A linear heave compensation device based on a compound cylinder

Abstract

The application designs a linear heave compensation device based on a composite cylinder, belongs to the technical field of ocean engineering equipment, adopts a double composite cylinder structure heave compensation scheme containing a heave compensation execution cylinder and an integrated control cylinder, has multiple function cavities; a working gas bottle group is communicated with a rod cavity of the heave compensation execution cylinder through a gas-liquid converter to provide passive compensation force for the heave compensation execution cylinder; a control mode directly driven by a bidirectional variable pump is used to alternately supply oil to the two composite cylinder cavities to provide active compensation force for the heave compensation execution cylinder; for the underwater high-pressure environment, deep water pressure simultaneously acts on the integrated control cylinder piston rod and the heave compensation execution cylinder piston rod, and water depth compensation function is realized through double-cylinder internal pressure offset. The application realizes multiple functions such as passive compensation, active compensation and water depth compensation, can continuously complete multiple working condition operations such as water, wave splash area and landing, uses a bidirectional variable pump to directly drive the compensation execution cylinder to improve response speed and control precision, and has the characteristics of low energy consumption, compact structure, multi-function integration and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of linear heave compensation device based on composite cylinder, belong to the technical field of offshore engineering equipment. BACKGROUND

[0002] When offshore engineering equipment is working, it will be affected by wind, wave, current and other natural factors, causing six degrees of freedom motion. Among them, the heave, roll and pitch motion forms can cause the load to move in the vertical direction, which may cause unexpected collision between the load and the platform, or the landed load resuspended. These sudden situations, light equipment damage, steel cable breakage, heavy may cause safety accidents, endanger personnel safety. To ensure the smooth progress of offshore operation, and expand the sea state range of operation, offshore engineering equipment must be equipped with heave compensation system.

[0003] Heave compensation system can be divided into fixed and mobile according to installation mode; according to working principle, it can be divided into winch rotary type and oil cylinder linear type; according to power supply mode, it can be divided into passive compensation type, active compensation type and active and passive combination compensation type. The actuator of linear compensation system is hydraulic cylinder, compared with winch and other equipment with large rotational inertia, its system response is more rapid, and the control precision is also higher. However, most of the current linear compensation systems are limited to fixed installation on the ship, and do not have the ability to work underwater or move, and cannot compensate for the external water pressure in deep water high pressure environment, while facing the problem of continuous work in different working conditions such as water and underwater compensation, splash zone compensation. Part of the compensation system with underwater operation capability mostly only has simple passive compensation function, while a few systems with active compensation function have problems such as complex structure and large volume.

[0004] In the existing active compensation scheme, if ordinary single-rod hydraulic cylinder is used as heave compensation hydraulic cylinder, its compensation system has the advantages of simple structure and low cost, but because there are only two functional cavities inside the ordinary hydraulic cylinder, it is difficult to realize the active control function of the compensation cylinder extension / retraction process, resulting in the problem of large fluctuation of motor working condition and active cavity working pressure of compensation cylinder in the process of reversing and speed regulation of hydraulic pump, poor compensation accuracy and running stability; if the heave compensation system based on accumulator is used, although the extension / retraction motion of heave compensation hydraulic cylinder can be indirectly controlled in both directions by controlling the accumulator, its structure is complex, the increase of link leads to the increase of system pressure and energy loss, and the indirect control method using accumulator is easy to cause large control system lag, and it is difficult to obtain ideal compensation accuracy. SUMMARY

[0005] The application aims to provide a linear heave compensation device based on a composite cylinder, which meets the heave compensation requirements of hoisting machines and other marine engineering operations, reduces system pressure loss, improves system compensation accuracy, realizes switching between multiple operation modes, and provides a heave compensation device with excellent performance, high energy efficiency, and strong industrial practicability for the marine hoisting field.

