Double-variable motor type energy recovery experiment device platform for heave compensation winch

Abstract

The invention discloses a double variable displacement motor type energy recovery experiment device platform of a heave compensation winch, and belongs to the technical field of ocean engineering equipment. The double-variable hydraulic motor type energy recovery mechanism comprises a left variable hydraulic motor, a left elastic coupling, a middle connecting shaft, a right elastic coupling, a right variable hydraulic motor, an energy accumulator and an oil tank. The heave compensation experiment platform has the advantages of being large in voltage transformation range, high in energy recovery efficiency and high in response speed, and energy can flow from a low-pressure position to a high-pressure position. The device is wide in application, is used for researching the control and performance influence factors of the energy recovery mechanism of the heave compensation hydraulic winch based on the double-variable motor, can also be used for verifying the control strategy and algorithm of the energy recovery mechanism, and can also be used for researching the influence factors of the dynamic and static characteristics and the recovery reuse efficiency of the energy recovery mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of marine engineering equipment, in particular to an energy recovery experimental device platform for a heave compensation winch. Background Art

[0002] Heave-compensating winches are crucial equipment for ensuring safe operation of many offshore floating operations (such as ultra-deep drilling and floating hoisting) without being affected by waves. Compared to electric winches, hydraulic winches offer advantages such as smaller size, more compact structure, and higher reliability. Heavy-load heave-compensating hydraulic winches consume significant power, so energy recovery technology is an effective way to improve their efficiency and reduce power consumption.

[0003] Hydraulic transformers combined with accumulators can efficiently recover hydraulic pressure energy. Hydraulic transformers can be divided into two categories: traditional and Innas new hydraulic transformers. Researchers have been working to improve the performance of new hydraulic transformers and reduce their size for practical engineering applications. However, to date, new hydraulic transformers still have shortcomings such as a small voltage range, high heat generation, and high noise. They also have low flow and power, and their performance falls far short of the requirements for practical engineering applications. Traditional hydraulic transformers are mainly composed of two coaxially connected variable motors, with a large voltage range, high recovery efficiency, fast response speed, and good reliability. To accelerate the technical maturity of energy recovery for heave-compensating winches, it is necessary to build a dual-variable motor energy recovery experimental device platform for heave-compensating winches based on traditional hydraulic transformers, study its design and control, and obtain its design theory, control algorithm, and performance influencing factors. Summary of the Invention

[0004] The object of the present invention is to provide a heave compensation winch dual variable motor type energy recovery experimental device platform with wide applications, large voltage transformation range and high energy recovery efficiency.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A heave compensation winch dual-variable motor type energy recovery experimental device platform includes a dual-variable hydraulic motor type energy recovery mechanism, the dual-variable hydraulic motor type energy recovery mechanism includes a left variable hydraulic motor, a left elastic coupling, an intermediate connecting shaft, a right elastic coupling, a right variable hydraulic motor, an accumulator and an oil tank, the left end of the intermediate connecting shaft is connected to the output shaft of the left variable hydraulic motor through the left elastic coupling, and the right end of the intermediate connecting shaft is connected to the output shaft of the right variable hydraulic motor through the right elastic coupling, the right variable hydraulic motor is connected in series to the right energy transmission oil pipeline, one end of the right energy transmission oil pipeline is connected to the oil tank, and the other end is connected to the accumulator, and the left variable hydraulic motor is connected in series to the left energy transmission oil pipeline.

[0006] Furthermore, one end of the left energy transmission oil pipeline is connected to the oil tank, and the other end is connected to the quantitative hydraulic motor. The quantitative hydraulic motor is connected to the rotating shaft of the winch drum through a reducer, and the cable on the winch drum is connected to the mass block.

[0007] Furthermore, an auxiliary power output oil pipeline is connected to a connection point A on the pipe wall of the left energy transmission oil pipeline, and the auxiliary power output oil pipeline is connected to an auxiliary power output pump, and the auxiliary power output pump is driven by a servo motor.

[0008] Furthermore, a one-way valve is connected to the auxiliary power output oil pipeline.

