Pump-controlled semi-active ship heave compensation hydraulic system and control method thereof

Abstract

The present invention relates to the field of hydraulic control technology, and provides a pump-controlled semi-active ship heave compensation hydraulic system and a control method thereof, wherein the system comprises: an active compensation hydraulic module, a passive compensation hydraulic module, a sensor module, a controller and a motion sensor; the passive compensation hydraulic module comprises a nitrogen bottle unit, an accumulator unit, a gas-liquid converter, a seventh electromagnetic reversing valve, a fourth electromagnetic reversing valve and a passive compensation asymmetric hydraulic cylinder; the active compensation hydraulic module comprises a third accumulator, a servo motor, a bidirectional quantitative hydraulic pump, a first check valve, a second check valve, an active compensation asymmetric hydraulic cylinder, a first electromagnetic reversing valve, a second electromagnetic reversing valve and a third electromagnetic reversing valve. The present invention integrates passive compensation and active compensation, greatly improving the compensation accuracy and efficiency; adopting an electro-hydraulic servo pump control method not only retains the advantages of high control accuracy of the valve control method, but also improves stability.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic control, and in particular to a pump-controlled semi-active ship heave compensation hydraulic system and a control method thereof. Background Art

[0002] During offshore operations, ships will be affected by waves and wind, causing violent heave motion, which will reduce the accuracy of offshore operations and even cause damage and capsizing of the ship, which is very dangerous. The purpose of the heave compensation system is to decouple the load movement and the ship's heave motion, so that the vertical movement of the load is not affected by the ship's motion, reduce the change of cable tension, and thus ensure the stability and safety of offshore equipment and personnel.

[0003] At present, there are three main types of heave compensation systems according to the compensation form: passive heave compensation system, active heave compensation system and semi-active heave compensation system. The passive heave compensation system is an open-loop system that does not require energy input to work. This system has a simple structure, but its effect on high-frequency and large-amplitude heave motion is limited. The active heave compensation system is an energy-consuming complex closed-loop system that uses sensors to monitor the motion state of the ship in real time, and drives the actuator through the control system to actively adjust the movement of the load to offset the impact of the ship's heave. Although the active compensation system can significantly improve the stability of the ship in a wave environment, it faces many challenges in practical applications due to its high cost, high energy consumption, limited reliability, response speed and system delay problems. The semi-active heave compensation system is a composite model of passive and active heave compensation systems, combining the advantages of passive and active compensation systems. It not only uses the mechanical structure to absorb part of the energy, but also makes fine adjustments through active control, thereby achieving higher compensation effect and stability.

[0004] The existing semi-active heave compensation system has defects such as low compensation accuracy and poor system stability. Summary of the invention

[0005] The purpose of the present invention is to provide a pump-controlled semi-active ship heave compensation hydraulic system and a control method thereof, which integrates passive compensation and active compensation, greatly improving the compensation accuracy and efficiency; adopting an electro-hydraulic servo pump control method, not only retains the advantage of high control accuracy of the valve control method, but also improves stability.

[0006] A pump-controlled semi-active ship heave compensation hydraulic system, comprising: an active compensation hydraulic module, a passive compensation hydraulic module, a sensor module, a controller and a motion sensor;

[0007] The motion sensor is used to obtain the wave signal and the motion status of the ship and send them to the controller;

[0008] The passive compensation hydraulic module includes a nitrogen bottle unit, an accumulator unit, a gas-liquid converter, a seventh solenoid reversing valve, a fourth solenoid reversing valve and a passive compensation asymmetric hydraulic cylinder;

[0009] The nitrogen bottle unit is connected to the AIR end of the gas-liquid converter through the switch valve unit, the OIL end of the gas-liquid converter is connected to the first end of the fourth electromagnetic reversing valve, the second end of the fourth electromagnetic reversing valve is connected to the D port of the passive compensation asymmetric hydraulic cylinder, the C port of the passive compensation asymmetric hydraulic cylinder is connected to the first end of the seventh electromagnetic reversing valve, and the second end of the seventh electromagnetic reversing valve is connected to the accumulator unit;

[0010] The active compensation hydraulic module includes a third accumulator, a servo motor, a bidirectional quantitative hydraulic pump, a first one-way valve, a second one-way valve, a first hydraulically controlled one-way valve, a second hydraulically controlled one-way valve, an active compensation asymmetric hydraulic cylinder, a first electromagnetic reversing valve, a second electromagnetic reversing valve and a third electromagnetic reversing valve;

[0011] The servo motor and the bidirectional quantitative hydraulic pump are coaxially connected through a coupling;

[0012] The first end of the first one-way valve, the first end of the first hydraulically controlled one-way valve and the first end of the first electromagnetic reversing valve are all connected to the oil port a of the bidirectional quantitative hydraulic pump;

[0013] The first end of the second one-way valve, the first end of the second hydraulically controlled one-way valve, and the first end of the second solenoid reversing valve are all connected to the oil port b of the two-way quantitative hydraulic pump; the flow direction of the first one-way valve is from the second end of the first one-way valve to the first end of the first one-way valve, and the flow direction of the second one-way valve is from the second end of the second one-way valve to the first end of the second one-way valve;

[0014] The second end of the first one-way valve, the second end of the first hydraulically controlled one-way valve, the second end of the second one-way valve, the second end of the second hydraulically controlled one-way valve and the third accumulator are connected to each other;

[0015] The second end of the first electromagnetic reversing valve and the first end of the third electromagnetic reversing valve are both connected to the A port of the active compensation asymmetric hydraulic cylinder, and the second end of the second electromagnetic reversing valve and the second end of the third electromagnetic reversing valve are both connected to the B port of the active compensation asymmetric hydraulic cylinder;

[0016] The sensor module includes a first pressure sensor, a second pressure sensor, a displacement sensor and a force sensor;

[0017] The first pressure sensor is arranged between the oil port a of the bidirectional quantitative hydraulic pump and the A port of the active compensation asymmetric hydraulic cylinder, and the second pressure sensor is arranged between the oil port b of the bidirectional quantitative hydraulic pump and the B port of the active compensation asymmetric hydraulic cylinder; the displacement sensor is arranged on the hydraulic rod of the active compensation asymmetric hydraulic cylinder, and the displacement sensor is used to obtain the displacement of the hydraulic rod of the active compensation asymmetric hydraulic cylinder and send it to the controller; the force sensor is arranged at the hinge of the hydraulic rod of the active compensation asymmetric hydraulic cylinder and the hydraulic rod of the passive compensation asymmetric hydraulic cylinder, and the force sensor is used to obtain the force at the hinge and send it to the controller;

[0018] The first solenoid reversing valve, the second solenoid reversing valve, the third solenoid reversing valve, the first check valve, the second check valve, the servo motor, the first pressure sensor, the second pressure sensor, the fourth solenoid reversing valve, the seventh solenoid reversing valve and the nitrogen bottle unit are all connected to the controller;

[0019] The first solenoid reversing valve, the second solenoid reversing valve, the third solenoid reversing valve, the fourth solenoid reversing valve and the seventh solenoid reversing valve all have dual circuits. The first circuits of the first solenoid reversing valve, the second solenoid reversing valve, the third solenoid reversing valve, the fourth solenoid reversing valve and the seventh solenoid reversing valve are all bidirectional passages. The second circuits of the first solenoid reversing valve, the second solenoid reversing valve, the third solenoid reversing valve and the fourth solenoid reversing valve are open circuits. The second circuit of the seventh solenoid reversing valve is a one-way passage. The second circuit of the seventh solenoid reversing valve is the oil flowing from the C port of the passive compensation asymmetric hydraulic cylinder to the accumulator unit.