[0006] To achieve the above-mentioned purpose, the general idea of the application is to adopt a heave compensation scheme based on a composite actuator and an integrated control cylinder, a control unit collects ship heave motion through an MRU, a heave compensation actuator is installed with a displacement sensor to measure compensation displacement, and displacement closed-loop control is realized together; the integrated control cylinder integrates water depth compensation function, a double variable pump is directly driven in driving mode, and the pump displacement and direction are changed to complete the alternate oil supply to the heave compensation actuator cavity and the integrated control cylinder cavity, realize active compensation function, the rod cavity of the heave compensation actuator is connected with a gas cylinder group for different operation modes through a gas-liquid converter, and switching between different working conditions such as deck lifting, wave-splashing area passing, underwater lowering, and landing can be realized, so as to meet the continuity of marine operations; when the heave compensation actuator cavity and the integrated control cylinder cavity are communicated, passive compensation of the system can be realized, and the energy consumption of the system is reduced through the integration of active and passive compensation.

[0007] The application adopts the following technical scheme:

[0008] The application discloses a linear heave compensation device based on a composite cylinder, which comprises a heave compensation execution cylinder, an integrated control cylinder, a double variable pump, a constant speed motor, an oil storage accumulator, an oil supplement accumulator, a pressure balance accumulator, a gas cylinder group, a gas-liquid converter, an MRU motion posture sensor, a cooler, a filter, an oil supplement pump, a pressure sensor, a displacement sensor, a temperature sensor and various control valves and check valves; the heave compensation execution cylinder is communicated with the rodless cavity of the integrated control cylinder to realize water depth compensation; the double variable pump driven by the constant speed motor supplies oil to the cavities of the heave compensation execution cylinder and the integrated control cylinder alternately through an active compensation switch valve to realize active compensation; the cavities of the heave compensation execution cylinder and the integrated control cylinder are communicated to realize passive compensation; the two cavities are communicated through an electromagnetic cut-off valve to realize switching of active and passive compensations; the rod cavity of the heave compensation execution cylinder is connected with the gas cylinder group through the gas-liquid converter; the gas cylinder group comprises a low-pressure gas collecting cylinder, a high-pressure gas source cylinder, a working gas cylinder and a splash zone gas cylinder; the working gas cylinder is used for water and underwater compensation; the splash zone gas cylinder is used for hoisting a load to pass through a splash zone; the high-pressure gas source cylinder supplements pressure for other gas cylinders; the low-pressure gas collecting cylinder is used for temporarily collecting gas when high-pressure gas is difficult to discharge underwater; an electromagnetic cut-off valve is connected to the outlet of each gas cylinder to realize switching of different modes of the gas cylinders; the gas cylinder group is connected with a discharge valve through an air filter; the discharge valve can release pressure of the gas cylinder and plays a safety protection role; the gas cylinder is communicated with the gas cavity of the gas-liquid converter through a throttle valve block; the gas cavity pressure can be buffered by controlling the throttle valve block; the liquid cavity of the gas-liquid converter is connected to the rod cavity of the heave compensation execution cylinder through a throttle valve block and is communicated with a plug-in check valve and an overflow valve to form a safety protection loop; the rod cavity of the integrated control cylinder is communicated with the pressure balance accumulator to balance pressure fluctuation caused by switching of different modes of the gas cylinders; the oil storage accumulator plays a role of an oil tank in the closed hydraulic system; the oil supplement pump driven by the direct current servo motor and the oil supplement accumulator jointly realize oil supplement of the system; the temperature sensor is connected to the outlet of the double variable pump; when the temperature of the hydraulic closed loop is too high, a heat dissipation loop switch valve is opened to open a heat dissipation loop; at this time, oil in the composite cylinder cavity can flow into the cooler through the heat dissipation loop switch valve and flow back to the oil storage accumulator through the filter; a cooling fan is additionally arranged to realize oil cooling; pressure sensors are arranged at the outlets of the composite cylinder cavities and key oil lines to monitor pressure conditions of the oil lines in real time; the lower end of the piston rod of the heave compensation execution cylinder is connected with a hoisting load through an ear ring; the piston rod is provided with the displacement sensor; the control unit collects ship heave motion signals through the MRU and realizes displacement closed-loop control together with the compensation displacement signals detected by the sensor.

