Active and passive heave compensation systems and control methods and devices thereof

Abstract

The present invention relates to the technical field of hydraulic drive control for marine winches, and provides an active and passive heave compensation system and control method and device thereof. The method comprises the following steps: obtaining the force applied to the cable used by the winch to suspend a load; calculating the output torque of the active hydraulic motor device and the output torque of the passive hydraulic motor device based on the force applied to the cable; obtaining an initial given rope speed; obtaining the actual rope speed of the cable; obtaining the speed and acceleration of the load; calculating the compensated rope speed based on the initial given rope speed, the speed of the load, the actual rope speed, and the acceleration of the load; controlling the torque of the active and passive hydraulic motor devices based on their output torques, and controlling the speed of the active hydraulic motor device based on the compensated rope speed. The present invention not only has strong compensation capability, making it suitable for use in adverse sea conditions, but also has high compensation accuracy, effectively ensuring the smooth progress of operations such as hydrological and geological surveys.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic drive control of marine winches, and in particular to an active and passive heave compensation system and a control method and device thereof. Background Art

[0002] To expand the types and scale of marine resource development, relevant personnel often use offshore work vessels equipped with winches to conduct hydrological and geological surveys. During operations, offshore work vessels are forced to heave and sink due to wind, waves, and ocean currents. When the offshore work vessel's winch is suspended with a load, the winch, cable, and load are all subjected to the additional forces generated. This can pose a threat to operational accuracy, equipment life, and equipment safety.

[0003] To address this, heave compensation solutions have been proposed. When the offshore vessel rises with the water, the winch is controlled to release the rope, either increasing the release speed or decreasing the reeling speed. When the offshore vessel sinks with the water, the winch is controlled to reel in the rope, either increasing the reeling speed or decreasing the release speed. This maintains a constant distance and speed relative to the seabed (Earth reference frame), significantly reducing or even offsetting the effects of wind, waves, and currents.

[0004] However, most current heave compensation technologies suffer from structural deficiencies. For example, the heave compensation systems disclosed in Chinese patent documents CN105804675A and CN111573545A employ hydraulic cylinders with limited stroke, limiting their compensation capabilities. Other control methods suffer from deficiencies. For example, conventional PID control, which relies solely on a single condition such as displacement or velocity, results in poor compensation results, making it difficult to effectively ensure the smooth progress of hydrological and geological surveys. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides an active and passive heave compensation system and its control method and device, which not only have strong compensation capabilities and are suitable for severe sea conditions, but also have high compensation accuracy, effectively ensuring the smooth progress of operations such as hydrological and geological surveys.

[0006] The technical solution adopted in the present invention is as follows:

[0007] A control method for an active and passive heave compensation system, the active and passive heave compensation system comprising a winch for lifting a load by reeling in a rope and lowering the load by releasing a rope, an active hydraulic motor device and a passive hydraulic motor device for driving the winch, the active hydraulic motor device and the passive hydraulic motor device respectively comprising at least one hydraulic motor, the output torque being controlled by controlling the swash plate angle of the hydraulic motor, and the speed being controlled by controlling the inlet and outlet flow of the hydraulic motor, the control method comprising the following steps: obtaining the force of the cable used by the winch to suspend the load; calculating the active hydraulic motor device and the passive hydraulic motor device according to the force of the cable; The invention relates to a method for controlling the output torque of the active hydraulic motor device and the output torque of the passive hydraulic motor device; obtaining an initial given rope speed; obtaining an actual rope speed of the cable; obtaining the speed and acceleration of the load; calculating a compensated rope speed according to the initial given rope speed, the speed of the load, the actual rope speed and the acceleration of the load; performing torque control on the active hydraulic motor device according to the output torque of the active hydraulic motor device, performing torque control on the passive hydraulic motor device according to the output torque of the passive hydraulic motor device, and performing speed control on the active hydraulic motor device according to the compensated rope speed.

[0008] Furthermore, the control method of the active and passive heave compensation system further includes: obtaining the actual rope displacement of the cable; obtaining the displacement of the load; calculating a position compensation speed value based on the actual rope displacement and the displacement of the load, and when calculating the compensated rope speed based on the initial given rope speed, the speed of the load, the actual rope speed and the acceleration of the load, the position compensation speed value is also used for calculation.

[0009] Furthermore, the control method of the active and passive heave compensation system further includes: determining whether the magnitude of the initial given rope speed is greater than a preset threshold; if so, not combining the position compensation speed value when calculating the compensated rope speed; if not, combining the position compensation speed value when calculating the compensated rope speed.

[0010] Furthermore, the compensated rope speed is calculated according to the following formula:

[0011]

[0012] in, v ref is the rope speed after compensation, v pre is the initial given rope speed, v load is the speed of the load, v com is the position compensation speed value, vcab is the actual rope speed, a load is the acceleration of the load, k 1 is the speed error amplification factor, k 2 is the acceleration feedforward coefficient, , if the position compensation speed value is not combined for calculation, then v com Take 0, where s cab is the actual rope displacement, s load is the displacement of the load, k 3 is the displacement error amplification factor.

[0013] Furthermore, the active hydraulic motor device and the passive hydraulic motor device respectively include a swing angle control valve and a flow control valve corresponding to their hydraulic motors. The swing angle control valve controls the output torque by controlling the swing angle of the swash plate of the hydraulic motor, and the flow control valve controls the speed by controlling the inlet and outlet flow of the hydraulic motor.

[0014] Furthermore, the active and passive heave compensation system further includes an accumulator device, which is connected to a flow control valve of the passive hydraulic motor device, and the flow control valve of the passive hydraulic motor device has a preset opening.

[0015] Furthermore, the output torque of the active / passive hydraulic motor device is calculated according to the force of the cable, specifically including: calculating the total torque according to the following formula:

[0016]

[0017] in, T total is the total torque, F is the force on the cable, D is the current diameter of the winch's rope reel, η The output efficiency of the active / passive hydraulic motor device in operation;

[0018] The output torque of the active / passive hydraulic motor device is calculated according to the following formula:

[0019]

[0020] in, T m is the output torque of the active / passive hydraulic motor device, k m is the torque coefficient of the active / passive hydraulic motor device.