[0020] Optionally, the nitrogen bottle unit includes a first nitrogen bottle, a second nitrogen bottle and a third nitrogen bottle; the switch valve unit includes a first switch valve, a second switch valve and a third switch valve;

[0021] The first nitrogen bottle, the second nitrogen bottle and the third nitrogen bottle are connected in parallel to the AIR end of the gas-liquid converter;

[0022] The first nitrogen cylinder is connected to the AIR end of the gas-liquid converter through the first switch valve, the second nitrogen cylinder is connected to the AIR end of the gas-liquid converter through the second switch valve, and the third nitrogen cylinder is connected to the AIR end of the gas-liquid converter through the third switch valve.

[0023] Optionally, the accumulator unit comprises a first accumulator and a second accumulator;

[0024] The first accumulator and the second accumulator are connected in parallel and connected to the second end of the seventh electromagnetic reversing valve.

[0025] Optionally, the active compensation hydraulic module further includes a fifth solenoid reversing valve and a sixth solenoid reversing valve;

[0026] The first end of the fifth electromagnetic reversing valve is connected to the oil port a of the bidirectional quantitative hydraulic pump and the first end of the first electromagnetic reversing valve respectively, and the second end of the fifth electromagnetic reversing valve is connected to the third accumulator;

[0027] The first end of the sixth electromagnetic reversing valve is respectively connected to the oil port b of the bidirectional quantitative hydraulic pump and the first end of the second electromagnetic reversing valve, and the second end of the sixth electromagnetic reversing valve is connected to the third accumulator;

[0028] The fifth solenoid reversing valve and the sixth solenoid reversing valve both have dual circuits, the first circuits of the fifth solenoid reversing valve and the sixth solenoid reversing valve are both bidirectional circuits, the second circuits of the fifth solenoid reversing valve and the sixth solenoid reversing valve are unidirectional circuits, the second circuit of the fifth solenoid reversing valve is the oil flowing from the second end of the fifth solenoid reversing valve to the first end of the fifth solenoid reversing valve, and the second circuit of the sixth solenoid reversing valve is the oil flowing from the second end of the sixth solenoid reversing valve to the first end of the sixth solenoid reversing valve.

[0029] Optionally, the active compensation hydraulic module further includes a first relief valve and a second relief valve;

[0030] The oil inlet of the first overflow valve is connected to the oil port a of the bidirectional quantitative hydraulic pump and the first end of the first electromagnetic reversing valve respectively, and the oil outlet of the first overflow valve is connected to the third accumulator;

[0031] The oil inlet of the second overflow valve is connected to the oil port b of the bidirectional quantitative hydraulic pump and the first end of the second electromagnetic reversing valve respectively, and the oil outlet of the second overflow valve is connected to the third accumulator.

[0032] Optionally, the seventh solenoid reversing valve, the fifth solenoid reversing valve and the sixth solenoid reversing valve are all pilot-operated two-position two-way solenoid reversing valves.

[0033] The present invention also provides a control method for a pump-controlled semi-active ship heave compensation hydraulic system. The control method is applied to the above-mentioned pump-controlled semi-active ship heave compensation hydraulic system. The control method includes:

[0034] S1, the controller obtains the sea state level according to the wave signal, and judges the sea state level and the motion state. When the sea state level is less than or equal to the set level and the motion state is sinking, S2 is executed; when the sea state level is less than or equal to the set level and the motion state is rising, S3 is executed; when the sea state level is greater than the set level and the motion state is sinking, S4 is executed; when the sea state level is greater than the set level and the motion state is rising, S5 is executed;

[0035] S2, the controller controls the switch valve unit to be connected, the seventh solenoid reversing valve to be in the first circuit, the fourth solenoid reversing valve to be in the first circuit, the first solenoid reversing valve to be in the first circuit, the second solenoid reversing valve to be in the first circuit and the third solenoid reversing valve to be in the second circuit;

[0036] The oil in the accumulator unit enters the rod chamber of the passive compensation asymmetric hydraulic cylinder from the C port of the passive compensation asymmetric hydraulic cylinder through the seventh electromagnetic reversing valve, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder to contract. The contraction of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder drives the oil in the rodless chamber of the passive compensation asymmetric hydraulic cylinder to flow out from the D port of the passive compensation asymmetric hydraulic cylinder, and enters the OIL end of the gas-liquid converter through the fourth electromagnetic reversing valve, driving the reversing plate in the gas-liquid converter to move toward the AIR end. The nitrogen in the AIR end of the gas-liquid converter is filled into the nitrogen bottle unit through the switch valve unit;

[0037] The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to the displacement and force. The bidirectional quantitative hydraulic pump sequentially passes the oil from the b oil port through the a oil port and the first electromagnetic reversing valve from the A port of the active compensating asymmetric hydraulic cylinder into the rodless chamber of the active compensating asymmetric hydraulic cylinder, driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder to extend; the oil in the rod chamber of the active compensating asymmetric hydraulic cylinder flows out from the B port of the active compensating asymmetric hydraulic cylinder, flows to the b oil port of the bidirectional quantitative hydraulic pump through the second electromagnetic reversing valve, at this time, the flow direction of the first hydraulically controlled one-way valve is from the first end of the first hydraulically controlled one-way valve to the second end of the first hydraulically controlled one-way valve, the flow direction of the second hydraulically controlled one-way valve is from the second end of the second hydraulically controlled one-way valve to the first end of the second hydraulically controlled one-way valve, and the oil in the third accumulator flows to the b oil port of the bidirectional quantitative hydraulic pump through the second one-way valve and the second hydraulically controlled one-way valve respectively;

[0038] S3, the controller controls the switch valve unit to be connected, the seventh solenoid reversing valve is in the second circuit, the fourth solenoid reversing valve is in the first circuit, the first solenoid reversing valve is in the first circuit, the second solenoid reversing valve is in the first circuit and the third solenoid reversing valve is in the second circuit;

[0039] The nitrogen in the nitrogen bottle unit enters the AIR end of the gas-liquid converter through the switch valve unit, driving the reversing plate in the gas-liquid converter to move toward the OIL end, and the oil at the OIL end of the gas-liquid converter enters the rodless chamber of the passive compensation asymmetric hydraulic cylinder from the D port of the passive compensation asymmetric hydraulic cylinder through the fourth electromagnetic reversing valve, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder to extend, and the extension of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder drives the oil in the rod chamber of the passive compensation asymmetric hydraulic cylinder to flow out from the C port of the passive compensation asymmetric hydraulic cylinder through the seventh electromagnetic reversing valve into the accumulator unit;

[0040] The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to the displacement and force. The bidirectional quantitative hydraulic pump sequentially directs the oil from the a oil port through the b oil port and the second electromagnetic reversing valve from the B port of the active compensating asymmetric hydraulic cylinder into the rod chamber of the active compensating asymmetric hydraulic cylinder, thereby driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder to contract; the oil in the rodless chamber of the active compensating asymmetric hydraulic cylinder flows out from the A port of the active compensating asymmetric hydraulic cylinder, passes through the first electromagnetic reversing valve and flows to the a oil port of the bidirectional quantitative hydraulic pump. At this time, the flow direction of the first hydraulically controlled one-way valve is from the first end of the first hydraulically controlled one-way valve to the second end of the first hydraulically controlled one-way valve, and the flow direction of the second hydraulically controlled one-way valve is from the second end of the second hydraulically controlled one-way valve to the first end of the second hydraulically controlled one-way valve. The oil in the rodless chamber of the active compensating asymmetric hydraulic cylinder sequentially passes through the first electromagnetic reversing valve, the first hydraulically controlled one-way valve, the second hydraulically controlled one-way valve and the second electromagnetic reversing valve from the B port of the active compensating asymmetric hydraulic cylinder into the rod chamber of the active compensating asymmetric hydraulic cylinder;