[0009] The linear heave compensation device based on the composite cylinder is described. In the initial state, the piston rod of the heave compensation actuator cylinder is balanced by the combined action of the force of the pressure balance accumulator, the force of the gas cylinder group and the gravity of the load; the pressure balance accumulator provides pressure for the rod chamber of the integrated control cylinder, which is transmitted to its rodless chamber through the piston rod of the integrated control cylinder. Since the rodless chamber of the heave compensation actuator cylinder is connected to the rodless chamber of the integrated control cylinder, the pressure balance accumulator provides pre-charge pressure for the rodless chamber of the heave compensation actuator cylinder in the initial state, thereby preventing the two-way variable pump from sucking oil from the inner chamber of the compensation actuator cylinder in the initial state and causing negative pressure in the inner chamber. In the initial state, the pressure balance accumulator acts on the piston rod of the heave compensation actuator cylinder to provide a downward balancing force; the gas cylinder group is connected to the gas-liquid converter, provides pressure to the rod chamber of the heave compensation actuator cylinder, and provides an upward passive compensation force on the piston rod of the heave compensation actuator cylinder;

[0010] In the active control of the linear heave compensation device based on the composite cylinder, the control unit controls the displacement and direction of the bidirectional variable pump in real time based on the received ship heave signal and the displacement signal of the piston rod of the compensation actuator cylinder. The two ports of the bidirectional variable pump are respectively connected to the inner cavity of the heave compensation actuator cylinder and the inner cavity of the integrated control cylinder.

[0011] When the ship drives the compensation device to rise, the active control unit controls the bidirectional variable pump to supply oil to the inner cavity of the heave compensation actuator cylinder, and the oil supply pump supplies oil to the oil suction port of the bidirectional variable pump. The oil in the inner cavity of the integrated control cylinder flows into the oil storage accumulator through the heat dissipation circuit. The inner cavity volume of the integrated control cylinder decreases, the volume of its rod cavity increases, and the piston rod retracts; at the same time, the inner cavity volume of the heave compensation actuator cylinder increases, thereby reducing the volume of the rod cavity of the heave compensation actuator cylinder, thereby causing the piston rod of the heave compensation actuator cylinder to extend, compensating for the upward displacement of the hoisted load;

[0012] When the ship drives the compensation device to descend, the active control unit controls the two-way variable pump to supply oil to the inner cavity of the integrated control cylinder, and the oil supply pump supplies oil to the oil suction port of the two-way variable pump. The oil in the inner cavity of the heave compensation actuator cylinder flows into the oil storage accumulator through the heat dissipation circuit. The inner cavity volume of the integrated control cylinder increases, and the volume of its rod cavity decreases, and the piston rod extends. At the same time, the inner cavity of the heave compensation actuator cylinder decreases, thereby increasing the volume of the rod cavity of the heave compensation actuator cylinder, thereby achieving the retraction of the piston rod of the heave compensation actuator cylinder, compensating for the downward displacement of the hoisted load.

[0013] In the linear heave compensation device based on the composite cylinder, when passive control is performed, upon receiving a passive compensation signal, the control unit controls the bidirectional variable pump to idle, and connects the inner cavity of the heave compensation actuator cylinder with the inner cavity of the integrated control cylinder through the electromagnetic switch valve to achieve pressure balance. The working pressure of the gas cylinder group adjusts the pressure in the rod cavity of the heave compensation actuator cylinder to achieve passive heave compensation.

[0014] The composite cylinder-based linear heave compensation device, the gas bottle group is communicated with the gas-liquid converter, provides pressure to the rod cavity of the heave compensation execution cylinder to bear the load, the bidirectional variable pump is communicated with the inner cavity of the heave compensation execution cylinder to provide active force, and the active force and passive force jointly act to realize a more efficient and more energy-saving heave compensation scheme.