[0021] Furthermore, the torque of the active / passive hydraulic motor device is controlled according to the output torque of the active / passive hydraulic motor device, specifically comprising: calculating the set control displacement of the swing angle control valve of the active / passive hydraulic motor device according to the following formula:

[0022]

[0023] in, V For the set control displacement, Δ P is the hydraulic inlet and outlet pressure difference of the active / passive hydraulic motor device, n is the number of hydraulic motors in the active / passive hydraulic motor device, i The transmission ratio of the active / passive hydraulic motor device driving the winch, T m is the output torque of the active / passive hydraulic motor device;

[0024] The swash plate angle of the active / passive hydraulic motor device is calculated according to the following formula:

[0025]

[0026] in, A is the swash plate angle of the active / passive hydraulic motor device, V g The maximum control displacement of the swing angle control valve of the active / passive hydraulic motor device;

[0027] The swing angle control valve of the active / passive hydraulic motor device is controlled according to the calculated swash plate swing angle of the active / passive hydraulic motor device.

[0028] A control device for an active and passive heave compensation system, the active and passive heave compensation system comprising a winch for lifting a load by reeling in a rope and lowering the load by releasing a rope, an active hydraulic motor device and a passive hydraulic motor device for driving the winch, the active hydraulic motor device and the passive hydraulic motor device respectively comprising at least one hydraulic motor, the output torque being controlled by controlling the swash plate angle of the hydraulic motor, and the rotational speed being controlled by controlling the inlet and outlet flow of the hydraulic motor, the control device comprising: a first acquisition module for acquiring the force of the cable used by the winch to suspend the load; a first calculation module for respectively calculating the output torque of the active hydraulic motor device and the output torque of the passive hydraulic motor device according to the force of the cable moment; a second acquisition module, the second acquisition module is used to acquire an initial given rope speed; a third acquisition module, the third acquisition module is used to acquire the actual rope speed of the cable; a fourth acquisition module, the fourth acquisition module is used to acquire the speed and acceleration of the load; a second calculation module, the second calculation module is used to calculate the compensated rope speed according to the initial given rope speed, the speed of the load, the actual rope speed and the acceleration of the load; a control module, the control module is used to perform torque control on the active hydraulic motor device according to the output torque of the active hydraulic motor device, perform torque control on the passive hydraulic motor device according to the output torque of the passive hydraulic motor device, and perform speed control on the active hydraulic motor device according to the compensated rope speed.

[0029] Furthermore, the third acquisition module also acquires the actual rope displacement of the cable, the fourth acquisition module also acquires the displacement of the load, and the second calculation module also calculates a position-compensated speed value based on the actual rope displacement and the displacement of the load. When the second calculation module calculates the compensated rope speed based on the initial given rope speed, the speed of the load, the actual rope speed, and the acceleration of the load, it also combines the position-compensated speed value for calculation.

[0030] Furthermore, the second calculation module also determines whether the size of the initial given rope speed is greater than a preset threshold value. If so, the position compensation speed value is not combined when calculating the compensated rope speed; if not, the position compensation speed value is combined when calculating the compensated rope speed.

[0031] Furthermore, the second calculation module calculates the compensated rope speed according to the following formula:

[0032]

[0033] in, v ref is the rope speed after compensation, vpre is the initial given rope speed, v load is the speed of the load, v com is the position compensation speed value, v cab is the actual rope speed, a load is the acceleration of the load, k 1 is the speed error amplification factor, k 2 is the acceleration feedforward coefficient, , if the position compensation speed value is not combined for calculation, then v com Take 0, where s cab is the actual rope displacement, s load is the displacement of the load, k 3 is the displacement error amplification factor.

[0034] Furthermore, the active hydraulic motor device and the passive hydraulic motor device respectively include a swing angle control valve and a flow control valve corresponding to their hydraulic motors. The swing angle control valve controls the output torque by controlling the swing angle of the swash plate of the hydraulic motor, and the flow control valve controls the speed by controlling the inlet and outlet flow of the hydraulic motor.

[0035] Furthermore, the active and passive heave compensation system further includes an accumulator device, which is connected to a flow control valve of the passive hydraulic motor device, and the flow control valve of the passive hydraulic motor device has a preset opening.

[0036] Furthermore, the first calculation module is specifically configured to calculate the total torque according to the following formula:

[0037]

[0038] in, T total is the total torque, F is the force on the cable, D is the current diameter of the winch's rope reel, η The output efficiency of the active / passive hydraulic motor device in operation;

[0039] The output torque of the active / passive hydraulic motor device is calculated according to the following formula:

[0040]

[0041] in, T mis the output torque of the active / passive hydraulic motor device, k m is the torque coefficient of the active / passive hydraulic motor device.

[0042] Furthermore, the control module is specifically configured to calculate the set control displacement of the swing angle control valve of the active / passive hydraulic motor device according to the following formula:

[0043]

[0044] in, V For the set control displacement, Δ P is the hydraulic inlet and outlet pressure difference of the active / passive hydraulic motor device, n is the number of hydraulic motors in the active / passive hydraulic motor device, i The transmission ratio of the active / passive hydraulic motor device driving the winch, T m is the output torque of the active / passive hydraulic motor device;

[0045] The swash plate angle of the active / passive hydraulic motor device is calculated according to the following formula:

[0046]

[0047] in, A is the swash plate angle of the active / passive hydraulic motor device, V g The maximum control displacement of the swing angle control valve of the active / passive hydraulic motor device;

[0048] The swing angle control valve of the active / passive hydraulic motor device is controlled according to the calculated swash plate swing angle of the active / passive hydraulic motor device.

[0049] An active and passive heave compensation system comprises a control device of the active and passive heave compensation system.

[0050] Beneficial effects of the present invention:

[0051] The present invention drives the winch through an active hydraulic motor device and a passive hydraulic motor device, controls the output torque of the active and passive hydraulic motor devices according to the force of the cable that suspends the load of the winch, and controls the rotational speed of the active hydraulic motor device in combination with the initial given rope speed, the speed of the load, the actual rope speed and the acceleration of the load. As a result, not only is the compensation capability strong and suitable for adverse sea conditions, but the compensation accuracy is also high, effectively ensuring the smooth progress of operations such as hydrological and geological surveys. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1Flowchart of a control method of an active and passive heave compensation system according to an embodiment of the present invention;

[0053] Figure 2 This is a schematic structural diagram of an active and passive heave compensation system according to an embodiment of the present invention;

[0054] Figure 3 This is a schematic structural diagram of a hydraulic motor according to an embodiment of the present invention;

[0055] Figure 4 This is a schematic structural diagram of an accumulator device according to an embodiment of the present invention;

[0056] Figure 5 1 is a flow chart of a control method for active and passive heave compensation systems according to a specific embodiment of the present invention;

[0057] Figure 6 Schematic diagram of a block diagram of a control device for an active and passive heave compensation system according to an embodiment of the present invention.