[0041] S4, the controller controls the switch valve unit to be connected, the seventh solenoid reversing valve to be in the first circuit, the fourth solenoid reversing valve to be in the first circuit, the first solenoid reversing valve to be in the first circuit, the second solenoid reversing valve to be in the second circuit and the third solenoid reversing valve to be in the first circuit;

[0042] The oil in the accumulator unit enters the rod chamber of the passive compensation asymmetric hydraulic cylinder from the C port of the passive compensation asymmetric hydraulic cylinder through the seventh electromagnetic reversing valve, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder to contract. The contraction of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder drives the oil in the rodless chamber of the passive compensation asymmetric hydraulic cylinder to flow out from the D port of the passive compensation asymmetric hydraulic cylinder, and enters the OIL end of the gas-liquid converter through the fourth electromagnetic reversing valve, driving the reversing plate in the gas-liquid converter to move toward the AIR end, and the nitrogen in the AIR end of the gas-liquid converter is filled into the nitrogen bottle unit;

[0043] The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to the displacement and force. The bidirectional quantitative hydraulic pump sequentially passes the oil from the b oil port through the a oil port and the first electromagnetic reversing valve from the A port of the active compensating asymmetric hydraulic cylinder into the rodless chamber of the active compensating asymmetric hydraulic cylinder, driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder to extend; the oil in the rod chamber of the active compensating asymmetric hydraulic cylinder flows out from the B port of the active compensating asymmetric hydraulic cylinder, flows to the A port of the active compensating asymmetric hydraulic cylinder through the third electromagnetic reversing valve and enters the rodless chamber of the active compensating asymmetric hydraulic cylinder. At this time, the flow direction of the first hydraulically controlled one-way valve is from the first end of the first hydraulically controlled one-way valve to the second end of the first hydraulically controlled one-way valve, and the flow direction of the second hydraulically controlled one-way valve is from the second end of the second hydraulically controlled one-way valve to the first end of the second hydraulically controlled one-way valve. The oil in the third accumulator flows to the b oil port of the bidirectional quantitative hydraulic pump through the second one-way valve and the second hydraulically controlled one-way valve respectively;

[0044] S5, the controller controls the switch valve unit to be connected, the seventh solenoid reversing valve is in the second circuit, the fourth solenoid reversing valve is in the first circuit, the first solenoid reversing valve is in the second circuit, the second solenoid reversing valve is in the first circuit and the third solenoid reversing valve is in the first circuit;

[0045] The nitrogen in the nitrogen bottle unit enters the AIR end of the gas-liquid converter through the switch valve unit, driving the reversing plate in the gas-liquid converter to move toward the OIL end, and the oil at the OIL end of the gas-liquid converter enters the rodless chamber of the passive compensation asymmetric hydraulic cylinder from the D port of the passive compensation asymmetric hydraulic cylinder through the fourth electromagnetic reversing valve, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder to extend, and the extension of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder drives the oil in the rod chamber of the passive compensation asymmetric hydraulic cylinder to flow out from the C port of the passive compensation asymmetric hydraulic cylinder through the seventh electromagnetic reversing valve into the accumulator unit;

[0046] The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to the displacement and force. The bidirectional quantitative hydraulic pump sequentially transfers the oil from the a oil port through the b oil port and the second electromagnetic reversing valve from the B port of the active compensating asymmetric hydraulic cylinder into the rod chamber of the active compensating asymmetric hydraulic cylinder, thereby driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder to contract; the oil in the rodless chamber of the active compensating asymmetric hydraulic cylinder flows out from the A port of the active compensating asymmetric hydraulic cylinder, flows to the B port of the active compensating asymmetric hydraulic cylinder through the third electromagnetic reversing valve, and enters the rod chamber of the active compensating asymmetric hydraulic cylinder. At this time, the flow direction of the first hydraulically controlled one-way valve is from the second end of the first hydraulically controlled one-way valve to the first end of the first hydraulically controlled one-way valve, and the flow direction of the second hydraulically controlled one-way valve is from the first end of the second hydraulically controlled one-way valve to the second end of the second hydraulically controlled one-way valve. The oil in the third accumulator flows to the a oil port of the bidirectional quantitative hydraulic pump through the first one-way valve and the first hydraulically controlled one-way valve respectively.

[0047] The effects of the present invention are as follows:

[0048] The pump-controlled semi-active ship heave compensation hydraulic system of the present invention combines the advantages of passive compensation and active compensation, greatly improving the compensation accuracy and efficiency; it adopts an electro-hydraulic servo pump control method, which not only has high control accuracy, but also has the advantages of high integration, strong anti-pollution ability, low equipment maintenance cost, and high efficiency and energy saving.

[0049] The pump-controlled semi-active ship heave compensation hydraulic system of the present invention has a compact structure. The position holding unit composed of the first hydraulically controlled one-way valve and the second hydraulically controlled one-way valve effectively solves the flow asymmetry problem of the asymmetric cylinder and improves the control accuracy of the system. At the same time, the protection module composed of the fifth electromagnetic reversing valve and the sixth electromagnetic reversing valve improves the stability of the system.

[0050] The pump-controlled semi-active ship heave compensation hydraulic system of the present invention adopts a gas-liquid converter and an accumulator in combination. The gas-liquid converter serves as a power module for passive compensation. During passive compensation, the gas-liquid converter converts the high pressure of gas into high pressure of liquid. The stored hydraulic energy can be released in a shorter time as an applied force. At the same time, in conjunction with the accumulator, the action of the hydraulic rod can be controlled in the most optimized manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a structural diagram of the pump-controlled semi-active ship heave compensation hydraulic system of the present invention;

[0052] Figure 2 It is a functional module diagram of the pump-controlled semi-active ship heave compensation hydraulic system of the present invention.

[0053] In the figure: 1, nitrogen bottle unit; 2, accumulator unit; 3, gas-liquid converter; 4, seventh electromagnetic reversing valve; 5, fourth electromagnetic reversing valve; 6, passive compensation asymmetric hydraulic cylinder; 7, first nitrogen bottle; 8, second nitrogen bottle; 9, third nitrogen bottle; 10, first switch valve; 11, second switch valve; 12, third switch valve; 13, first accumulator; 14, second accumulator; 15, third accumulator; 16, servo motor; 17, two-way quantitative hydraulic pump; 18, first check valve; 19, second check valve ; 20. First hydraulically controlled one-way valve; 21. Second hydraulically controlled one-way valve; 22. Actively compensated asymmetric hydraulic cylinder; 23. First solenoid reversing valve; 24. Second solenoid reversing valve; 25. Third solenoid reversing valve; 26. First pressure sensor; 27. Second pressure sensor; 28. Fifth solenoid reversing valve; 29. ​​Sixth solenoid reversing valve; 30. First overflow valve; 31. Second overflow valve; 32. Switch valve unit; 33. Controller; 34. Motion sensor; 35. Displacement sensor; 36. Force sensor. DETAILED DESCRIPTION

[0054] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0055] like Figure 1 and Figure 2 As shown, the present invention provides a pump-controlled semi-active ship heave compensation hydraulic system, which includes: an active compensation hydraulic module, a passive compensation hydraulic module, a sensor module, a controller 33 and a motion sensor 34.

[0056] The motion sensor 34 is used to obtain sea wave signals and the motion state of the ship and send them to the controller 33 .

[0057] The passive compensation hydraulic module includes a nitrogen bottle unit 1, an accumulator unit 2, a gas-liquid converter 3, a seventh electromagnetic reversing valve 4, a fourth electromagnetic reversing valve 5 and a passive compensation asymmetric hydraulic cylinder 6.

