Self-adaptive temperature control hydraulic circuit for deep-sea scientific investigation winch and control method

Abstract

The invention relates to a self-adaptive temperature control hydraulic loop for a deep-sea scientific investigation winch and a control method, a motor drives a main oil pump and an oil supplementing pump, the main oil pump and a hydraulic motor form a hydraulic closed loop, and the main oil pump drives the hydraulic motor to operate in different directions by changing the output direction of high-pressure oil; a three-way hydraulic control reversing valve and a pressure sensor are arranged in the loop, and the three-way hydraulic control reversing valve is connected with an oil temperature sensor. The three-way hydraulic control reversing valve is connected with an oil return tank through a proportional flow valve via an overflow valve; a variable oil cylinder is further connected in the loop, a piston of the variable oil cylinder is connected with the hydraulic motor, a spring is arranged at the piston end of the variable oil cylinder, and a pressure cavity of the variable oil cylinder is connected with a cavity A and a cavity B of the hydraulic motor through proportional pressure reducing valves and one-way valves respectively. Real-time self-adaptive control over the hot oil flow, the oil supplementing flow and the winch rotating speed can be achieved, the purpose of controlling the temperature rise of a main loop is achieved, the laying and recycling operation efficiency of the deep-sea scientific investigation winch is improved, and the automation degree is improved.

Description

Technical Field

[0001] The invention relates to a deep-sea winch, in particular to an adaptive temperature control hydraulic circuit and a control method for a deep-sea scientific research winch. Background Art

[0002] The 10,000-meter deep-sea scientific research winch used in the field of scientific research and investigation can also be used as a deployment and recovery winch for deep-sea mining vehicles, deep-sea salvage, deep-water drilling rigs and other deep-water operating facilities. Different from the short-distance cable and short-time / intermittent working conditions of ordinary hoisting winches, the 10,000-meter deep-sea scientific research winch cable is 3 km to 10 km long. The entire operation process takes several hours or even days, and because the cable itself has weight, the load of the winch is constantly changing as the cable is released and retracted.

[0003] Based on the above characteristics of deep-sea winches, the following problems will arise during use:

[0004] 1. After working for a long time, the closed hydraulic circuit used by the winch continues to rise in temperature;

[0005] 2. Under the lowering condition, the potential energy of the load is converted into heat energy. During the entire lowering process, the load gradually increases. The machine should run at high speed when the load is small in the early stage, and at low speed when the load is large in the later stage. The current technology uses high / low gear switching, which cannot adjust the speed in real time to improve the working efficiency;

[0006] 3. The closed system used by conventional winches generally adopts the method of replenishing oil and replacing oil, replacing part of the hot oil in the circuit, and replenishing the cold oil from the oil tank through the replenishing oil pump, so as to achieve heat exchange of the circuit and achieve thermal balance. However, this method has direct requirements on the specifications of the configured replenishing oil pump. The greater the heat exchange capacity, the greater the displacement of the replenishing oil pump, and the greater the power loss. Therefore, for ordinary winches, due to their high-speed and high-power working conditions, they are intermittent. From the perspective of economy, the flow rate of the replenishing oil circuit is relatively small. The complex and changeable working conditions of deep-sea scientific research winches lead to very large differences in the heat generation of the circuit at different stages. If the heat exchange effect is guaranteed by simply increasing the displacement of the replenishing oil pump (increasing the replenishing oil flow), it will inevitably cause a great waste of resources.

[0007] 4. The temperature rise of the hydraulic closed circuit is most closely related to the winch speed. Even under low load conditions, the temperature rise will be too high if the winch continues to run at high speed. At this time, the temperature rise can only be controlled by manually reducing the speed, which places high demands on the operator's duty and is not conducive to automated deployment.

[0008] 5. One of the important factors affecting the winch deployment efficiency is the speed reduction due to excessive temperature rise.

[0009] At present, similar products generally adopt a fixed flow and non-adjustable oil replacement solution. The oil replenishment pump and the oil replacement flow are fixed. They can be used for short-term work or systems with stable working conditions and small changes. There is power waste and they cannot adapt to the long-term, complex and changeable working conditions of deep-sea long-distance winches.