[0058] Reference numerals:

[0059] 1 - Oil source; 2 - Winch; 3 - Drive system; 31 - Hydraulic motor; 311 - Servo motor unit; 312 - Flow control valve; 3131 - First working oil circuit; 3132 - Second working oil circuit; 3141 - First oil supply circuit; 3142 - Second oil supply circuit; 3143 - Fifth one-way valve; 3144 - Sixth one-way valve; 315 - On-off valve assembly; 3151 - First cartridge valve; 3152 - First solenoid valve; 316 - Pressure control valve assembly; 3161 - Connecting oil circuit; 3162 - Second cartridge valve; 3163 - First relief valve; 3164 - Second relief valve; 3165 - Second solenoid valve; 317-variable control mechanism; 318-swing angle control valve; 319-reducer; 310-brake; 32-accumulator device; 321-high-pressure accumulator; 322-low-pressure accumulator; 323-check valve; 324-control valve group; 3241-third overflow valve; 3242-third solenoid valve; 41-pressure oil channel; 42-return oil channel; 43-brake oil channel; 44-drain oil channel; 100-first acquisition module; 200-first calculation module; 300-second acquisition module; 400-third acquisition module; 500-fourth acquisition module; 600-second calculation module; 700-control module. DETAILED DESCRIPTION

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0061] The active and passive heave compensation system of an embodiment of the present invention can be installed on a water platform such as an offshore work vessel. It includes a winch that raises a load by reeling in a rope and lowers it by paying out a rope, and an active hydraulic motor assembly and a passive hydraulic motor assembly that drive the winch. The active hydraulic motor assembly can perform active heave compensation, while the passive hydraulic motor assembly can perform passive heave compensation. The active and passive hydraulic motor assemblies each include at least one hydraulic motor. The output torque can be controlled by controlling the swashplate angle of the hydraulic motor, and the speed can be controlled by controlling the inlet and outlet flow rates of the hydraulic motor.

[0062] like Figure 1 As shown, the control method of the active and passive heave compensation systems according to the embodiment of the present invention includes the following steps:

[0063] S1, obtain the force of the cable used by the winch to suspend the load.

[0064] The force on the cable that suspends the load on the winch, that is, the total load borne by the winch during rotation, can be obtained by, but not limited to, detecting pressure at the pulley and detecting tension on the cable.

[0065] S2, calculating the output torque of the active hydraulic motor device and the output torque of the passive hydraulic motor device according to the force applied to the cable.

[0066] Specifically, first, the total torque can be calculated according to the following formula:

[0067]

[0068] in, T total is the total torque, F is the force on the cable, D is the current diameter of the winch's rope reel, η The output efficiency of the active / passive hydraulic motor device at work.

[0069] The output torque of the active / passive hydraulic motor unit can then be calculated as follows:

[0070]

[0071] in, T m Output torque of active / passive hydraulic motor unit,k m Torque coefficient for active / passive hydraulic motor units.

[0072] For example, if the active hydraulic motor device and the passive hydraulic motor device each include one motor, the two motors are identical, and the output efficiency is 85%, if the force on the cable is 10 5 N, the current diameter of the winch rope is 1.84 m, so the total torque is 1.08×10 5 N·m. The torque coefficient of the active hydraulic motor can be set based on load properties and sea conditions, for example, between 0.3 and 0.5. The torque coefficient of the passive hydraulic motor can be set similarly, for example, between 0.6 and 0.8. Finally, the output torque of the active and passive hydraulic motors is calculated.

[0073] S3, obtain the initial given rope speed.

[0074] The initial given rope speed is the rope speed in the given instruction without considering the influence of waves, ocean currents, etc., that is, the initial target lifting and lowering speed of the load. If the load is hovering, the initial given rope speed is 0.

[0075] S4, obtaining the actual speed of the cable.

[0076] The actual rope speed can be acquired in real time by the absolute displacement encoder on the winch.

[0077] S5, obtain the speed and acceleration of the load.

[0078] The load's speed and acceleration can be collected in real time using the Motion Reference Unit (MRU) attitude sensor. Specifically, the three-dimensional coordinates of the winch's highest point (the heave motion of this point matches the heave motion of the load) relative to the MRU attitude sensor are collected. This coordinate data, including the load's speed and acceleration, can be used to derive motion data.

[0079] S6, calculating the compensated rope speed based on the initial given rope speed, the speed of the load, the actual rope speed and the acceleration of the load.

[0080] Calculating the compensated rope speed based solely on the initial given rope speed, the speed of the load, the actual rope speed, and the acceleration of the load is a calculation that only considers speed compensation. In another embodiment of the present invention, if position compensation is considered, the actual rope displacement of the cable and the displacement of the load can also be obtained, and the position-compensated speed value can be calculated based on the actual rope displacement and the displacement of the load. Furthermore, when calculating the compensated rope speed based on the initial given rope speed, the speed of the load, the actual rope speed, and the acceleration of the load, the position-compensated speed value can also be combined for the calculation. The actual rope displacement of the cable can be collected in real time by the absolute displacement encoder on the winch, and the displacement of the load can be collected in real time by the MRU attitude sensor. Combined with position compensation, the accuracy of the calculated compensated rope speed can be improved, thereby further improving the compensation accuracy of subsequent control.