[0015] The composite cylinder-based linear heave compensation device, when the heave compensation device is in an underwater environment, water pressure acts on the piston rod of the heave compensation execution cylinder and the integrated control cylinder, respectively, and the pressure is conducted to the rodless cavities of the two composite cylinders, respectively, the pressure change is offset by the communication between the two cavities, the water depth compensation function is realized, the water depth compensation function is integrated into the integrated control cylinder, the structure of the compensation device is more compact, and the pressure loss is reduced.

[0016]

[0017] The composite cylinder-based linear heave compensation device has an independent heat dissipation circuit, when the constant-speed motor drives the bidirectional variable pump to supply oil to the inner cavity of the heave compensation execution cylinder, the oil in the inner cavity of the integrated control cylinder flows back to the oil storage accumulator, and under the continuous working state of the system, the oil in the two inner cavities is continuously replaced, which causes the oil temperature to be too high, at this time, the heat dissipation circuit switch valve is connected to the upper position, the oil flows into the cooler and is cooled by the heat dissipation fan, and then flows back to the oil storage accumulator through the filter.

[0018] The present application has the advantages that:

[0019] 1. The present application adopts a composite cylinder structure as the compensation execution cylinder and the integrated control cylinder, the water depth compensation function can be integrated into the integrated control cylinder, compared with the traditional linear heave compensation device, the structure is more compact while the function integrity is ensured, the pressure loss in the working process is reduced, and the energy utilization rate is improved; the present application integrates water depth compensation, active compensation and passive compensation, and has high integration characteristics in structure and function.

[0020] 2. The present application adopts a bidirectional variable pump to directly drive the compensation execution cylinder, the active force directly acts on the heave compensation execution cylinder, compared with the accumulator type heave compensation device, the intermediate link is reduced, the energy loss is greatly reduced, and the control time lag is reduced, so that the control precision is higher.

[0021] 3.The present application can realize the switching between multiple operation modes, and continuously complete multiple working condition operations including deck lifting, wave splash area passing, underwater release and landing.

[0022] 4.The present application has an independent heat dissipation circuit, which can be opened by adjusting the electromagnetic reversing valve to solve the problem of difficult heat dissipation of the closed hydraulic system circuit oil, and the heat dissipation circuit is independent of the main and passive control circuits of the compensation device, has higher heat dissipation efficiency, and indirectly improves the service life of the device. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The present application is a schematic diagram of a linear heave compensation device based on a composite cylinder;

[0024] Wherein: 1-integrated control cylinder, 2-passive compensation on-off valve, 3-first stop valve, 4-heave compensation actuator, 5-magnetostrictive displacement sensor, 6-first throttle valve block, 7-overflow valve, 8-inserted check valve, 9-first relief valve, 10-gas-liquid converter, 11-MRU motion posture sensor, 12-second stop valve, 13-gas cylinder group, 14-second throttle valve block, 15-second relief valve, 16-air filter, 17-gas cylinder on-off valve, 18-exhaust valve, 19-oil charging accumulator, 20-oil charging pump, 21-DC servo motor, 22-oil storage accumulator, 23-bidirectional variable pump, 24-constant speed motor, 25-temperature sensor, 26-active compensation on-off valve, 27-heat dissipation circuit on-off valve, 28-PLC control unit, 29-heat dissipation fan, 30-cooler, 31-filter, 32-reversing valve, 33-pressure balance accumulator, 34-pressure sensor, 35-third stop valve; V1-rodless cavity of heave compensation actuator, V2-rod cavity of heave compensation actuator, V3-inner cavity of heave compensation actuator, V4-rodless cavity of integrated control cylinder, V5-rod cavity of integrated control cylinder, V6-inner cavity of integrated control cylinder, S1-rodless cavity ring area of heave compensation actuator, S2-rodless cavity ring area of integrated control cylinder, G-gas cavity of gas-liquid converter, V-liquid cavity of gas-liquid converter. DETAILED DESCRIPTION

[0025] To further disclose the technical scheme of the present application, the following will be described in detail by examples in conjunction with the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0026] The application is further described in detail below in combination with the drawings and specific embodiments.