[0010] Utility model patent CN201825568U discloses a flushing and cooling branch of a closed hydraulic system of a bucket wheel machine. The utility model adopts a hydraulically controlled reversing valve with a fixed flow rate to change oil, and detects the oil temperature through a temperature sensor set in the oil tank. When the oil temperature in the oil tank exceeds the limit, the heat generation is reduced by connecting the unloading valve between the AB chamber valves. This technical solution is used for bucket wheel machines. The oil temperature it controls is the oil temperature of the oil tank instead of the oil temperature of the closed circuit. If the system oil flow is insufficient, the oil temperature of the closed circuit cannot be reflected by the oil temperature of the oil tank; and reducing the heat generation by unloading the AB chamber valve will also cause the winch operation to be interrupted, which cannot meet the operating conditions of the deep-sea scientific research winch.

[0011] The current deep-sea long-distance scientific research winches solve this kind of problem by installing a temperature sensor in the main circuit. When the temperature sensor exceeds the high temperature limit, an alarm signal is issued, and the winch is manually controlled to slow down, thereby reducing the temperature. This is labor-intensive for the operators and is not conducive to automated retraction and deployment. Summary of the invention

[0012] The present invention aims to provide an adaptive temperature control hydraulic circuit and control method for deep-sea scientific research winches. On the basis of limited oil change and oil replenishment flow, with temperature, pressure, speed and other signals as input, combined with the special working conditions of long-distance winches, through corresponding algorithms and hydraulic control circuit design, real-time adaptive control of hot oil flow, oil replenishment flow and winch speed is achieved, which not only achieves the purpose of controlling the temperature rise of the main circuit, but also improves the efficiency of the deployment and recovery operation of deep-sea scientific research winches and enhances the degree of automation.

[0013] To achieve the above-mentioned purpose, the technical scheme of the present invention is: an adaptive temperature control hydraulic circuit for deep-sea scientific research winch, including a motor, a main oil pump, a supplementary oil pump, a relief valve, a proportional flow valve, a three-way hydraulically controlled reversing valve, an oil temperature sensor, a pressure sensor, a proportional pressure reducing valve, a variable oil cylinder, a spring, a hydraulic motor, a winch, and a controller. The motor drives the main oil pump and the supplementary oil pump to operate, and the main oil pump and the hydraulic motor form a hydraulic closed circuit. The main oil pump drives the hydraulic motor to operate in different directions by changing the output direction of the high-pressure oil, thereby driving the winch to lift and lower. Lowering operation; a three-way hydraulically controlled reversing valve and a pressure sensor are provided in the hydraulic closed circuit, and the two oil inlets of the three-way hydraulically controlled reversing valve are respectively connected to oil temperature sensors; the oil return port of the three-way hydraulically controlled reversing valve is connected to the oil tank through a proportional flow valve and an overflow valve; a variable cylinder is also connected in the hydraulic closed circuit, the piston of the variable cylinder is connected to the hydraulic motor, a spring is provided at the piston end of the variable cylinder, the pressure chamber of the variable cylinder is connected to the A and B chambers of the hydraulic motor through a proportional pressure reducing valve and a check valve respectively, and the controller is respectively connected to the proportional flow valve, the oil temperature sensor, the pressure sensor and the proportional pressure reducing valve.

[0014] Furthermore, when the B port of the main oil pump outputs high-pressure oil, oil enters the B port of the hydraulic motor and oil exits the A port, and the hydraulic motor drives the winch to reel in the cable.

[0015] Furthermore, when the A port of the main oil pump outputs high-pressure oil, the A port of the hydraulic motor takes in oil and the B port outputs oil, and the hydraulic motor drives the winch to release the cable.

[0016] Furthermore, the oil replenishment pump replenishes oil into the hydraulic closed circuit through the one-way valve.

[0017] A control method for an adaptive temperature-controlled hydraulic circuit for deep-sea scientific research winches, comprising: a winch lifting and lowering control method, a controller real-time acquisition of pressure signals from a pressure sensor and temperature signals from two temperature sensors, firstly calculating the required speed of a hydraulic motor based on the pressure signal, and giving a proportional pressure reducing valve control signal so that the winch operates at a speed suitable for the current load to ensure efficient operation; at the same time, the controller performs secondary control based on the acquired temperature signals, and if the temperature rise rate is too high, the hydraulic motor displacement is increased to reduce the speed to ensure that the circuit temperature is maintained within a specified range.

[0018] Furthermore, when the control signal of the proportional pressure reducing valve is 0, the variable piston of the variable oil cylinder moves to the right under the action of the spring, and the hydraulic motor operates at the maximum displacement.