[0058] The nitrogen bottle unit 1 is connected to the AIR end of the gas-liquid converter 3 through the switch valve unit 32, the OIL end of the gas-liquid converter 3 is connected to the first end of the fourth electromagnetic reversing valve 5, the second end of the fourth electromagnetic reversing valve 5 is connected to the D port of the passive compensation asymmetric hydraulic cylinder 6, the C port of the passive compensation asymmetric hydraulic cylinder 6 is connected to the first end of the seventh electromagnetic reversing valve 4, and the second end of the seventh electromagnetic reversing valve 4 is connected to the accumulator unit 2.

[0059] Specifically, the nitrogen cylinder unit 1 includes a first nitrogen cylinder 7 , a second nitrogen cylinder 8 and a third nitrogen cylinder 9 ; the switch valve unit 32 includes a first switch valve 10 , a second switch valve 11 and a third switch valve 12 .

[0060] The first nitrogen cylinder 7 , the second nitrogen cylinder 8 and the third nitrogen cylinder 9 are connected in parallel to the AIR end of the gas-liquid converter 3 .

[0061] The first nitrogen cylinder 7 is connected to the AIR end of the gas-liquid converter 3 through the first switch valve 10, the second nitrogen cylinder 8 is connected to the AIR end of the gas-liquid converter 3 through the second switch valve 11, and the third nitrogen cylinder 9 is connected to the AIR end of the gas-liquid converter 3 through the third switch valve 12.

[0062] The energy storage unit 2 comprises a first energy storage device 13 and a second energy storage device 14 .

[0063] The first accumulator 13 and the second accumulator 14 are connected in parallel and connected to the second end of the seventh electromagnetic reversing valve 4 .

[0064] The active compensation hydraulic module includes a third accumulator 15, a servo motor 16, a bidirectional quantitative hydraulic pump 17, a first one-way valve 18, a second one-way valve 19, a first hydraulically controlled one-way valve 20, a second hydraulically controlled one-way valve 21, an active compensation asymmetric hydraulic cylinder 22, a first solenoid reversing valve 23, a second solenoid reversing valve 24 and a third solenoid reversing valve 25.

[0065] The servo motor 16 and the bidirectional quantitative hydraulic pump 17 are coaxially connected via a coupling.

[0066] The first end of the first one-way valve 18 , the first end of the first hydraulically controlled one-way valve 20 , and the first end of the first electromagnetic reversing valve 23 are all connected to the oil port a of the bidirectional quantitative hydraulic pump 17 .

[0067] The first end of the second one-way valve 19, the first end of the second hydraulically controlled one-way valve 21 and the first end of the second solenoid reversing valve 24 are all connected to the oil port b of the bidirectional quantitative hydraulic pump 17; the flow direction of the first one-way valve 18 is from the second end of the first one-way valve 18 to the first end of the first one-way valve 18, and the flow direction of the second one-way valve 19 is from the second end of the second one-way valve 19 to the first end of the second one-way valve 19.

[0068] The second end of the first one-way valve 18 , the second end of the first hydraulically controlled one-way valve 20 , the second end of the second one-way valve 19 , the second end of the second hydraulically controlled one-way valve 21 and the third accumulator 15 are connected to each other.

[0069] The first end of the first hydraulically controlled one-way valve 20 is connected to the A port of the active compensation asymmetric hydraulic cylinder 22 through the first electromagnetic reversing valve 23, and the first end of the second hydraulically controlled one-way valve 21 is connected to the B port of the active compensation asymmetric hydraulic cylinder 22 through the second electromagnetic reversing valve 24; the control oil circuit of the first hydraulically controlled one-way valve 20 is connected to the B port of the active compensation asymmetric hydraulic cylinder 22, and the control oil circuit of the second hydraulically controlled one-way valve 21 is connected to the A port of the active compensation asymmetric hydraulic cylinder 22; when the control oil circuit is not connected to the pressure oil, the pressure oil only flows from the second end to the first end and cannot flow in the reverse direction. If the pressure at the first end is greater than the pressure at the second end, the oil can flow in the reverse direction. The use of a two-way hydraulically controlled one-way valve lock circuit can solve the asymmetric flow problem of the asymmetric hydraulic cylinder, thereby ensuring the accurate position control of the hydraulic rod.

[0070] The second end of the first solenoid reversing valve 23 and the first end of the third solenoid reversing valve 25 are both connected to the A port of the active compensating asymmetric hydraulic cylinder 22, and the second end of the second solenoid reversing valve 24 and the second end of the third solenoid reversing valve 25 are both connected to the B port of the active compensating asymmetric hydraulic cylinder 22.

[0071] The sensor module includes a first pressure sensor 26 , a second pressure sensor 27 , a displacement sensor 35 , and a force sensor 36 .

[0072] The first pressure sensor 26 is arranged between the oil port a of the bidirectional quantitative hydraulic pump 17 and the A port of the active compensation asymmetric hydraulic cylinder 22, and the second pressure sensor 27 is arranged between the oil port b of the bidirectional quantitative hydraulic pump 17 and the B port of the active compensation asymmetric hydraulic cylinder 22; the displacement sensor 35 is arranged on the hydraulic rod of the active compensation asymmetric hydraulic cylinder 22, and the displacement sensor 35 is used to obtain the displacement of the hydraulic rod of the active compensation asymmetric hydraulic cylinder 22 and send it to the controller 33; the force sensor 36 is arranged at the hinge of the hydraulic rod of the active compensation asymmetric hydraulic cylinder 22 and the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6, and the force sensor 36 is used to obtain the force at the hinge and send it to the controller 33. The first pressure sensor 26 and the second pressure sensor 27 are used to monitor the pressure condition of the system in real time when it is working, prevent the system pressure from overloading, and ensure the safe operation of the system.

[0073] The first solenoid reversing valve 23, the second solenoid reversing valve 24, the third solenoid reversing valve 25, the first one-way valve 18, the second one-way valve 19, the servo motor 16, the first pressure sensor 26, the second pressure sensor 27, the fourth solenoid reversing valve 5, the seventh solenoid reversing valve 4 and the nitrogen bottle unit 1 are all connected to the controller 33.

[0074] The first solenoid reversing valve 23, the second solenoid reversing valve 24, the third solenoid reversing valve 25, the fourth solenoid reversing valve 5 and the seventh solenoid reversing valve 4 all have dual circuits. The first circuits of the first solenoid reversing valve 23, the second solenoid reversing valve 24, the third solenoid reversing valve 25, the fourth solenoid reversing valve 5 and the seventh solenoid reversing valve 4 are all bidirectional circuits. The second circuits of the first solenoid reversing valve 23, the second solenoid reversing valve 24, the third solenoid reversing valve 25 and the fourth solenoid reversing valve 5 are open circuits. The second circuit of the seventh solenoid reversing valve 4 is a one-way circuit. The second circuit of the seventh solenoid reversing valve 4 is oil flowing from the C port of the passive compensation asymmetric hydraulic cylinder 6 to the accumulator unit 2.

[0075] Preferably, the active compensation hydraulic module further includes a fifth electromagnetic reversing valve 28 and a sixth electromagnetic reversing valve 29 .

[0076] A first end of the fifth electromagnetic reversing valve 28 is connected to the oil port a of the bidirectional quantitative hydraulic pump 17 and the first end of the first electromagnetic reversing valve 23 respectively, and a second end of the fifth electromagnetic reversing valve 28 is connected to the third accumulator 15 .