[0027] As shown in the figure, the rodless cavity V1 of the heave compensation execution cylinder is communicated with the rodless cavity V4 of the integrated control cylinder; the constant speed motor 24 drives the bidirectional variable pump 23 to supply oil to the inner cavity V3 of the heave compensation execution cylinder and the inner cavity V6 of the integrated control cylinder alternately through the active compensation on-off valve 26; the inner cavity V3 of the heave compensation execution cylinder and the inner cavity V6 of the integrated control cylinder are communicated through the passive compensation on-off valve 2; the rodless cavity V1 of the heave compensation execution cylinder and the rodless cavity V4 of the integrated control cylinder are communicated through the first stop valve 3; the rod cavity V2 of the heave compensation execution cylinder is connected with the gas cylinder group 13 through the gas-liquid converter 10, the gas cylinder group 13 includes low-pressure gas collecting cylinder, high-pressure gas source cylinder, working gas cylinder and splash zone gas cylinder, the outlet of each gas cylinder is connected with the gas cylinder on-off valve 17 and the exhaust valve 18, the gas cylinder group is connected with the second relief valve 15 through the air filter 16; the gas cylinder is communicated with the gas cavity G of the gas-liquid converter through the second throttling valve block 14, the liquid cavity V of the gas-liquid converter is connected to the rod cavity V2 of the heave compensation execution cylinder through the first throttling valve block 6, the liquid cavity V of the gas-liquid converter is communicated with the cartridge type check valve 8 and the overflow valve 7; the rod cavity V5 of the integrated control cylinder is communicated with the pressure balance accumulator 33 through the third stop valve 35; the oil storage accumulator 22 plays the role of oil tank in the closed hydraulic system; the direct current servo motor 21 drives the oil supplement pump 20, the oil supplement pump 20 is communicated with the oil supplement accumulator 19, the oil supplement pump 20 is communicated to the rodless cavity of the composite cylinder and the rod cavity V5 of the integrated control cylinder through the reversing valve 32 in the oil supplement circuit; the outlet of the bidirectional variable pump 23 is connected with the temperature sensor 25, the two oil outlets of the bidirectional variable pump 23 are communicated with the inner cavity V3 of the heave compensation execution cylinder and the inner cavity V6 of the integrated control cylinder through the active compensation on-off valve 26, the oil return circuit of the inner cavity V3 of the heave compensation execution cylinder and the inner cavity V6 of the integrated control cylinder is communicated with the heat dissipation circuit on-off valve 27, the heat dissipation circuit on-off valve 27 is connected with the cooler 30, the cooler 30 is connected with the filter 31, and the cooler 30 forms a heat dissipation circuit with the oil storage accumulator 22, and a heat dissipation fan 29 is additionally provided to connect the cooler 30; the outlet of the inner cavity of the composite cylinder and each key oil circuit are provided with pressure sensors 34; the lower end of the piston rod of the heave compensation execution cylinder 4 is connected with the hoisting load through the ear ring, the piston rod is provided with a displacement sensor 5, the control unit 28 collects the ship heave motion signal through the MRU 11; the rod cavity V2 of the heave compensation execution cylinder is connected with the gas cylinder group 13 through the gas-liquid converter 10, the gas cylinder group 13 includes low-pressure gas collecting cylinder, high-pressure gas source cylinder, working gas cylinder and splash zone gas cylinder, the working gas cylinder is used for water and underwater compensation, the splash zone gas cylinder is used for hoisting load over the splash zone working condition, the high-pressure gas source cylinder supplements pressure for other gas cylinders, and the low-pressure gas collecting cylinder is used for temporarily collecting gas when high-pressure state gas is difficult to discharge underwater, the outlet of each gas cylinder is connected with the gas cylinder on-off valve 17, the on-off of different mode gas cylinders is realized by controlling the gas cylinder on-off valve 17, so as to complete the switching between different working modes.