[0009] Furthermore, it also includes a control system, which includes a controller, a displacement sensor, an encoder and a torque tachometer. The displacement sensor is used to transmit the displacement information of the mass block to the controller, the encoder is used to transmit the rotational speed of the winch drum to the controller, and the torque tachometer is used to detect the rotational speed and torque of the intermediate connecting shaft and transmit the rotational speed and torque information to the controller. The controller adjusts and controls the displacement of the servo motor left variable hydraulic motor and the right variable hydraulic motor.

[0010] Furthermore, the control system also includes a first bidirectional flow sensor and a second bidirectional flow sensor. The first bidirectional flow sensor and the second bidirectional flow sensor are respectively provided on the left energy transmission oil pipeline and on both sides of the connection point A. The first bidirectional flow sensor and the second bidirectional flow sensor are respectively used to detect the oil flow information of the fixed hydraulic motor and the left variable hydraulic motor, and transmit the oil flow information to the controller.

[0011] Furthermore, the control system also includes a pressure sensor A and a pressure sensor B, which are used to detect the oil pressure at the oil port of the quantitative hydraulic motor and the oil pressure at the oil port of the right accumulator respectively and transmit the oil pressure information to the controller.

[0012] Furthermore, a first overflow valve and a first pressure gauge are connected to the pipeline section on the left energy transmission oil pipeline between the connection point A and the quantitative hydraulic motor.

[0013] Furthermore, a second overflow valve and a second pressure gauge are connected to the right energy transmission oil pipeline and the pipeline section located between the right variable hydraulic motor and the accumulator.

[0014] The beneficial effects of the present invention are: The heave compensation experimental platform of this application adopts a dual-variable hydraulic motor type energy recovery mechanism, which is a combination of a dual-variable hydraulic motor type hydraulic transformer and an accumulator. It has the characteristics of a large voltage range, high energy recovery efficiency, and fast response speed, and can realize the flow of energy from low pressure to high pressure. The system has good reliability, so it is highly feasible to use it as an energy recovery mechanism for a heave compensation winch.

[0015] This application has a wide range of uses. It is used to study the control and performance influencing factors of the energy recovery mechanism of the heave compensation hydraulic winch based on a dual-variable motor. It can also be used to verify the control strategy and algorithm of the energy recovery mechanism, and can also be used to study its dynamic and static characteristics and the influencing factors of the recovery and reuse efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described with reference to the accompanying drawings. However, the embodiments in the accompanying drawings do not limit the present invention in any way. A person skilled in the art can derive other drawings based on the following drawings without inventive effort. Figure 1 It is a structural principle block diagram of the present invention; Figure 2 for Figure 1 The schematic diagram of the structure of the dual variable hydraulic motor type energy recovery mechanism is shown; Figure 3 This is the structural block diagram of the control system.

[0017] Figure: 1. Dual-variable hydraulic motor type energy recovery mechanism; 2. Left variable hydraulic motor; 3. Left elastic coupling; 4. Intermediate connecting shaft; 5. Right elastic coupling; 6. Right variable hydraulic motor; 7. Accumulator; 8. Oil tank; 9. Left energy transmission oil pipeline; 10. Fixed hydraulic motor; 11. Speed ​​reducer; 12. Winch drum; 13. Cable; 14. Mass block; 15. Connection point A; 16. Auxiliary power output oil pipeline; 17. Auxiliary power output pump; 18 , servo motor; 19. One-way valve; 20. Controller; 21. Displacement sensor; 22. Encoder; 23. Torque and tachometer; 24. First bidirectional flow sensor; 25. Second bidirectional flow sensor; 26. Pressure sensor A; 27. Pressure sensor B; 28. First overflow valve; 29. ​​First pressure gauge; 30. Second overflow valve; 31. Second pressure gauge; 32. Right energy transmission oil pipeline; 33. Bracket; 34. Workbench; 35. Long mounting hole. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other unless there is a conflict.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper surface", "lower surface", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "forward", "reverse", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0020] like Figure 1 、 2 As shown, a heave compensation winch dual-variable motor type energy recovery experimental device platform includes a dual-variable hydraulic motor type energy recovery mechanism 1, the dual-variable hydraulic motor type energy recovery mechanism 1 includes a left variable hydraulic motor 2, a left elastic coupling 3, an intermediate connecting shaft 4, a right elastic coupling 5, a right variable hydraulic motor 6, an accumulator 7 and an oil tank 8, the left end of the intermediate connecting shaft 4 is connected to the output shaft of the left variable hydraulic motor 2 through the left elastic coupling 3, and the right end of the intermediate connecting shaft 4 is connected to the output shaft of the right variable hydraulic motor 6 through the right elastic coupling 5, the right variable hydraulic motor 6 is connected in series to the right energy transmission oil pipeline 32, one end of the right energy transmission oil pipeline 32 is connected to the oil tank 8, and the other end is connected to the accumulator 7, and the left variable hydraulic motor 2 is connected in series to the left energy transmission oil pipeline 9.