[0019] Furthermore, when the proportional pressure reducing valve gives a certain control signal, the piston overcomes a certain spring force under the action of the hydraulic pressure and moves to the left to a certain position until the force is balanced. At this time, the variable cylinder will work with a certain small displacement, thereby increasing the speed.

[0020] Furthermore, in the above process, the hot oil flow on the A side of the hydraulic closed loop is controlled by a proportional flow valve. The hot oil flow out of the A side is proportional to the opening of the proportional flow valve. The larger the opening, the greater the oil flow. The opening of the proportional flow valve is controlled by the controller based on the oil temperature and temperature rise rate fed back by the oil temperature sensor set in the A side loop. After processing, a certain proportional signal is given to maintain the hot oil flow within a certain range, which can avoid excessive temperature rise caused by too small hot oil flow, and avoid power loss caused by excessive hot oil flow, thereby reducing equipment efficiency.

[0021] Furthermore, the controller adjusts the output flow of the oil replenishment pump in real time according to the opening signal of the proportional throttle valve, so that the oil replenishment flow matches the hot oil flow, thereby avoiding overflow loss caused by excessive oil replenishment flow.

[0022] The beneficial effects of the present invention are:

[0023] 1. According to the different heating power under various working conditions, the oil flow rate and the oil replenishment flow rate are automatically changed, so that the temperature of the closed circuit is kept constant and the oil replenishment pump is adjusted to the appropriate flow rate to avoid excessive occupation of power resources;

[0024] 2. In view of the working condition that the winch load is constantly changing during the whole retracting and releasing process, under the control of the controller, the motor displacement can be adaptively adjusted according to the load (pressure) and circuit temperature, so that the whole retracting and releasing process is always in an efficient retracting and releasing state under the premise of ensuring that the circuit temperature is within the appropriate range;

[0025] 3. Closed-loop temperature control maintains the loop temperature at a specific temperature to adapt to oils of different viscosities, thereby improving equipment performance and component life;

[0026] 4. When installing and using the deep-sea scientific research winch of the present invention, there is no need to artificially reduce the winch running speed when the loop temperature alarm sounds during operation, thus avoiding the failure to speed up in time after human intervention in reducing the speed, affecting the operation efficiency and increasing the workload of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The present invention is a self-adaptive temperature control hydraulic circuit diagram for a deep-sea scientific research winch. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0029] like Figure 1As shown, an adaptive temperature control hydraulic circuit for a deep-sea scientific research winch provided in an embodiment of the present invention includes a motor 1, a main oil pump 2, a replenishing oil pump 3, a check valve A4, a check valve B5, an overflow valve 6, a proportional flow valve 7, a three-way hydraulically controlled reversing valve 8, an oil temperature sensor A10, an oil temperature sensor B11, a pressure sensor 12, a proportional pressure reducing valve 13, a variable cylinder 14, a spring 15, a check valve C16, a check valve D17, a hydraulic motor 18, and a winch 19.

[0030] The motor 1 drives the main oil pump 2 and the supplementary oil pump 3 to operate. The main oil pump 2 and the hydraulic motor 18 form a hydraulic closed circuit. The main oil pump 2 can change the direction of high-pressure oil output to drive the hydraulic motor 18 to operate in different directions, thereby driving the winch 19 to perform lifting and lowering operations. When the B port of the main oil pump 2 outputs high-pressure oil, that is, the B port of the hydraulic motor 18 enters oil and the A port exits oil, the hydraulic motor 18 drives the winch 19 to reel in the cable; when the A port of the main oil pump 2 outputs high-pressure oil, that is, the A port of the hydraulic motor 18 enters oil and the B port exits oil, the hydraulic motor 18 drives the winch 19 to release the cable. The hydraulic closed circuit composed of the main oil pump 2 and the hydraulic motor 18 will have leakage during operation. The supplementary oil pump 3 is used to replenish oil into the circuit through the one-way valve A4 and the one-way valve B5.