[0028] The working principle of the present application is as follows:

[0029] When the heave compensation device active control mode is working normally, the PLC control unit 28 receives the ship heave signal through the MRU 11 and the displacement signal collected by the compensation execution cylinder piston rod displacement sensor 5 to control the displacement and direction of the bidirectional variable pump 23 in real time; the two ports of the bidirectional variable pump 23 are respectively communicated with the inner cavity V3 of the heave compensation execution cylinder and the integrated control cylinder inner cavity V6.

[0030] When the initial state is completed, the pressure of the gas cylinder group 13 is set, the gas cylinder group 13 is adjusted to make the heave compensation execution cylinder piston rod move to the balance position, the load is connected through the heave compensation execution cylinder 4 piston rod ear ring, and the balance is achieved under the joint action of the pressure balance accumulator 33 and the gas cylinder group 13; the pressure balance accumulator 33 provides pressure for the integrated control cylinder rod cavity V6, the pressure is conducted to the V4 cavity through the integrated control cylinder 1 piston rod, the V4 cavity is communicated with the V1 cavity, and the initial state provides pre-charged pressure for the heave compensation execution cylinder rodless cavity V1; the pressure balance accumulator 33 provides downward balancing force on the heave compensation execution cylinder 4 piston rod in the initial state; the gas cylinder group 13 is communicated with the gas-liquid converter 10 to provide pressure for the heave compensation execution cylinder rod cavity V2, the pressure of the heave compensation execution cylinder rod cavity V2 is adjusted by the working pressure of the gas cylinder group 13, and the gas cylinder group 13 provides upward passive compensation force on the heave compensation execution cylinder 4 piston rod.

[0031] When the ship drives the compensation device to rise, the active control unit 28 controls the bidirectional variable pump 23 to supply oil to the inner cavity V3 of the heave compensation execution cylinder, the oil suction port of the bidirectional variable pump 23 is supplemented by the oil supplementing pump 20, the oil in the integrated control cylinder inner cavity V6 flows into the oil storage accumulator 22 through the heat dissipation circuit, the volume of the integrated control cylinder inner cavity V6 decreases, the volume of the integrated control cylinder rod cavity V5 increases, and the piston rod retracts; at the same time, the volume of the heave compensation execution cylinder inner cavity V3 increases, so that the volume of the heave compensation execution cylinder rod cavity V2 decreases, and then the heave compensation execution cylinder 4 piston rod extends, generates motion opposite to the displacement of the ship, and compensates the upward displacement of the hoisting load.

[0032] Similarly, when the ship drives the compensation device to descend, the active control unit 28 controls the bidirectional variable pump 23 to supply oil to the integrated control cylinder inner cavity V6, the oil suction port of the bidirectional variable pump 23 is supplemented by the oil supplementing pump 20, the oil in the heave compensation execution cylinder inner cavity V3 flows into the oil storage accumulator 22 through the heat dissipation circuit, the volume of the integrated control cylinder inner cavity V6 increases, the volume of the integrated control cylinder rod cavity V5 decreases, and the piston rod extends; at the same time, the volume of the heave compensation execution cylinder inner cavity V3 decreases, so that the volume of the heave compensation execution cylinder rod cavity V2 increases, and then the heave compensation execution cylinder 4 piston rod retracts, generates motion opposite to the displacement of the ship, and compensates the downward displacement of the hoisting load.

[0033] When the heave compensation device is in passive control mode, the control unit 28 controls the double variable pump 23 to idle, and the control unit 28 realizes the communication between the heave compensation actuator inner cavity V3 and the integrated control cylinder inner cavity V6 by opening the passive compensation switch valve 2, so that the pressure is balanced, the working pressure of the gas cylinder group 13 is used to adjust the pressure of the heave compensation actuator rod cavity V2, and passive heave compensation is realized.