[0081] In another embodiment of the present invention, it is further determined whether the magnitude of the initial given rope speed is greater than a preset threshold. If so, the position compensation speed value is not incorporated into the calculation of the compensated rope speed; if not, the position compensation speed value is incorporated into the calculation of the compensated rope speed. For example, when the initial given rope speed is greater than the preset threshold, for example, when the rope is being paid out quickly, the influence of waves on the payout speed is minimal. Therefore, position compensation is not required when the initial given rope speed is high. For example, when the initial given rope speed is not greater than the preset threshold, for example, in an extreme situation where the rope is neither being paid out nor reeled in, the horizontal position of the load in the water remains unchanged, and the movement of the waves is sufficient to significantly affect the vertical movement of the load, position compensation is required to improve the accuracy of the final compensated load position. The preset threshold can be set and adjusted according to actual sea conditions, for example, it can be set to 0.2 m / s. By determining the magnitude of the initial given rope speed and determining whether to incorporate the position compensation speed value into the calculation of the compensated rope speed based on the determination result, position compensation can be performed when necessary, while simplifying the calculation and control process when it is not necessary.

[0082] In some embodiments of the present invention, the compensated rope speed may be calculated according to the following formula:

[0083]

[0084] in, v ref is the rope speed after compensation, v pre is the initial given rope speed, v load is the speed of the load, v com is the position compensation speed value, v cab is the actual rope speed, a load is the acceleration of the load,k 1 is the speed error amplification factor, k 2 is the acceleration feedforward coefficient, If the position compensation speed value is not used for calculation, then v com Take 0, where s cab is the actual rope displacement, s load is the displacement of the load, k 3 is the displacement error amplification factor. The above position compensation speed value v com The calculation formula, in which the displacement difference is multiplied by the displacement error magnification factor as the velocity data, is a simplified calculation adopted in the embodiment of the present invention because it is difficult to derive the displacement in complex upheaval motions such as waves and currents. In a specific embodiment of the present invention, k 1 can be taken as 0.5, k 2 can be taken as 0.001, k 3 can be taken as 120%, and can be adjusted appropriately according to the requirements for heave compensation effect.

[0085] It should be noted that the units of all parameters in the embodiments of the present invention may be in international standard units. Since heave and rope retraction involve two directions, when collecting and calculating parameters such as displacement, velocity, and acceleration, the parameter values in any direction can be set as positive numbers, while the parameter values in the opposite direction can be set as negative numbers. For example, the rope retraction direction can be set as positive, while the load lifting direction can be set as positive. This ensures the accuracy of the calculation process and results.

[0086] S7, performing torque control on the active hydraulic motor device according to the output torque of the active hydraulic motor device, performing torque control on the passive hydraulic motor device according to the output torque of the passive hydraulic motor device, and performing speed control on the active hydraulic motor device according to the compensated rope speed.

[0087] After obtaining the output torque and rope speed of the active / passive hydraulic motor device, the torque and speed of the active / passive hydraulic motor device can be controlled in combination with the motor structure and control principle so that the active / passive hydraulic motor device can achieve the control target after compensation.

[0088] In one embodiment of the present invention, the active hydraulic motor device and the passive hydraulic motor device respectively include a swing angle control valve and a flow control valve corresponding to their hydraulic motors. The swing angle control valve controls the output torque by controlling the swing angle of the swash plate of the hydraulic motor, and the flow control valve controls the speed by controlling the inlet and outlet flow of the hydraulic motor.

[0089] Further, if Figure 2As shown, in the active and passive heave compensation system, where the oil source 1 provides oil and ultimately drives the winch 2, oil is supplied and returned between the oil source 1 and the drive system 3 via four oil passages: a pressure oil passage 41, a return oil passage 42, a brake oil passage 43, and a drain oil passage 44. The drive system 3 includes an active hydraulic motor device and a passive hydraulic motor device. Figure 2 In the example, the active hydraulic motor device and the passive hydraulic motor device each include two hydraulic motors 31 (four in total). The structure of each hydraulic motor 31 is the same, and the four hydraulic motors 31 are connected in parallel to the winch 2.

[0090] like Figure 3 As shown, the hydraulic motor 31 includes a servo motor unit 311 and a flow control valve 312. The servo motor unit 311 has oil ports A and B, and the flow control valve 312 has oil ports p, t, a, and b. Port p of the flow control valve 312 communicates with the pressure oil passage 41 to introduce pressurized oil; port t of the flow control valve 312 communicates with the oil return passage 42; port a of the flow control valve 312 communicates with port A of the servo motor unit 311 via a first working oil passage 3131, and port b of the flow control valve 312 communicates with port B of the servo motor unit 311 via a second working oil passage 3132. The flow control valve 312 is a servo valve, specifically a three-position four-way valve. When the flow control valve 312 is in the middle position, almost no oil reaches the servo motor unit 311. When the flow control valve 312 is in the first working position, the oil port p of the flow control valve 312 is connected to a, and the oil port t is connected to b, so the oil port A of the servo motor unit 311 enters oil, and the oil port B exits oil; when the flow control valve 312 is in the second working position, the oil port p of the flow control valve 312 is connected to b, and the oil port t is connected to a, so the pressure oil enters oil port B of the servo motor unit 311, and the oil port A exits oil.

[0091] like Figure 3 As shown, an on-off valve assembly 315 may be provided on the first working oil circuit 3131. The on-off valve assembly 315 includes a first cartridge valve 3151 and a first solenoid valve 3152, and is used to control the on-off flow between the oil port a of the flow control valve 312 and the oil port A of the servo motor unit 311. In this embodiment of the present invention, when the hydraulic motor 31 is operating, the on-off valve assembly 315 remains connected.

[0092] like Figure 3As shown, a pressure control valve assembly 316 may be provided between the first working oil circuit 3131 and the second working oil circuit 3132. The pressure control valve assembly 316 includes a connecting oil circuit 3161, on which a second cartridge valve 3162 is provided. The second cartridge valve 3162 controls the opening and closing of the connecting oil circuit 3161. The control chambers of the first working oil circuit 3131 and the second cartridge valve 3162 are both connected to a relief structure, which includes a first relief valve 3163, a second relief valve 3164, and a second solenoid valve 3165. The control chambers of the first working oil circuit 3131 and the second cartridge valve 3162 are directly connected to the first relief valve 3163, and the control chambers of the first working oil circuit 3131 and the second cartridge valve 3162 are connected to the second relief valve 3164 via the second solenoid valve 3165. When the second solenoid valve 3165 is de-energized, the control chambers of the first working oil circuit 3131 and the second cartridge valve 3162 communicate only with the first relief valve 3163. When the second solenoid valve 3165 is energized, the control chambers of the first working oil circuit 3131 and the second cartridge valve 3162 communicate with both the first relief valve 3163 and the second relief valve 3164. Preferably, the pressure setting value of the first relief valve 3163 is higher than the pressure setting value of the second relief valve 3164. That is, when the second solenoid valve 3165 is de-energized, the first relief valve 3163 is in the working position; when the second solenoid valve 3165 is energized and reversed, the second relief valve 3164 is in the working position. The first working oil circuit 3131 is the motor load oil circuit. When the oil pressure in the first working oil circuit 3131 is too high, the first overflow valve 3163 or the second overflow valve 3164 opens, the control chamber of the second cartridge valve 3162 releases pressure, the connecting oil circuit 3161 is in a connected state, the first working oil circuit 3131 and the second working oil circuit 3132 are connected, and the oil ports A and B of the servo motor unit 311 are connected to achieve pressure protection.

