrical signal output for control is converted into an analog voltage signal after D / A conversion. u , after the signal is amplified by the amplifier module, the analog current signal is obtained i The input is sent to the magnetic powder brake to adjust the output braking torque, providing a stable load simulation for the towing winch to simulate the actual sea conditions. When the sea conditions change, the towing subsystem actively switches the pump control and valve control of the winch to adapt to the load changes.

[0039] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A multifunctional and highly integrated marine towing winch sea condition simulation loading system, characterized in that: The system includes: The towing subsystem includes a closed pump control loop and an open valve control loop; the closed pump control loop is supplied with oil through a closed variable pump, and two oil ports of the closed variable pump are respectively connected to two two-position two-way electromagnetic reversing valves, and then respectively connected to the inlet and outlet oil ports of the low-speed high-torque hydraulic motor; the open valve control loop is supplied with oil through an open quantitative pump, and the open quantitative pump is connected to a three-position four-way servo proportional reversing valve through an externally controlled differential pressure reducing valve, and then connected to the inlet and outlet oil ports of the low-speed high-torque hydraulic motor; The sensing subsystem includes a torque sensor, an encoder, a flow meter for real-time monitoring of the oil flow of the towing subsystem, and a pressure sensor for the oil port pressure of the towing subsystem; the torque sensor is used to monitor the load force of the loading subsystem, and to feed back the torque signal for the torque servo control of the towing subsystem; the encoder is used to monitor the rotation angle and speed of the low-speed high-torque hydraulic motor, and the feedback angle signal is used for the position servo control and speed servo control of the towing subsystem; The loading subsystem includes a variable inertia disc and a magnetic powder brake. The variable inertia disc is used to simulate the rotational inertia of different towing winches by adjusting its mass and volume; the magnetic powder brake controls the braking resistance by adjusting the input current, thereby providing different load forces for the towing subsystem.

2. According to claim 1, a multifunctional highly integrated marine towing winch sea condition simulation loading system is characterized in that: The closed pump control circuit includes an oil replenishment pump and an accumulator. The oil replenishment pump is rigidly connected to the closed variable pump. The oil inlet is connected to the closed circuit oil tank through a filter, and the oil outlet is connected to two oppositely installed one-way valves to prevent oil backflow and complete closed circuit oil replenishment. The accumulator is connected to the two one-way valves through a two-position two-way proportional reversing valve to participate in system oil replenishment and eliminate pressure pulsation.

3. According to claim 1, a multifunctional highly integrated marine towing winch sea condition simulation loading system is characterized in that: The inlet and outlet oil ports of the low-speed, high-torque hydraulic motor are respectively connected in parallel with two closed-loop relief valves for loop pressure protection.

4. The multifunctional highly integrated marine towing winch sea condition simulation loading system according to claim 1 is characterized in that: One end of the open-loop metering pump is connected to the open-loop oil tank via a filter, and the other end is connected to the open-loop overflow valve for loop pressure protection. The open-loop overflow valve is connected to the open-loop oil tank.

5. The multifunctional highly integrated marine towing winch sea condition simulation loading system according to claim 1 is characterized in that: The external control oil hole of the externally controlled differential pressure reducing valve is connected to the oil inlet of the low-speed and high-torque hydraulic motor through a two-position two-way electromagnetic reversing valve, and the switch of the two-position two-way electromagnetic reversing valve is controlled to realize the valve port pressure compensation of the three-position four-way servo proportional reversing valve to eliminate pressure fluctuations.

6. The multifunctional highly integrated marine towing winch sea condition simulation loading system according to claim 1 is characterized in that: The P port of the three-position four-way servo proportional reversing valve is connected to the oil outlet of the externally controlled differential pressure reducing valve, the T port is connected to the open circuit oil tank, and the A and B ports are respectively connected to the oil inlet and outlet of the low-speed and high-torque hydraulic motor to throttle and control the motor speed.