[0077] The first end of the sixth electromagnetic reversing valve 29 is connected to the oil port b of the bidirectional quantitative hydraulic pump 17 and the first end of the second electromagnetic reversing valve 24 respectively, and the second end of the sixth electromagnetic reversing valve 29 is connected to the third accumulator 15. The seventh electromagnetic reversing valve 4, the fifth electromagnetic reversing valve 28 and the sixth electromagnetic reversing valve 29 are all pilot-operated two-position two-way electromagnetic reversing valves.

[0078] The fifth solenoid reversing valve 28 and the sixth solenoid reversing valve 29 both have dual circuits, the first circuits of the fifth solenoid reversing valve 28 and the sixth solenoid reversing valve 29 are both bidirectional circuits, the second circuits of the fifth solenoid reversing valve 28 and the sixth solenoid reversing valve 29 are unidirectional circuits, the second circuit of the fifth solenoid reversing valve 28 is the oil flowing from the second end of the fifth solenoid reversing valve 28 to the first end of the fifth solenoid reversing valve 28, and the second circuit of the sixth solenoid reversing valve 29 is the oil flowing from the second end of the sixth solenoid reversing valve 29 to the first end of the sixth solenoid reversing valve 29.

[0079] Because of the influence of the waves, the ship will rise and fall with the waves, which is a very high frequency process and has a certain impact on the life of the valve, so the fifth electromagnetic reversing valve 28 and the sixth electromagnetic reversing valve 29 are added as backup oil circuits.

[0080] Furthermore, the active compensation hydraulic module further includes a first relief valve 30 and a second relief valve 31 .

[0081] The oil inlet of the first overflow valve 30 is connected to the oil port a of the bidirectional quantitative hydraulic pump 17 and the first end of the first electromagnetic reversing valve 23 respectively, and the oil outlet of the first overflow valve 30 is connected to the third accumulator 15 .

[0082] The oil inlet of the second relief valve 31 is connected to the oil port b of the two-way quantitative hydraulic pump 17 and the first end of the second electromagnetic reversing valve 24, respectively, and the oil outlet of the second relief valve 31 is connected to the third accumulator 15. The first relief valve 30 and the second relief valve 31 can prevent pressure overload and protect the system. When unloading is required, the first relief valve 30 and the second relief valve 31 are opened to overflow the oil back to the third accumulator 15, so that the system pressure is maintained within a safe range, ensuring that the system pressure is not overloaded and the system operates safely.

[0083] The present invention also provides a control method for a pump-controlled semi-active ship heave compensation hydraulic system, which is applied to the above-mentioned pump-controlled semi-active ship heave compensation hydraulic system. The control method includes:

[0084] S1, the controller 33 obtains the sea condition level according to the wave signal, and judges the sea condition level and the motion state. When the sea condition level is less than or equal to the set level and the motion state is sinking, execute S2; when the sea condition level is less than or equal to the set level and the motion state is rising, execute S3; when the sea condition level is greater than the set level and the motion state is sinking, execute S4; when the sea condition level is greater than the set level and the motion state is rising, execute S5.

[0085] S2, the controller 33 controls the switch valve unit 32 to be connected, the seventh solenoid reversing valve 4 is in the first circuit, the fourth solenoid reversing valve 5 is in the first circuit, the first solenoid reversing valve 23 is in the first circuit, the fifth solenoid reversing valve 28 is in the second circuit, the sixth solenoid reversing valve 29 is in the second circuit, the second solenoid reversing valve 24 is in the first circuit and the third solenoid reversing valve 25 is in the second circuit.

[0086] The oil in the accumulator unit 2 enters the rod chamber of the passive compensation asymmetric hydraulic cylinder 6 from the C port of the passive compensation asymmetric hydraulic cylinder 6 through the seventh electromagnetic reversing valve 4, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6 to contract. The contraction of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6 drives the oil in the rodless chamber of the passive compensation asymmetric hydraulic cylinder 6 to flow out from the D port of the passive compensation asymmetric hydraulic cylinder 6, and enters the OIL end of the gas-liquid converter 3 through the fourth electromagnetic reversing valve 5, driving the reversing plate in the gas-liquid converter 3 to move toward the AIR end, and the nitrogen in the AIR end of the gas-liquid converter 3 is filled into the nitrogen bottle unit 1 through the switch valve unit 32.

[0087] The controller 33 controls the servo motor 16 to drive the bidirectional quantitative hydraulic pump 17 according to the displacement and force. The bidirectional quantitative hydraulic pump 17 sequentially transfers the oil from the oil port b through the oil port a and the first electromagnetic reversing valve 23 from the A port of the active compensating asymmetric hydraulic cylinder 22 into the rodless cavity of the active compensating asymmetric hydraulic cylinder 22, thereby driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder 22 to extend; the oil in the rod cavity of the active compensating asymmetric hydraulic cylinder 22 flows out from the B port of the active compensating asymmetric hydraulic cylinder 22, and passes through the The oil in the third accumulator 15 flows to the oil port b of the bidirectional quantitative hydraulic pump 17 through the second electromagnetic reversing valve 24. At this time, the flow direction of the first hydraulically controlled one-way valve 20 is from the first end of the first hydraulically controlled one-way valve 20 to the second end of the first hydraulically controlled one-way valve 20, and the flow direction of the second hydraulically controlled one-way valve 21 is from the second end of the second hydraulically controlled one-way valve 21 to the first end of the second hydraulically controlled one-way valve 21. The oil in the third accumulator 15 flows to the oil port b of the bidirectional quantitative hydraulic pump 17 through the second one-way valve 19 and the second hydraulically controlled one-way valve 21 respectively. The controller 33 controls the servo motor 16 based on closed-loop control, and adjusts the speed and torque of the servo motor 16 through the feedback displacement and force signals. For example, a PID controller is used to adjust the speed and torque of the servo motor to achieve precise control.

[0088] S3, the controller 33 controls the switch valve unit 32 to be connected, the seventh solenoid reversing valve 4 is in the second circuit, the fourth solenoid reversing valve 5 is in the first circuit, the first solenoid reversing valve 23 is in the first circuit, the fifth solenoid reversing valve 28 is in the second circuit, the sixth solenoid reversing valve 29 is in the second circuit, the second solenoid reversing valve 24 is in the first circuit and the third solenoid reversing valve 25 is in the second circuit.

[0089] The nitrogen in the nitrogen bottle unit 1 enters the AIR end of the gas-liquid converter 3 through the switch valve unit 32, driving the reversing plate in the gas-liquid converter 3 to move toward the OIL end, and the oil at the OIL end of the gas-liquid converter 3 enters the rodless chamber of the passive compensation asymmetric hydraulic cylinder 6 from the D port of the passive compensation asymmetric hydraulic cylinder 6 through the fourth electromagnetic reversing valve 5, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6 to extend, and the extension of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6 drives the oil in the rod chamber of the passive compensation asymmetric hydraulic cylinder 6 to flow out from the C port of the passive compensation asymmetric hydraulic cylinder 6 through the seventh electromagnetic reversing valve 4 into the accumulator unit 2.