[0093] In one embodiment of the present invention, the servo motor unit 311 may be a plunger motor having a variable control mechanism 317 and a swing angle control valve 318. The variable control mechanism 317 moves and pushes the swash plate under the control of the swing angle control valve 318. The swing angle control valve 318 is controlled by providing different signals to control the swing angle of the servo motor unit 311. The swing angle control valve 318 may be a proportional valve.

[0094] like Figure 3 As shown, the servo motor unit 311 can be connected to the winch 2 through the reducer 319 ; a brake 310 is provided corresponding to each hydraulic motor 31 , and the brake 310 is located between the servo motor unit 311 and the reducer 319 .

[0095] In addition, to avoid oil shortage, such as Figure 3As shown, two oil supply circuits can also be provided, namely a first oil supply circuit 3141 and a second oil supply circuit 3142. The first oil supply circuit 3141 connects the return oil passage 42 and the first working oil passage 3131. A fifth one-way valve 3143 is provided on the first oil supply circuit 3141 to control the one-way flow of oil from the return oil passage 42 to the first working oil passage 3131; the second oil supply circuit 3142 connects the return oil passage 42 and the second working oil passage 3132. A sixth one-way valve 3144 is provided on the second oil supply circuit 3142 to control the one-way flow of oil from the return oil passage 42 to the second working oil passage 3132.

[0096] like Figure 2 As shown, the drive system 3 may further include an accumulator device 32 connected to the flow control valve of the passive hydraulic motor device. During passive compensation, the wave energy absorbed by the accumulator device 32 provides drive for the speed control portion of the passive hydraulic motor device. Specifically, the oil port p of the flow control valve 312 of the active hydraulic motor device is connected to the pressure oil passage 41, and the oil port p of the flow control valve 312 of the passive hydraulic motor device is connected to the accumulator device 32.

[0097] like Figure 4 As shown, the accumulator device 32 includes a high-pressure accumulator 321 and a low-pressure accumulator 322. The pressure oil in the pressure oil channel 41 flows to the high-pressure accumulator 321 through a one-way valve 323. The high-pressure accumulator 321 is connected to the hydraulic motor 31 of the passive hydraulic motor device; the high-pressure accumulator 321 and the return oil channel 42 are connected through a control valve group 324.

[0098] like Figure 4 As shown, there can be multiple high-pressure accumulators 321, arranged in parallel. The number of high-pressure accumulators 321 can be adjusted based on the load of winch 2, motor displacement, and sea conditions. High-pressure accumulators 321 are primarily used for passive heave compensation. There can be multiple low-pressure accumulators 322, arranged in parallel. The low-pressure accumulators 322 are connected to the oil return passage 42 to stabilize the return oil pressure, reduce oil return shock caused by changes in oil flow rate, and improve control accuracy during active compensation.

[0099] like Figure 4 As shown, the control valve group 324 includes a third relief valve 3241 and a third solenoid valve 3242 arranged in parallel. When the pressure of the high-pressure accumulator 321 is too high, the pressure can be released to the return oil channel 42 through the third relief valve 3241. In addition, the third solenoid valve 3242 can be controlled to be electrically connected to release the pressure of the high-pressure accumulator 321; the third solenoid valve 3242 maintains the pressure when the power is lost.

[0100] In one embodiment of the present invention, the flow control valve of the passive hydraulic motor assembly has a preset opening. Specifically, in this embodiment of the present invention, the speed of the passive hydraulic motor assembly is controlled by setting the flow control valve of the passive hydraulic motor assembly to a preset opening. Specifically, the opening of the flow control valve of the passive hydraulic motor assembly is constantly set to 100%.

[0101] Based on the above specific structure of the active and passive heave compensation system, the torque control of the active / passive hydraulic motor device is carried out according to the output torque of the active / passive hydraulic motor device. Specifically, the output torque of the active / passive hydraulic motor device is calculated. T m After that, the set control displacement of the swing angle control valve of the active / passive hydraulic motor device can be calculated according to the following formula:

[0102]

[0103] in, V To set the control displacement, Δ P The hydraulic inlet and outlet pressure difference of the active / passive hydraulic motor device, n The number of hydraulic motors in the active / passive hydraulic motor unit, i The transmission ratio of the active / passive hydraulic motor unit driving the winch, T m Output torque of active / passive hydraulic motor unit.

[0104] Then, the swash plate angle of the active / passive hydraulic motor unit can be calculated according to the following formula:

[0105]

[0106] in, A The swash plate angle of the active / passive hydraulic motor unit, V g The maximum control displacement of the swivel angle control valve for the active / passive hydraulic motor unit.

[0107] Finally, the swing angle control valve of the active / passive hydraulic motor device is controlled according to the calculated swash plate swing angle of the active / passive hydraulic motor device.

[0108] Taking the example that the active hydraulic motor device and the passive hydraulic motor device each include one motor, the two motors are identical, and the output efficiency is 85%, the transmission ratio of the active hydraulic motor device driving the winch is i =126, the hydraulic inlet and outlet pressure difference of the active hydraulic motor device Δ P The torque coefficient of the active hydraulic motor device is 250 bar. k m is 0.3, and the total torque is 1.08×10 5N·m, maximum control displacement of the swing angle control valve of the active hydraulic motor device V g =215cm 3 / r, substituting these data into the formula, we can calculate that the swash plate angle of the active hydraulic motor device is set to 30% of the maximum value; the transmission ratio of the passive hydraulic motor device driving the winch is i =126, the hydraulic inlet and outlet pressure difference of the passive hydraulic motor device Δ P The torque coefficient of the passive hydraulic motor device is 250 bar. k m is 0.8, and the total torque is 1.08×10 5 N·m, maximum control displacement of the swing angle control valve of the passive hydraulic motor device V g =215cm 3 / r, substituting these data into the formula, it can be calculated that the swash plate swing angle of the passive hydraulic motor device is set to 80% of the maximum value.