[0021] One end of the left energy transmission oil pipeline 9 is connected to the oil tank 8, and the other end is connected to the quantitative hydraulic motor 10. The quantitative hydraulic motor 10 is connected to the rotating shaft of the winch drum 12 through the reducer 11, and the cable 13 on the winch drum 12 is connected to the mass block 14.

[0022] An auxiliary power output oil pipeline 16 is connected to the connection point A15 on the pipe wall of the left energy transmission oil pipeline 9. The auxiliary power output oil pipeline 16 is connected to an auxiliary power output pump 17. The auxiliary power output pump 17 is driven by a servo motor 18. A one-way valve 19 is connected to the auxiliary power output oil pipeline 16.

[0023] A heave compensation experimental platform for a winch dual-variable hydraulic motor type energy mechanism also includes a control system, which includes a controller 20, a displacement sensor 21, an encoder 22 and a torque tachometer 23. The displacement sensor 21 is used to transmit the displacement information of the mass block 14 to the controller 20, the encoder 22 is used to transmit the rotational speed of the winch drum 12 to the controller 20, and the torque tachometer 23 is used to detect the rotational speed and torque of the intermediate connecting shaft 4 and transmit the rotational speed and torque information to the controller 20. The controller 20 adjusts and controls the rotational speed of the servo motor 18 and the displacement of the left variable hydraulic motor 2 and the right variable hydraulic motor 6.

[0024] The control system also includes a first bidirectional flow sensor 24 and a second bidirectional flow sensor 25. The first bidirectional flow sensor 24 and the second bidirectional flow sensor 25 are respectively provided on the left energy transmission oil pipeline 9 and on both sides of the connection point A15. The first bidirectional flow sensor 24 and the second bidirectional flow sensor 25 are respectively used to detect the oil flow information of the fixed hydraulic motor 10 and the left variable hydraulic motor 2, and transmit the oil flow information to the controller 20.

[0025] The control system further includes a pressure sensor A26 and a pressure sensor B27 , which are used to detect the oil pressure at the oil port of the quantitative hydraulic motor 10 and the oil pressure at the oil port of the right accumulator 7 respectively and transmit the oil pressure information to the controller 20 .

[0026] The left energy transmission oil pipeline 9 and the pipeline section between the connection point A15 and the quantitative hydraulic motor 10 are connected to a first overflow valve 28 and a first pressure gauge 29 .

[0027] The right energy transmission oil pipeline 32 and the pipeline section between the right variable hydraulic motor 6 and the accumulator 7 are connected to a second relief valve 30 and a second pressure gauge 31 .

[0028] The energy accumulator 7 is mounted on a bracket 33 , and the bracket 33 is fixed in an elongated mounting hole 35 on a workbench 34 by means of bolts.

[0029] like Figure 3 As shown, the control system further includes a feedforward controller, a feedback controller, a flow distributor, an energy recovery device controller and a pump source controller, wherein: The algorithm of the feedforward controller is as follows: ; Where, ; ; ; —Flow-speed gain of hydraulic winch actuator; - effective time constant of the hydraulic winch actuator; ——Sampling time of the experimental control procedure.