[0090] The controller 33 controls the servo motor 16 to drive the bidirectional quantitative hydraulic pump 17 according to the displacement and force. The bidirectional quantitative hydraulic pump 17 sequentially transfers the oil from the a oil port through the b oil port and the second electromagnetic reversing valve 24 from the B port of the active compensating asymmetric hydraulic cylinder 22 into the rod chamber of the active compensating asymmetric hydraulic cylinder 22, thereby driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder 22 to contract; the oil in the rodless chamber of the active compensating asymmetric hydraulic cylinder 22 flows out from the A port of the active compensating asymmetric hydraulic cylinder 22, flows through the first electromagnetic reversing valve 23 to the a oil port of the bidirectional quantitative hydraulic pump 17, and at this time, the first hydraulic control The flow direction of the one-way valve 20 is from the first end of the first hydraulically controlled one-way valve 20 to the second end of the first hydraulically controlled one-way valve 20, and the flow direction of the second hydraulically controlled one-way valve 21 is from the second end of the second hydraulically controlled one-way valve 21 to the first end of the second hydraulically controlled one-way valve 21. The oil in the rodless chamber of the active compensating asymmetric hydraulic cylinder 22 flows from the A port of the active compensating asymmetric hydraulic cylinder 22 through the first solenoid reversing valve 23, the first hydraulically controlled one-way valve 20, the second hydraulically controlled one-way valve 21 and the second solenoid reversing valve 24 in sequence, and enters the rod chamber of the active compensating asymmetric hydraulic cylinder 22 from the B port of the active compensating asymmetric hydraulic cylinder 22.

[0091] S4, the controller 33 controls the switch valve unit 32 to be connected, the seventh solenoid reversing valve 4 is in the first circuit, the fourth solenoid reversing valve 5 is in the first circuit, the first solenoid reversing valve 23 is in the first circuit, the fifth solenoid reversing valve 28 is in the second circuit, the sixth solenoid reversing valve 29 is in the second circuit, the second solenoid reversing valve 24 is in the second circuit and the third solenoid reversing valve 25 is in the first circuit.

[0092] The oil in the accumulator unit 2 enters the rod chamber of the passive compensation asymmetric hydraulic cylinder 6 from the C port of the passive compensation asymmetric hydraulic cylinder 6 through the seventh electromagnetic reversing valve 4, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6 to contract. The contraction of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6 drives the oil in the rodless chamber of the passive compensation asymmetric hydraulic cylinder 6 to flow out from the D port of the passive compensation asymmetric hydraulic cylinder 6, and enters the OIL end of the gas-liquid converter 3 through the fourth electromagnetic reversing valve 5, driving the reversing plate in the gas-liquid converter 3 to move toward the AIR end, and the nitrogen in the AIR end of the gas-liquid converter 3 is filled into the nitrogen bottle unit 1.

[0093] The controller 33 controls the servo motor 16 to drive the bidirectional quantitative hydraulic pump 17 according to the displacement and force. The bidirectional quantitative hydraulic pump 17 sequentially transfers the oil from the oil port b through the oil port a and the first electromagnetic reversing valve 23 from the A port of the active compensating asymmetric hydraulic cylinder into the rodless chamber of the active compensating asymmetric hydraulic cylinder, driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder 22 to extend; the oil in the rod chamber of the active compensating asymmetric hydraulic cylinder 22 flows out from the B port of the active compensating asymmetric hydraulic cylinder 22, flows to the third electromagnetic reversing valve 25, and then flows to the The A port of the active compensating asymmetric hydraulic cylinder 22 enters the rodless chamber of the active compensating asymmetric hydraulic cylinder 22. At this time, the flow direction of the first hydraulically controlled one-way valve 20 is from the first end of the first hydraulically controlled one-way valve 20 to the second end of the first hydraulically controlled one-way valve 20, and the flow direction of the second hydraulically controlled one-way valve 21 is from the second end of the second hydraulically controlled one-way valve 21 to the first end of the second hydraulically controlled one-way valve 21. The oil in the third accumulator 15 flows to the b oil port of the bidirectional quantitative hydraulic pump 17 through the second one-way valve 19 and the second hydraulically controlled one-way valve 21 respectively.

[0094] S5, the controller 33 controls the switch valve unit 32 to be connected, the seventh solenoid reversing valve 4 is in the second circuit, the fourth solenoid reversing valve 5 is in the first circuit, the first solenoid reversing valve 23 is in the second circuit, the fifth solenoid reversing valve 28 is in the second circuit, the sixth solenoid reversing valve 29 is in the second circuit, the second solenoid reversing valve 24 is in the first circuit and the third solenoid reversing valve 25 is in the first circuit.

[0095] The nitrogen in the nitrogen bottle unit enters the AIR end of the gas-liquid converter through the switch valve unit, driving the reversing plate in the gas-liquid converter to move toward the OIL end, and the oil at the OIL end of the gas-liquid converter enters the rodless chamber of the passive compensation asymmetric hydraulic cylinder 6 from the D port of the passive compensation asymmetric hydraulic cylinder 6 through the fourth electromagnetic reversing valve, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6 to extend. The extension of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6 drives the oil in the rod chamber of the passive compensation asymmetric hydraulic cylinder 6 to flow out from the C port of the passive compensation asymmetric hydraulic cylinder 6 through the seventh electromagnetic reversing valve 4 into the accumulator unit 2.

[0096] The controller 33 controls the servo motor 16 to drive the bidirectional quantitative hydraulic pump 17 according to the displacement and force. The bidirectional quantitative hydraulic pump 17 sequentially transfers the oil from the oil port a through the oil port b and the second electromagnetic reversing valve 24 from the B port of the active compensating asymmetric hydraulic cylinder 22 into the rod chamber of the active compensating asymmetric hydraulic cylinder 22, thereby driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder 22 to contract; the oil in the rodless chamber of the active compensating asymmetric hydraulic cylinder 22 flows out from the A port of the active compensating asymmetric hydraulic cylinder 22, passes through the third electromagnetic reversing valve 25 It flows to the B port of the active compensating asymmetric hydraulic cylinder 22 and enters the rod chamber of the active compensating asymmetric hydraulic cylinder 22. At this time, the flow direction of the first hydraulically controlled one-way valve 20 is from the second end of the first hydraulically controlled one-way valve 20 to the first end of the first hydraulically controlled one-way valve 20, and the flow direction of the second hydraulically controlled one-way valve 21 is from the first end of the second hydraulically controlled one-way valve 21 to the second end of the second hydraulically controlled one-way valve 21. The oil in the third accumulator 15 flows to the a oil port of the bidirectional quantitative hydraulic pump 17 through the first one-way valve 18 and the first hydraulically controlled one-way valve 20 respectively.