[0109] Through the active and passive heave compensation system with the above-mentioned specific structure, the swash plate swing angle and the inlet and return oil flow of the hydraulic motor are controlled by the swing angle control valve (proportional valve) and the flow control valve (servo valve) respectively. This can realize closed-loop control of the winch output torque and closed-loop control of the rope reeling and releasing speed, and the two are independent of each other and do not affect each other.

[0110] In a specific embodiment of the present invention, the specific control process of the active and passive heave compensation systems is as follows: Figure 5As shown in the figure, the force acting on the cable that suspends the load from the winch is detected by a force sensor. Based on this force, the swing angle control valve of the passive hydraulic motor unit and the swing angle control valve of the active hydraulic motor unit are controlled respectively. The flow control valve of the passive hydraulic motor unit is controlled by an accumulator unit. The flow control valve of the active hydraulic motor unit is controlled based on the rope speed command initially given by the controller, the motion data detected by the MRU attitude sensor, and the winch position (i.e., the load position) detected by the absolute displacement encoder. The winch is driven by the active and passive hydraulic motor units. Among them, the control of the flow control valve of the active hydraulic motor device is specifically as follows: at the judgment node, according to the rope speed instruction initially given by the controller, it is judged whether the rope speed is greater than the preset threshold value. If so, position compensation is not performed, otherwise, position compensation is performed; at the position compensation node, the difference between the actual rope displacement and the load displacement is calculated, and then multiplied by the displacement error amplification coefficient to obtain the position compensation speed value, and output it to the speed compensation node; at the speed compensation node, the initial given rope speed plus the load speed is calculated, and then the position compensation speed value is added (if position compensation is performed), and the result is output to the rope speed calculation node; at the rope speed calculation node, the difference between the value output by the speed compensation node and the actual rope speed is calculated, multiplied by the speed error amplification coefficient, and then the product of the load acceleration and the acceleration feedforward coefficient is added to obtain the compensated rope speed. Finally, the flow control valve of the active hydraulic motor device is controlled based on the compensated rope speed.

[0111] In summary, according to the control method of the active and passive heave compensation system of the embodiment of the present invention, the winch is driven by the active hydraulic motor device and the passive hydraulic motor device, the output torque of the active and passive hydraulic motor devices is controlled according to the force of the cable that suspends the load by the winch, and the rotational speed of the active hydraulic motor device is controlled in combination with the initial given rope speed, the speed of the load, the actual rope speed and the acceleration of the load. As a result, not only is the compensation capability strong and suitable for severe sea conditions, but the compensation accuracy is also high, which effectively ensures the smooth progress of operations such as hydrological and geological surveys.

[0112] Corresponding to the control method of the active and passive heave compensation system in the above embodiment, the present invention further provides a control device for the active and passive heave compensation system.

[0113] like Figure 6As shown, the control device of the active and passive heave compensation system according to the embodiment of the present invention includes a first acquisition module 100, a first calculation module 200, a second acquisition module 300, a third acquisition module 400, a fourth acquisition module 500, a second calculation module 600, and a control module 700. The first acquisition module 100 is used to acquire the force applied to the cable used by the winch to suspend the load; the first calculation module 200 is used to calculate the output torque of the active hydraulic motor device and the output torque of the passive hydraulic motor device based on the force applied to the cable; the second acquisition module 300 is used to acquire the initial given rope speed; the third acquisition module 400 is used to acquire the actual rope speed of the cable; the fourth acquisition module 500 is used to acquire the speed and acceleration of the load; the second calculation module 600 is used to calculate the compensated rope speed based on the initial given rope speed, the speed of the load, the actual rope speed, and the acceleration of the load; and the control module 700 is used to control the torque of the active hydraulic motor device based on its output torque, control the torque of the passive hydraulic motor device based on its output torque, and control the speed of the active hydraulic motor device based on the compensated rope speed.

[0114] Furthermore, the third acquisition module 400 can also obtain the actual rope displacement of the cable, the fourth acquisition module 500 can also obtain the displacement of the load, and the second calculation module 600 can also calculate the position compensation speed value based on the actual rope displacement and the displacement of the load. When the second calculation module 600 calculates the compensated rope speed based on the initial given rope speed, the speed of the load, the actual rope speed and the acceleration of the load, it can also be calculated in combination with the position compensation speed value.

[0115] Furthermore, the second calculation module 600 can also determine whether the initial given rope speed is greater than a preset threshold. If so, the position compensation speed value is not used in calculating the compensated rope speed; if not, the position compensation speed value is used in calculating the compensated rope speed.

[0116] Furthermore, the second calculation module 600 may calculate the compensated rope speed according to the following formula:

[0117]

[0118] in, v ref is the rope speed after compensation, v pre is the initial given rope speed, v load is the speed of the load, v com is the position compensation speed value, v cab is the actual rope speed, a load is the acceleration of the load,k 1 is the speed error amplification factor, k 2 is the acceleration feedforward coefficient, If the position compensation speed value is not used for calculation, then v com Take 0, where s cab is the actual rope displacement, s load is the displacement of the load, k 3 is the displacement error amplification factor.

[0119] Furthermore, the active hydraulic motor device and the passive hydraulic motor device respectively include a swing angle control valve and a flow control valve corresponding to their hydraulic motors. The swing angle control valve controls the output torque by controlling the swing angle of the swash plate of the hydraulic motor, and the flow control valve controls the speed by controlling the inlet and outlet flow of the hydraulic motor.

[0120] Furthermore, the active and passive heave compensation system may further include an accumulator device, the accumulator device is connected to a flow control valve of the passive hydraulic motor device, and the flow control valve of the passive hydraulic motor device has a preset opening.