[0034] When the heave compensation device is in passive control mode, the control unit 28 controls the double variable pump 23 to idle, and the control unit 28 realizes the communication between the heave compensation actuator inner cavity V3 and the integrated control cylinder inner cavity V6 by opening the passive compensation switch valve 2, so that the pressure is balanced, the working pressure of the gas cylinder group 13 is used to adjust the pressure of the heave compensation actuator rod cavity V2, and passive heave compensation is realized.

[0035] When the closed hydraulic system oil temperature is too high, the control unit 28 controls the heat dissipation circuit switch valve 27 to open according to the signal of the temperature sensor 25. When the double variable pump 23 supplies oil to the heave compensation actuator inner cavity V3, the oil in the integrated control cylinder inner cavity V6 flows into the cooler 30 through the upper position of the heat dissipation circuit switch valve 27 and is cooled by the heat dissipation fan 29, and then flows into the oil storage accumulator 22 through the filter 31. When the double variable pump 23 supplies oil to the integrated control cylinder inner cavity V6, the oil in the heave compensation actuator inner cavity V3 flows into the cooler 30 through the lower position of the heat dissipation circuit switch valve 27 and is cooled by the heat dissipation fan 29, and then flows into the oil storage accumulator 22 through the filter 31.

[0036] The above is only an embodiment of the present application, and the present application is not limited thereto. Any simple modification, equivalent change and modification of the above embodiment without departing from the technical solution content of the present application, according to the technical essence of the present application, still belongs to the protection scope of the technical solution of the present application.

Claims

1. A linear heave compensation device based on a composite cylinder, comprising a heave compensation actuator cylinder (4), an integrated control cylinder (1), a bidirectional variable pump (23), a constant speed motor (24), an oil storage accumulator (22), an oil replenishment accumulator (19), a pressure balance accumulator (33), a gas cylinder group (13), a gas-liquid converter (10), an MRU motion posture sensor (11), a cooler (30), a filter (31), an oil replenishment pump (20), a DC servo motor (21), a pressure sensor (34), a displacement sensor (5), and a temperature sensor ( 25), passive compensation switch valve (2), first stop valve (3), first throttle valve block (6), overflow valve (7), plug-in check valve (8), first discharge valve (9), second stop valve (12), second throttle valve (14), second discharge valve (15), air filter (16), gas cylinder switch valve (17), exhaust valve (18), active compensation switch valve (26), heat dissipation circuit switch valve (27), PLC control unit (28), heat dissipation fan (29), reversing valve (32), third stop valve (35); characterized in that, The rodless chamber (V1) of the heave compensation actuator cylinder is connected to the rodless chamber (V4) of the integrated control cylinder; the constant speed motor (24) drives the bidirectional variable pump (23) to pump oil back and forth between the inner chamber (V3) of the heave compensation actuator cylinder and the inner chamber (V6) of the integrated control cylinder through the active compensation switch valve (26); the inner chamber (V3) of the heave compensation actuator cylinder and the inner chamber (V6) of the integrated control cylinder are connected through the passive compensation switch valve (2); the rodless chamber (V1) of the heave compensation actuator cylinder and the rodless chamber (V4) of the integrated control cylinder are connected through the first stop valve (3); the rod chamber (V2) of the heave compensation actuator cylinder is connected to the gas cylinder group (13) through the gas-liquid converter (10). The gas cylinder group (13) includes a low-pressure gas collecting cylinder, a high-pressure gas source cylinder, a working gas cylinder and a splash zone gas cylinder. The outlet of each gas cylinder is connected to a gas cylinder switch valve (17) and an exhaust valve (18). The gas cylinder group is connected to the second relief valve (15) through an air filter (16); the gas cylinder is connected to the gas cavity (G) of the gas-liquid converter through the second throttle valve block (14), the gas-liquid converter liquid cavity (V) is connected to the heave compensation actuator cylinder rod cavity (V2) through the first throttle valve block (6), the gas-liquid converter liquid cavity (V) is connected to the plug-in one-way valve (8) and the overflow valve (7); the integrated control cylinder rod cavity (V5) is connected to the pressure control cylinder through the third stop valve (35). The force balance accumulator (33) is connected; the oil storage accumulator (22) acts as an oil tank in this closed hydraulic system; the DC servo motor (21) drives the oil replenishment pump (20), the oil replenishment pump (20) is connected to the oil replenishment accumulator (19), and the oil replenishment pump (20) in the oil replenishment circuit is connected to the rodless cavity of the composite cylinder and the rod cavity (V5) of the integrated control cylinder through the reversing valve (32); the outlet of the two-way variable pump (23) is connected to the temperature sensor (25), and the two oil outlets of the two-way variable pump (23) are connected to the inner cavity (V3) of the heave compensation execution cylinder and the inner cavity (V6) of the integrated control cylinder through the active compensation switch valve (26). The inner cavity (V3) and the integrated control cylinder inner cavity (V6) return oil circuit are connected to the heat dissipation circuit switch valve (27), the heat dissipation circuit switch valve (27) is connected to the cooler (30), the cooler (30) is connected to the filter (31), and a heat dissipation circuit is formed with the oil storage accumulator (22). A heat dissipation fan (29) is also provided and connected to the cooler (30); a pressure sensor (34) is installed at the outlet of the composite cylinder inner cavity and each key oil circuit; the lower end of the piston rod of the heave compensation execution cylinder (4) is connected to the hoisting load through an earring, and the piston rod is installed with a displacement sensor (5); the control unit (28) collects the ship heave motion signal through the MRU (11).