[0097] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A pump-controlled semi-active ship heave compensation hydraulic system, characterized in that: It includes: Active compensation hydraulic modules, passive compensation hydraulic modules, sensor modules, controllers and motion sensors; The motion sensor is used to obtain the wave signal and the motion status of the ship and send them to the controller; The passive compensation hydraulic module includes a nitrogen bottle unit, an accumulator unit, a gas-liquid converter, a seventh solenoid reversing valve, a fourth solenoid reversing valve and a passive compensation asymmetric hydraulic cylinder; The nitrogen bottle unit is connected to the AIR end of the gas-liquid converter through the switch valve unit, the OIL end of the gas-liquid converter is connected to the first end of the fourth electromagnetic reversing valve, the second end of the fourth electromagnetic reversing valve is connected to the D port of the passive compensation asymmetric hydraulic cylinder, the C port of the passive compensation asymmetric hydraulic cylinder is connected to the first end of the seventh electromagnetic reversing valve, and the second end of the seventh electromagnetic reversing valve is connected to the accumulator unit; The active compensation hydraulic module includes a third accumulator, a servo motor, a bidirectional quantitative hydraulic pump, a first one-way valve, a second one-way valve, a first hydraulically controlled one-way valve, a second hydraulically controlled one-way valve, an active compensation asymmetric hydraulic cylinder, a first electromagnetic reversing valve, a second electromagnetic reversing valve and a third electromagnetic reversing valve; The servo motor and the bidirectional quantitative hydraulic pump are coaxially connected through a coupling; The first end of the first one-way valve, the first end of the first hydraulically controlled one-way valve and the first end of the first electromagnetic reversing valve are all connected to the oil port a of the bidirectional quantitative hydraulic pump; The first end of the second one-way valve, the first end of the second hydraulically controlled one-way valve, and the first end of the second solenoid reversing valve are all connected to the oil port b of the two-way quantitative hydraulic pump; the flow direction of the first one-way valve is from the second end of the first one-way valve to the first end of the first one-way valve, and the flow direction of the second one-way valve is from the second end of the second one-way valve to the first end of the second one-way valve; The second end of the first one-way valve, the second end of the first hydraulically controlled one-way valve, the second end of the second one-way valve, the second end of the second hydraulically controlled one-way valve and the third accumulator are connected to each other; The second end of the first electromagnetic reversing valve and the first end of the third electromagnetic reversing valve are both connected to the A port of the active compensation asymmetric hydraulic cylinder, and the second end of the second electromagnetic reversing valve and the second end of the third electromagnetic reversing valve are both connected to the B port of the active compensation asymmetric hydraulic cylinder; The sensor module includes a first pressure sensor, a second pressure sensor, a displacement sensor and a force sensor; The first pressure sensor is arranged between the oil port a of the bidirectional quantitative hydraulic pump and the A port of the active compensation asymmetric hydraulic cylinder, and the second pressure sensor is arranged between the oil port b of the bidirectional quantitative hydraulic pump and the B port of the active compensation asymmetric hydraulic cylinder; the displacement sensor is arranged on the hydraulic rod of the active compensation asymmetric hydraulic cylinder, and the displacement sensor is used to obtain the displacement of the hydraulic rod of the active compensation asymmetric hydraulic cylinder and send it to the controller; the force sensor is arranged at the hinge of the hydraulic rod of the active compensation asymmetric hydraulic cylinder and the hydraulic rod of the passive compensation asymmetric hydraulic cylinder, and the force sensor is used to obtain the force at the hinge and send it to the controller; The first solenoid reversing valve, the second solenoid reversing valve, the third solenoid reversing valve, the first check valve, the second check valve, the servo motor, the first pressure sensor, the second pressure sensor, the fourth solenoid reversing valve, the seventh solenoid reversing valve and the nitrogen bottle unit are all connected to the controller; The first solenoid reversing valve, the second solenoid reversing valve, the third solenoid reversing valve, the fourth solenoid reversing valve and the seventh solenoid reversing valve all have dual circuits. The first circuits of the first solenoid reversing valve, the second solenoid reversing valve, the third solenoid reversing valve, the fourth solenoid reversing valve and the seventh solenoid reversing valve are all bidirectional passages. The second circuits of the first solenoid reversing valve, the second solenoid reversing valve, the third solenoid reversing valve and the fourth solenoid reversing valve are open circuits. The second circuit of the seventh solenoid reversing valve is a one-way passage. The second circuit of the seventh solenoid reversing valve is the oil flowing from the C port of the passive compensation asymmetric hydraulic cylinder to the accumulator unit.

2. The pump-controlled semi-active ship heave compensation hydraulic system according to claim 1, characterized in that: The nitrogen cylinder unit includes a first nitrogen cylinder, a second nitrogen cylinder and a third nitrogen cylinder; the switch valve unit includes a first switch valve, a second switch valve and a third switch valve; The first nitrogen bottle, the second nitrogen bottle and the third nitrogen bottle are connected in parallel to the AIR end of the gas-liquid converter; The first nitrogen cylinder is connected to the AIR end of the gas-liquid converter through the first switch valve, the second nitrogen cylinder is connected to the AIR end of the gas-liquid converter through the second switch valve, and the third nitrogen cylinder is connected to the AIR end of the gas-liquid converter through the third switch valve.

3. The pump-controlled semi-active ship heave compensation hydraulic system according to claim 1, characterized in that: The accumulator unit includes a first accumulator and a second accumulator; The first accumulator and the second accumulator are connected in parallel and connected to the second end of the seventh electromagnetic reversing valve.

4. The pump-controlled semi-active ship heave compensation hydraulic system according to claim 1, characterized in that: The active compensation hydraulic module also includes a fifth solenoid reversing valve and a sixth solenoid reversing valve; The first end of the fifth electromagnetic reversing valve is connected to the oil port a of the bidirectional quantitative hydraulic pump and the first end of the first electromagnetic reversing valve respectively, and the second end of the fifth electromagnetic reversing valve is connected to the third accumulator; The first end of the sixth electromagnetic reversing valve is respectively connected to the oil port b of the bidirectional quantitative hydraulic pump and the first end of the second electromagnetic reversing valve, and the second end of the sixth electromagnetic reversing valve is connected to the third accumulator; The fifth solenoid reversing valve and the sixth solenoid reversing valve both have dual circuits, the first circuits of the fifth solenoid reversing valve and the sixth solenoid reversing valve are both bidirectional circuits, the second circuits of the fifth solenoid reversing valve and the sixth solenoid reversing valve are unidirectional circuits, the second circuit of the fifth solenoid reversing valve is the oil flowing from the second end of the fifth solenoid reversing valve to the first end of the fifth solenoid reversing valve, and the second circuit of the sixth solenoid reversing valve is the oil flowing from the second end of the sixth solenoid reversing valve to the first end of the sixth solenoid reversing valve.

5. The pump-controlled semi-active ship heave compensation hydraulic system according to claim 1, characterized in that: The active compensation hydraulic module also includes a first relief valve and a second relief valve; The oil inlet of the first overflow valve is connected to the oil port a of the bidirectional quantitative hydraulic pump and the first end of the first electromagnetic reversing valve respectively, and the oil outlet of the first overflow valve is connected to the third accumulator; The oil inlet of the second overflow valve is connected to the oil port b of the bidirectional quantitative hydraulic pump and the first end of the second electromagnetic reversing valve respectively, and the oil outlet of the second overflow valve is connected to the third accumulator.

6. The pump-controlled semi-active ship heave compensation hydraulic system according to claim 4, characterized in that: The seventh solenoid reversing valve, the fifth solenoid reversing valve and the sixth solenoid reversing valve are all pilot-operated two-position two-way solenoid reversing valves.