[0121] Furthermore, the first calculation module 200 may specifically calculate the total torque according to the following formula:

[0122]

[0123] in, T total is the total torque, F is the force on the cable, D is the current diameter of the winch's rope reel, η The output efficiency of the active / passive hydraulic motor device at work.

[0124] Then, calculate the output torque of the active / passive hydraulic motor unit according to the following formula:

[0125]

[0126] in, T m Output torque of active / passive hydraulic motor unit, k m Torque coefficient for active / passive hydraulic motor units.

[0127] Furthermore, the control module 700 may specifically calculate the set control displacement of the swing angle control valve of the active / passive hydraulic motor device according to the following formula:

[0128]

[0129] in, VTo set the control displacement, Δ P The hydraulic inlet and outlet pressure difference of the active / passive hydraulic motor device, n The number of hydraulic motors in the active / passive hydraulic motor unit, i The transmission ratio of the active / passive hydraulic motor unit driving the winch, T m Output torque of active / passive hydraulic motor unit.

[0130] Then, calculate the swash plate angle of the active / passive hydraulic motor unit according to the following formula:

[0131]

[0132] in, A The swash plate angle of the active / passive hydraulic motor unit, V g The maximum control displacement of the swivel angle control valve for the active / passive hydraulic motor unit.

[0133] Finally, the swing angle control valve of the active / passive hydraulic motor device is controlled according to the calculated swash plate swing angle of the active / passive hydraulic motor device.

[0134] For more specific implementations, reference may be made to the above-mentioned embodiments of the control methods for the active and passive heave compensation systems, which will not be described in detail here.

[0135] According to the control device of the active and passive heave compensation system of the embodiment of the present invention, the winch is driven by the active hydraulic motor device and the passive hydraulic motor device, the output torque of the active and passive hydraulic motor devices is controlled according to the force of the cable that suspends the load by the winch, and the rotational speed of the active hydraulic motor device is controlled in combination with the initial given rope speed, the speed of the load, the actual rope speed and the acceleration of the load. As a result, not only is the compensation capability strong and suitable for severe sea conditions, but the compensation accuracy is also high, effectively ensuring the smooth progress of operations such as hydrological and geological surveys.

[0136] Based on the control device of the active and passive heave compensation system of the above embodiment, the present invention further proposes an active and passive heave compensation system.

[0137] The active and passive heave compensation systems of the embodiments of the present invention include the control device of the active and passive heave compensation systems of any of the above embodiments of the present invention. The specific implementation methods thereof can refer to the above embodiments and will not be described in detail here.

[0138] The active and passive heave compensation systems according to the embodiments of the present invention not only have strong compensation capabilities and are suitable for severe sea conditions, but also have high compensation accuracy, effectively ensuring the smooth progress of operations such as hydrological and geological surveys.

[0139] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. "Multiple" means two or more, unless otherwise specifically defined.

[0140] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0141] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0142] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0143] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0144] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (not exhaustive) of computer-readable media include: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0145] It should be understood that various components of the present invention may be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods may be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof may be used: a discrete logic circuit having logic gate circuits for implementing logic functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

[0146] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0147] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0148] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A control method for active and passive heave compensation systems, characterized in that: The active and passive heave compensation system includes a winch for lifting a load by reeling in a rope and lowering a load by releasing a rope, an active hydraulic motor device and a passive hydraulic motor device for driving the winch, each of the active hydraulic motor device and the passive hydraulic motor device including at least one hydraulic motor, the output torque is controlled by controlling the swash plate angle of the hydraulic motor, and the speed is controlled by controlling the inlet and outlet flow of the hydraulic motor. The control method includes the following steps: Obtaining the force of the cable used by the winch to suspend the load; calculating the output torque of the active hydraulic motor device and the output torque of the passive hydraulic motor device respectively according to the force applied to the cable; Get the initial given rope speed; Obtaining the actual rope speed of the cable; obtaining the velocity and acceleration of the load; calculating a compensated rope speed based on the initial given rope speed, the speed of the load, the actual rope speed, and the acceleration of the load; The active hydraulic motor device is torque-controlled according to its output torque, the passive hydraulic motor device is torque-controlled according to its output torque, and the active hydraulic motor device is speed-controlled according to the compensated rope speed.

2. The control method of the active and passive heave compensation system according to claim 1, characterized in that: Also includes: obtaining an actual rope displacement of the cable; obtaining a displacement of the load; Calculating a position-compensated velocity value based on the actual rope displacement and the displacement of the load, When the compensated rope speed is calculated based on the initial given rope speed, the speed of the load, the actual rope speed and the acceleration of the load, the position-compensated speed value is also used for calculation.

3. The control method of the active and passive heave compensation system according to claim 2, characterized in that: Also includes: Determining whether the initial given rope speed is greater than a preset threshold; If so, the position-compensated speed value is not used in calculating the compensated rope speed; If not, the position-compensated speed value is used in conjunction with the calculated rope speed after compensation.

4. The control method of the active and passive heave compensation system according to claim 3, characterized in that: The compensated rope speed is calculated according to the following formula: ； in, v ref is the rope speed after compensation, v pre is the initial given rope speed, v load is the speed of the load, v com is the position compensation speed value, v cab is the actual rope speed, a load is the acceleration of the load, k 1 is the speed error amplification factor, k 2 is the acceleration feedforward coefficient, , if the position compensation speed value is not combined for calculation, then v com Take 0, where s cab is the actual rope displacement, s load is the displacement of the load, k 3 is the displacement error amplification factor.

5. The control method of the active and passive heave compensation system according to any one of claims 1 to 4, characterized in that: The active hydraulic motor device and the passive hydraulic motor device respectively include a swing angle control valve and a flow control valve corresponding to their hydraulic motors. The swing angle control valve controls the output torque by controlling the swing angle of the swash plate of the hydraulic motor, and the flow control valve controls the speed by controlling the inlet and outlet flow of the hydraulic motor.

6. The control method of the active and passive heave compensation system according to claim 5, characterized in that: The active and passive heave compensation system further includes an accumulator device, which is connected to a flow control valve of the passive hydraulic motor device. The flow control valve of the passive hydraulic motor device has a preset opening.