7. The multifunctional highly integrated marine towing winch sea condition simulation loading system according to claim 1 is characterized in that: The flowmeter in the sensing subsystem is used to monitor the flow of the closed variable pump inlet and outlet, the supplementary flow of the replenishing pump, the output flow of the open fixed pump and the inlet and outlet flow of the low-speed and high-torque hydraulic motor; flow monitoring is used to evaluate and compare the system speed regulation capability and performance.

8. The multifunctional highly integrated marine towing winch sea condition simulation loading system according to claim 1 is characterized in that: The pressure sensors in the sensing subsystem are used to monitor the inlet and outlet pressures of the closed variable pump, the outlet pressure of the open fixed displacement pump, the inlet and outlet pressures of the low-speed, high-torque hydraulic motor, and the P and T port pressures of the three-position, four-way servo proportional reversing valve. The pressure drop at the valve port is measured by subtracting the monitored P and T port pressures, and the feedback pressure signal is used for system control of the open valve control loop.

9. A control method for a multifunctional highly integrated marine towing winch sea condition simulation loading system based on any one of claims 1 to 8, characterized in that: The method comprises the following steps: (1) Adjust the variable inertia plate so that the system's moment of inertia reaches the actual moment of inertia of the benchmark towing winch; (2) Determine the torque load spectrum of simulated loading under sea conditions T d ; (3) Torque sensor in the current t Collect the braking torque output by the magnetic powder brake at all times T As the feedback signal of the control system, after A / D conversion, it is compared with the torque load spectrum T d Compare the torque deviation e kT , combined with t -1 moment torque deviation e kT-1 , calculate the torque deviation change rate e cT = e kT - e kT-1 , using torque deviation and torque deviation change rate as the input of the fuzzy controller, the two parameters are fuzzified through the membership function; determine the fuzzy rule table, that is, the PID control parameter increment and e kT and e cT Fuzzy inference rules, defuzzification is performed through the fuzzy controller to output the PID control parameter increment; (3) The PID control parameter increment is combined with the control parameter of the previous moment as the update parameter of this moment, and the new parameters of the PID controller at this moment are used to control the output braking torque of the magnetic powder brake. The digital electrical signal output for control is converted into an analog voltage signal after D / A conversion. u , after signal amplification, the analog current signal is obtained i The input is sent to the magnetic powder brake to adjust the output braking torque, providing a stable load simulation for the towing winch to simulate the actual sea conditions. When the sea conditions change, the towing subsystem actively switches the pump control and valve control of the winch to adapt to the load changes.

10. The control method of a multifunctional highly integrated marine towing winch sea condition simulation loading system according to claim 9 is characterized in that: The switching control process of the towing winch pump control and valve control is as follows: (1) Determine the speed load spectrum of the towing winch under actual sea conditions v d ; (2) Determine the mode switching conditions of the towing subsystem v s ; (3) When v d < v s , the towing subsystem switches to the valve-controlled circuit through the electromagnetic reversing valve to ensure the speed output accuracy and terminal positioning accuracy during towing work; v d ≥ v s , the towing subsystem switches to the pump control circuit through the electromagnetic reversing valve to meet the output speed and rapid increase requirements during towing work; (4) Both the closed pump control loop and the open valve control loop adopt fuzzy PID control. The control principle is: the encoder t Constantly collect the output speed of the low-speed, high-torque hydraulic motor v As the feedback signal of the control system, after A / D conversion, it is compared with the speed load spectrum v d Compare the speed deviation e kv , combined with t -1 time deviation e kv-1 , calculate the speed deviation change rate e cv = e kv - e kv-1 , the speed deviation and the speed deviation change rate are used as the input of the fuzzy controller, and the two parameters are fuzzified through the membership function; the fuzzy rule table is determined, that is, the PID control parameter increment and e kv and e cv Fuzzy inference rules, defuzzification is performed through the fuzzy controller to output the PID control parameter increment; the PID control parameter increment is combined with the control parameter of the previous moment as the update parameter of the moment, and the new parameters of the PID controller at the moment are used to control the output speed of the low-speed and high-torque hydraulic motor; (5) The speed of each acquisition v Then, step (3) is repeated to determine whether to switch control, and step (4) is continued to execute the control instruction at the current moment.

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