7. A control method for a pump-controlled semi-active ship heave compensation hydraulic system, the control method being applied to the pump-controlled semi-active ship heave compensation hydraulic system according to any one of claims 1 to 6, characterized in that: Control methods include: S1, the controller obtains the sea state level according to the wave signal, and judges the sea state level and the motion state. When the sea state level is less than or equal to the set level and the motion state is sinking, S2 is executed; when the sea state level is less than or equal to the set level and the motion state is rising, S3 is executed; when the sea state level is greater than the set level and the motion state is sinking, S4 is executed; when the sea state level is greater than the set level and the motion state is rising, S5 is executed; S2, the controller controls the switch valve unit to be connected, the seventh solenoid reversing valve to be in the first circuit, the fourth solenoid reversing valve to be in the first circuit, the first solenoid reversing valve to be in the first circuit, the second solenoid reversing valve to be in the first circuit and the third solenoid reversing valve to be in the second circuit; The oil in the accumulator unit enters the rod chamber of the passive compensation asymmetric hydraulic cylinder from the C port of the passive compensation asymmetric hydraulic cylinder through the seventh electromagnetic reversing valve, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder to contract. The contraction of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder drives the oil in the rodless chamber of the passive compensation asymmetric hydraulic cylinder to flow out from the D port of the passive compensation asymmetric hydraulic cylinder, and enters the OIL end of the gas-liquid converter through the fourth electromagnetic reversing valve, driving the reversing plate in the gas-liquid converter to move toward the AIR end. The nitrogen in the AIR end of the gas-liquid converter is filled into the nitrogen bottle unit through the switch valve unit; The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to the displacement and force. The bidirectional quantitative hydraulic pump sequentially passes the oil from the b oil port through the a oil port and the first electromagnetic reversing valve from the A port of the active compensating asymmetric hydraulic cylinder into the rodless chamber of the active compensating asymmetric hydraulic cylinder, driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder to extend; the oil in the rod chamber of the active compensating asymmetric hydraulic cylinder flows out from the B port of the active compensating asymmetric hydraulic cylinder, flows to the b oil port of the bidirectional quantitative hydraulic pump through the second electromagnetic reversing valve, at this time, the flow direction of the first hydraulically controlled one-way valve is from the first end of the first hydraulically controlled one-way valve to the second end of the first hydraulically controlled one-way valve, the flow direction of the second hydraulically controlled one-way valve is from the second end of the second hydraulically controlled one-way valve to the first end of the second hydraulically controlled one-way valve, and the oil in the third accumulator flows to the b oil port of the bidirectional quantitative hydraulic pump through the second one-way valve and the second hydraulically controlled one-way valve respectively; S3, the controller controls the switch valve unit to be connected, the seventh solenoid reversing valve is in the second circuit, the fourth solenoid reversing valve is in the first circuit, the first solenoid reversing valve is in the first circuit, the second solenoid reversing valve is in the first circuit and the third solenoid reversing valve is in the second circuit; The nitrogen in the nitrogen bottle unit enters the AIR end of the gas-liquid converter through the switch valve unit, driving the reversing plate in the gas-liquid converter to move toward the OIL end, and the oil at the OIL end of the gas-liquid converter enters the rodless chamber of the passive compensation asymmetric hydraulic cylinder from the D port of the passive compensation asymmetric hydraulic cylinder through the fourth electromagnetic reversing valve, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder to extend, and the extension of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder drives the oil in the rod chamber of the passive compensation asymmetric hydraulic cylinder to flow out from the C port of the passive compensation asymmetric hydraulic cylinder through the seventh electromagnetic reversing valve into the accumulator unit; The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to the displacement and force. The bidirectional quantitative hydraulic pump sequentially directs the oil from the a oil port through the b oil port and the second electromagnetic reversing valve from the B port of the active compensating asymmetric hydraulic cylinder into the rod chamber of the active compensating asymmetric hydraulic cylinder, thereby driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder to contract; the oil in the rodless chamber of the active compensating asymmetric hydraulic cylinder flows out from the A port of the active compensating asymmetric hydraulic cylinder, passes through the first electromagnetic reversing valve and flows to the a oil port of the bidirectional quantitative hydraulic pump. At this time, the flow direction of the first hydraulically controlled one-way valve is from the first end of the first hydraulically controlled one-way valve to the second end of the first hydraulically controlled one-way valve, and the flow direction of the second hydraulically controlled one-way valve is from the second end of the second hydraulically controlled one-way valve to the first end of the second hydraulically controlled one-way valve. The oil in the rodless chamber of the active compensating asymmetric hydraulic cylinder sequentially passes through the first electromagnetic reversing valve, the first hydraulically controlled one-way valve, the second hydraulically controlled one-way valve and the second electromagnetic reversing valve from the B port of the active compensating asymmetric hydraulic cylinder into the rod chamber of the active compensating asymmetric hydraulic cylinder; S4, the controller controls the switch valve unit to be connected, the seventh solenoid reversing valve to be in the first circuit, the fourth solenoid reversing valve to be in the first circuit, the first solenoid reversing valve to be in the first circuit, the second solenoid reversing valve to be in the second circuit and the third solenoid reversing valve to be in the first circuit; The oil in the accumulator unit enters the rod chamber of the passive compensation asymmetric hydraulic cylinder from the C port of the passive compensation asymmetric hydraulic cylinder through the seventh electromagnetic reversing valve, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder to contract. The contraction of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder drives the oil in the rodless chamber of the passive compensation asymmetric hydraulic cylinder to flow out from the D port of the passive compensation asymmetric hydraulic cylinder, and enters the OIL end of the gas-liquid converter through the fourth electromagnetic reversing valve, driving the reversing plate in the gas-liquid converter to move toward the AIR end, and the nitrogen in the AIR end of the gas-liquid converter is filled into the nitrogen bottle unit; The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to the displacement and force. The bidirectional quantitative hydraulic pump sequentially passes the oil from the b oil port through the a oil port and the first electromagnetic reversing valve from the A port of the active compensating asymmetric hydraulic cylinder into the rodless chamber of the active compensating asymmetric hydraulic cylinder, driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder to extend; the oil in the rod chamber of the active compensating asymmetric hydraulic cylinder flows out from the B port of the active compensating asymmetric hydraulic cylinder, flows to the A port of the active compensating asymmetric hydraulic cylinder through the third electromagnetic reversing valve and enters the rodless chamber of the active compensating asymmetric hydraulic cylinder. At this time, the flow direction of the first hydraulically controlled one-way valve is from the first end of the first hydraulically controlled one-way valve to the second end of the first hydraulically controlled one-way valve, and the flow direction of the second hydraulically controlled one-way valve is from the second end of the second hydraulically controlled one-way valve to the first end of the second hydraulically controlled one-way valve. The oil in the third accumulator flows to the b oil port of the bidirectional quantitative hydraulic pump through the second one-way valve and the second hydraulically controlled one-way valve respectively; S5, the controller controls the switch valve unit to be connected, the seventh solenoid reversing valve is in the second circuit, the fourth solenoid reversing valve is in the first circuit, the first solenoid reversing valve is in the second circuit, the second solenoid reversing valve is in the first circuit and the third solenoid reversing valve is in the first circuit; The nitrogen in the nitrogen bottle unit enters the AIR end of the gas-liquid converter through the switch valve unit, driving the reversing plate in the gas-liquid converter to move toward the OIL end, and the oil at the OIL end of the gas-liquid converter enters the rodless chamber of the passive compensation asymmetric hydraulic cylinder from the D port of the passive compensation asymmetric hydraulic cylinder through the fourth electromagnetic reversing valve, pushing the hydraulic rod of the passive compensation asymmetric hydraulic cylinder to extend, and the extension of the hydraulic rod of the passive compensation asymmetric hydraulic cylinder drives the oil in the rod chamber of the passive compensation asymmetric hydraulic cylinder to flow out from the C port of the passive compensation asymmetric hydraulic cylinder through the seventh electromagnetic reversing valve into the accumulator unit; The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to the displacement and force. The bidirectional quantitative hydraulic pump sequentially transfers the oil from the a oil port through the b oil port and the second electromagnetic reversing valve from the B port of the active compensating asymmetric hydraulic cylinder into the rod chamber of the active compensating asymmetric hydraulic cylinder, thereby driving the hydraulic rod of the active compensating asymmetric hydraulic cylinder to contract; the oil in the rodless chamber of the active compensating asymmetric hydraulic cylinder flows out from the A port of the active compensating asymmetric hydraulic cylinder, flows to the B port of the active compensating asymmetric hydraulic cylinder through the third electromagnetic reversing valve, and enters the rod chamber of the active compensating asymmetric hydraulic cylinder. At this time, the flow direction of the first hydraulically controlled one-way valve is from the second end of the first hydraulically controlled one-way valve to the first end of the first hydraulically controlled one-way valve, and the flow direction of the second hydraulically controlled one-way valve is from the first end of the second hydraulically controlled one-way valve to the second end of the second hydraulically controlled one-way valve. The oil in the third accumulator flows to the a oil port of the bidirectional quantitative hydraulic pump through the first one-way valve and the first hydraulically controlled one-way valve respectively.

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