7. The control method of active and passive heave compensation system according to claim 1, characterized in that: Calculating the output torque of the active / passive hydraulic motor device according to the force applied to the cable specifically includes: Calculate the total torque using the following formula: ； in, T total is the total torque, F is the force on the cable, D is the current diameter of the winch's rope reel, η The output efficiency of the active / passive hydraulic motor device in operation; The output torque of the active / passive hydraulic motor device is calculated according to the following formula: ； in, T m is the output torque of the active / passive hydraulic motor device, k m is the torque coefficient of the active / passive hydraulic motor device.

8. The control method of the active and passive heave compensation system according to claim 5, characterized in that: The torque control of the active / passive hydraulic motor device is performed according to the output torque of the active / passive hydraulic motor device, specifically comprising: The set control displacement of the swing angle control valve of the active / passive hydraulic motor device is calculated according to the following formula: ； in, V For the set control displacement, Δ P is the hydraulic inlet and outlet pressure difference of the active / passive hydraulic motor device, n is the number of hydraulic motors in the active / passive hydraulic motor device, i The transmission ratio of the active / passive hydraulic motor device driving the winch, T m is the output torque of the active / passive hydraulic motor device; The swash plate angle of the active / passive hydraulic motor device is calculated according to the following formula: ； in, A is the swash plate angle of the active / passive hydraulic motor device, V g The maximum control displacement of the swing angle control valve of the active / passive hydraulic motor device; The swing angle control valve of the active / passive hydraulic motor device is controlled according to the calculated swash plate swing angle of the active / passive hydraulic motor device.

9. A control device for active and passive heave compensation systems, characterized in that: The active and passive heave compensation system includes a winch for lifting a load by reeling in a rope and lowering a load by releasing a rope, an active hydraulic motor device and a passive hydraulic motor device for driving the winch, each of the active hydraulic motor device and the passive hydraulic motor device including at least one hydraulic motor, the output torque is controlled by controlling the swash plate angle of the hydraulic motor, and the speed is controlled by controlling the inlet and outlet flow of the hydraulic motor. The control device includes: a first acquisition module, configured to acquire a force applied to a cable used by the winch to suspend the load; a first calculation module, configured to calculate the output torque of the active hydraulic motor device and the output torque of the passive hydraulic motor device according to the force applied to the cable; a second acquisition module, the second acquisition module being used to acquire an initial given rope speed; a third acquisition module, configured to acquire an actual rope speed of the cable; a fourth acquisition module, configured to acquire the speed and acceleration of the load; a second calculation module, configured to calculate a compensated rope speed based on the initial given rope speed, the speed of the load, the actual rope speed, and the acceleration of the load; A control module is configured to perform torque control on the active hydraulic motor device according to the output torque of the active hydraulic motor device, perform torque control on the passive hydraulic motor device according to the output torque of the passive hydraulic motor device, and perform speed control on the active hydraulic motor device according to the compensated rope speed.

10. The control device of the active and passive heave compensation system according to claim 9, characterized in that: The third acquisition module further acquires the actual rope displacement of the cable, the fourth acquisition module further acquires the displacement of the load, the second calculation module further calculates a position-compensated speed value based on the actual rope displacement and the displacement of the load, and the second calculation module also combines the position-compensated speed value in calculating the compensated rope speed based on the initial given rope speed, the speed of the load, the actual rope speed, and the acceleration of the load.

11. The control device of the active and passive heave compensation system according to claim 10, characterized in that: The second calculation module further determines whether the magnitude of the initial given rope speed is greater than a preset threshold value. If so, the position compensation speed value is not used in calculating the compensated rope speed; if not, the position compensation speed value is used in calculating the compensated rope speed.

12. The control device of the active and passive heave compensation system according to claim 11, characterized in that: The second calculation module calculates the compensated rope speed according to the following formula: ； in, v ref is the rope speed after compensation, v pre is the initial given rope speed, v load is the speed of the load, v com is the position compensation speed value, v cab is the actual rope speed, a load is the acceleration of the load, k 1 is the speed error amplification factor, k 2 is the acceleration feedforward coefficient, , if the position compensation speed value is not combined for calculation, then v com Take 0, where s cab is the actual rope displacement, s load is the displacement of the load, k 3 is the displacement error amplification factor.

13. The control device of the active and passive heave compensation system according to any one of claims 9 to 12, characterized in that: The active hydraulic motor device and the passive hydraulic motor device respectively include a swing angle control valve and a flow control valve corresponding to their hydraulic motors. The swing angle control valve controls the output torque by controlling the swing angle of the swash plate of the hydraulic motor, and the flow control valve controls the speed by controlling the inlet and outlet flow of the hydraulic motor.

14. The control device of the active and passive heave compensation system according to claim 13, characterized in that: The active and passive heave compensation system further includes an accumulator device, which is connected to a flow control valve of the passive hydraulic motor device. The flow control valve of the passive hydraulic motor device has a preset opening.

15. The control device of the active and passive heave compensation system according to claim 9, characterized in that: The first calculation module is specifically configured to: Calculate the total torque using the following formula: ； in, T total is the total torque, F is the force on the cable, D is the current diameter of the winch's rope reel, η The output efficiency of the active / passive hydraulic motor device in operation; The output torque of the active / passive hydraulic motor device is calculated according to the following formula: ； in, T m is the output torque of the active / passive hydraulic motor device, k m is the torque coefficient of the active / passive hydraulic motor device.

16. The control device of the active and passive heave compensation system according to claim 13, characterized in that: The control module is specifically used for: The set control displacement of the swing angle control valve of the active / passive hydraulic motor device is calculated according to the following formula: ； in, V For the set control displacement, Δ P is the hydraulic inlet and outlet pressure difference of the active / passive hydraulic motor device, n is the number of hydraulic motors in the active / passive hydraulic motor device, i The transmission ratio of the active / passive hydraulic motor device driving the winch, T m is the output torque of the active / passive hydraulic motor device; The swash plate angle of the active / passive hydraulic motor device is calculated according to the following formula: ； in, A is the swash plate angle of the active / passive hydraulic motor device, V g The maximum control displacement of the swing angle control valve of the active / passive hydraulic motor device; The swing angle control valve of the active / passive hydraulic motor device is controlled according to the calculated swash plate swing angle of the active / passive hydraulic motor device.

17. An active and passive heave compensation system, characterized in that: The invention comprises a control device for an active and passive heave compensation system according to any one of claims 9 to 16.

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