2. The linear heave compensation device based on a composite cylinder according to claim 1, characterized in that: The pressure balancing accumulator (33) provides pressure for the rod chamber (V5) of the integrated control cylinder, and the pressure is transmitted to the rodless chamber (V4) of the integrated control cylinder through the piston rod of the integrated control cylinder (1). The rodless chamber (V4) of the integrated control cylinder is connected with the rodless chamber (V1) of the heave compensation actuator cylinder. In the initial state, a preset pressure is provided for the rodless chamber (V1) of the heave compensation actuator cylinder, and acts on the piston rod of the heave compensation actuator cylinder (4) to provide a downward balancing force; the gas cylinder group (13) acts on the piston rod of the heave compensation actuator cylinder (4) to provide an upward passive compensation force, and the passive compensation force is balanced with the load gravity after offsetting the balancing force.

3. The linear heave compensation device based on a composite cylinder according to claim 1, characterized in that: The control unit (28) switches to the active control mode by closing the passive compensation switch valve (2) and opening the active compensation switch valve (26), and switches to the passive control mode by closing the active compensation switch valve (26) and opening the passive compensation switch valve (2).

4. The linear heave compensation device based on a composite cylinder according to claim 1, characterized in that: When the heave compensation device is in an underwater environment, water pressure acts on the piston rods of the heave compensation actuator cylinder (4) and the integrated control cylinder (1), respectively, and the rodless cavity (V1) of the heave compensation actuator cylinder is connected to the rodless cavity (V4) of the integrated control cylinder to offset the water pressure. When the heave compensation device is lowered into the water, the annular area of ​​the rodless cavity (V1) of the heave compensation actuator cylinder is S1, the cross-sectional area of ​​the piston rod of the heave compensation actuator cylinder (4) is S1', the annular area of ​​the rodless cavity (V4) of the integrated control cylinder is S2, and the cross-sectional area of ​​the piston rod of the integrated control cylinder (1) is S2', which must meet the following requirements: 。 5. The linear heave compensation device based on a composite cylinder according to claim 1, characterized in that: When the oil temperature of the closed hydraulic circuit is too high, the bidirectional variable pump (23) supplies oil to the inner cavity (V3) of the heave compensation actuator cylinder, and the oil supply pump (20) supplies oil to the oil suction port of the bidirectional variable pump (23). The oil in the inner cavity (V6) of the integrated control cylinder flows into the cooler (30) through the heat dissipation circuit switch valve (27) and is cooled by the heat dissipation fan (29), and then flows back to the oil storage accumulator (22) through the filter (31).

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