[0031] The working and control principles of the adaptive temperature control hydraulic circuit for deep-sea scientific research winch of the present invention:

[0032] Take winch lifting as an example (the same applies to lowering): Assume that the B port of the main oil pump 2 outputs high-pressure oil (winch lifting), that is, the B port is high pressure and the A port is low pressure. The high-pressure oil at the B port enters the hydraulic motor 18 and becomes low-pressure oil after working, and comes out from the A port and is sucked back into the A port of the oil pump. The cycle works in this way, and the oil temperature at the A port gradually increases. At this time, the pressures of the A and B ports act on the control chambers on both sides of the three-way hydraulically controlled reversing valve 8 respectively. Since the pressure at the B port is greater than the pressure at the A port, the three-way hydraulically controlled reversing valve 8 switches to the right position, and the low-pressure oil on the A side of the circuit passes through the three-way hydraulically controlled reversing valve 8 and then passes through the proportional flow valve 7 and the overflow valve 6 and then returns to the oil tank for cooling. At the same time, the oil replenishment pump 3 replenishes the corresponding flow of cold oil into the A side of the circuit through the one-way valve 4, thereby realizing hot and cold replacement and oil replenishment.

[0033] In this process, the hot oil flow rate on the A side of the loop is controlled by the proportional flow valve 7. The hot oil flow rate coming out of the A side is proportional to the opening of the proportional flow valve 7. The larger the opening, the larger the oil flow rate. The opening of the proportional flow valve 7 is determined by the controller according to the oil temperature and temperature rise rate fed back by the oil temperature sensor A10 set in the A side loop, and the proportional signal given by the specific algorithm operation can keep the hot oil flow rate within a reasonable range, avoiding excessive temperature rise caused by too small hot oil flow, and avoiding power loss caused by too large hot oil flow, reducing equipment efficiency. At the same time, the controller can adjust the output flow rate of the replenishment pump in real time according to the opening signal of the proportional throttle valve 7 (that is, the hot oil flow rate of the system), so that the replenishment flow rate matches the hot oil flow rate, avoiding overflow loss caused by excessive replenishment flow rate.

[0034] Due to the total amount of cables of deep-sea scientific research winches, as the depth of the load lowered increases, the load of the winch will also increase with the increase of cable length. If the lowering speed is maintained at a constant speed or has a step-by-step speed change, the heat generation power will become larger and larger. In the early stage, when the load is low, the heat generation is small and the total power is too low, and the deployment efficiency is low; in the later stage, when the load is high, the heat generation is small and the total power is large, and the oil replenishment requirements are too large. In order to solve the above problems, the present invention proposes a motor adaptive control device and method based on system pressure and circuit temperature control.

[0035] The variable mechanism of the motor is provided with a variable oil cylinder 14 for driving. The piston of the variable oil cylinder 14 is connected to the variable mechanism. When the piston moves to the left, the displacement of the hydraulic motor 18 decreases. When the piston moves to the right, the displacement of the hydraulic motor 18 increases. The left side of the piston is connected to an adjustable spring and is pushed to the right by the spring 15; the right side of the piston is subjected to the hydraulic pressure in the variable oil cylinder 14 and generates a thrust to the left. The pressure of the variable oil cylinder 14 is given by the proportional pressure reducing valve 13. When the control signal of the proportional pressure reducing valve 13 is 0, the variable piston of the variable oil cylinder 14 moves to the right under the action of the spring 15, and the hydraulic motor 18 works at the maximum displacement. When the proportional pressure reducing valve 13 gives a certain control signal, the piston overcomes a certain spring force under the action of the hydraulic pressure and moves to a certain position to the left until the force is balanced. At this time, the variable oil cylinder 14 will work with a certain small displacement, thereby increasing the rotation speed. Based on the above principle: the controller collects the pressure signal of the pressure sensor 12 and the temperature signals of the temperature sensor A10 and the temperature sensor B11 in real time, firstly calculates the reasonable speed of the hydraulic motor 18 based on the pressure signal, and gives the control signal of the proportional pressure reducing valve 13, so that the winch 19 works at a speed suitable for the current load to ensure efficient operation; at the same time, the controller performs secondary control according to the collected temperature signal, and if the temperature rise rate is too high, the displacement of the hydraulic motor 18 is increased to reduce the speed to ensure that the circuit temperature is maintained within a reasonable range.

[0036] The electro-hydraulic control circuit and control method can be installed in the motor circuit of the winch of the geological traction of Xiangyanghong 05 ship in the form of a valve group and a control module. The upper limit of the circuit temperature can be set by the controller to achieve the effect of the invention. The invention can not only be installed in newly developed equipment, but also made into a retrofit module. The existing equipment can be simply retrofitted directly through the installation method of pipeline connection to achieve the effect of the invention.

Claims

1. An adaptive temperature control hydraulic circuit for deep-sea scientific research winch, characterized in that: It includes a motor, a main oil pump, a replenishing oil pump, an overflow valve, a proportional flow valve, a three-way hydraulically controlled reversing valve, an oil temperature sensor, a pressure sensor, a proportional pressure reducing valve, a variable oil cylinder, a spring, a hydraulic motor, a winch, and a controller. The motor drives the main oil pump and the replenishing oil pump to operate. The main oil pump and the hydraulic motor form a hydraulic closed circuit. The main oil pump drives the hydraulic motor to operate in different directions by changing the output direction of the high-pressure oil, thereby driving the winch to perform lifting and lowering operations; a three-way hydraulically controlled reversing valve and a pressure sensor are provided in the hydraulic closed circuit, and the two oil inlets of the three-way hydraulically controlled reversing valve are respectively connected to the oil temperature sensor; the oil return port of the three-way hydraulically controlled reversing valve is connected to the oil tank through the proportional flow valve and the overflow valve; a variable oil cylinder is also connected to the hydraulic closed circuit, the piston of the variable oil cylinder is connected to the hydraulic motor, a spring is provided at the piston end of the variable oil cylinder, the pressure chamber of the variable oil cylinder is connected to the A and B chambers of the hydraulic motor through the proportional pressure reducing valve and the one-way valve respectively, and the controller is respectively connected to the proportional flow valve, the oil temperature sensor, the pressure sensor, and the proportional pressure reducing valve.

2. The adaptive temperature control hydraulic circuit for deep-sea scientific research winch according to claim 1, characterized in that: When the B port of the main oil pump outputs high-pressure oil, oil enters the B port of the hydraulic motor and oil exits the A port, and the hydraulic motor drives the winch to reel in the cable.

3. The adaptive temperature control hydraulic circuit for deep-sea scientific research winch according to claim 1, characterized in that: When the A port of the main oil pump outputs high-pressure oil, oil enters the A port of the hydraulic motor and oil exits the B port, and the hydraulic motor drives the winch to release the cable.

4. The adaptive temperature control hydraulic circuit for deep-sea scientific research winch according to claim 1, characterized in that: The oil replenishment pump replenishes oil into the hydraulic closed circuit through the one-way valve.

5. A control method for an adaptive temperature control hydraulic circuit for a deep-sea scientific research winch using any one of claims 1 to 4, characterized in that: include: The winch lifting and lowering control method, the controller collects the pressure signal of the pressure sensor and the temperature signals of the two temperature sensors in real time, firstly calculates the required speed of the hydraulic motor based on the pressure signal, and gives the proportional pressure reducing valve control signal to make the winch work at a speed suitable for the current load to ensure efficient operation; at the same time, the controller performs secondary control according to the collected temperature signal, and if the temperature rise rate is too high, the hydraulic motor displacement is increased to reduce the speed to ensure that the circuit temperature is maintained within the specified range.

6. The control method according to claim 5, characterized in that: When the control signal of the proportional pressure reducing valve is 0, the variable piston of the variable cylinder moves to the right under the action of the spring, and the hydraulic motor operates at the maximum displacement.

7. The control method according to claim 5, characterized in that: When the proportional pressure reducing valve gives a certain control signal, the piston will overcome a certain spring force under the action of liquid pressure and move to the left to a certain position until the force is balanced. At this time, the variable cylinder will work with a certain small displacement, thereby increasing the speed.

8. The control method according to claim 6 or 7, characterized in that: In the above process, the hot oil flow on the A side of the hydraulic closed loop is controlled by a proportional flow valve. The hot oil flow out of the A side is proportional to the opening of the proportional flow valve. The larger the opening, the greater the oil flow. The opening of the proportional flow valve is determined by the controller based on the oil temperature and temperature rise rate fed back by the oil temperature sensor set in the A side loop. After processing, a certain proportional signal is given to maintain the hot oil flow within a certain range, which can avoid excessive temperature rise caused by too small hot oil flow, and avoid power loss caused by excessive hot oil flow, thereby reducing equipment efficiency.

9. The control method according to claim 5, characterized in that: The controller adjusts the output flow of the oil replenishment pump in real time according to the opening signal of the proportional throttle valve, so that the oil replenishment flow matches the hot oil flow, avoiding overflow loss caused by excessive oil replenishment flow.

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