[0030] The feedback controller uses an incomplete integral PID controller ; Where, are the proportional coefficient, integral coefficient, and differential coefficient of the PID controller respectively. is the number of sampling errors used in the integration step.

[0031] The algorithm of the traffic distributor is as follows: ; Where k T is the flow distribution coefficient.

[0032] when That is, when the hydraulic motor 4 rotates forward, the pump source and the energy recovery device need to supply oil together, k T The calculation formula is ; when That is, when the hydraulic motor 4 reverses, energy is recovered and the pump source does not work. .

[0033] Energy recovery device controller ; Where, - initial displacement of motor 15; - the maximum adjustable displacement of the motor 15; —The maximum flow rate of the energy recovery device; —Differential pressure-displacement compensation factor.

[0034] ; Where, 、 —Mechanical efficiency of elementary motors 15, 19 ——Torque adjustment of the energy recovery mechanism.

[0035] During the recovery phase, the symbol in the above formula is "-"; while during the energy release phase, it is "+". The calculation formula is: ; Where, — moment of inertia of the hydraulic transformer; — Adjust the time.

[0036] The pump source controller is: ; Where, is the speed flow gain of the pump source.

[0037] Working Principle: When the fixed-displacement hydraulic motor 10 drives the winch drum 12 forward through the speed reducer 11, the winding 13 on the winch drum 12 is rewound, and the mass 14 rises. When the fixed-displacement hydraulic motor 10 reverses, the winch drum 12 rotates, the winding 13 unwinds, and the mass 14 descends. When the mass descends, the servo motor 18 is stopped, i.e., ns = 0. Under the weight of the mass 14, the winch drum 12 drives the fixed-displacement hydraulic motor 10 in reverse, and the fixed-displacement hydraulic motor 10 operates in pump mode. Hydraulic oil enters the dual-variable hydraulic motor energy recovery mechanism 1, and energy recovery begins. During energy recovery, the left variable hydraulic motor 2 operates in motor mode, driving the right variable hydraulic motor 6, which then operates in hydraulic pump mode. Hydraulic oil enters the accumulator 7, achieving energy recovery. As energy recovery progresses, the pressure in the accumulator increases, making recovery difficult. In this case, reducing the displacement V2 of the right variable hydraulic motor 6 and increasing the displacement V1 of the left variable hydraulic motor 2 ensures energy recovery. During the energy storage process, when the pressure in the accumulator 7 exceeds the set pressure of the second relief valve 30, the second relief valve 30 opens to release the overflow valve, implementing a safety protection function. When the mass needs to be raised, the displacement of the right variable hydraulic motor 6 is increased, while the displacement of the left variable hydraulic motor 2 is reduced. Under the action of the pressurized oil in the accumulator, the right variable hydraulic motor 6 operates in a motor mode, driving the left variable hydraulic motor 2 to rotate, causing the left variable hydraulic motor 2 to operate in a pump mode. The dual-variable hydraulic motor-type energy recovery mechanism 1 outputs hydraulic oil. This hydraulic oil drives the fixed displacement hydraulic motor 10, which in turn drives the drum in forward rotation, raising the mass 7 and releasing the recovered energy. As the energy release continues, the pressure in the accumulator decreases. At this point, the displacement V2 of the right variable hydraulic motor 6 continues to increase, while the displacement V1 of the left variable hydraulic motor 2 decreases to continue releasing energy. However, the released energy decreases, and the output hydraulic oil flow rate decreases. When the flow output by the dual-variable hydraulic motor type energy recovery mechanism 1 is insufficient, causing the mass block to rise slower than the desired rising speed, the servo motor 18 starts and drives the auxiliary power output pump 17 to output hydraulic oil; the auxiliary power output pump 17 and the dual-variable hydraulic motor type energy recovery mechanism 1 together supply oil to the given hydraulic motor 10 to ensure that the rising speed of the mass block meets the requirements. The lower the oil pressure in the accumulator, the smaller the output flow, and the faster the servo motor will speed. When the pressure in the accumulator is too low, the output flow is very small. At this time, the auxiliary power output pump 17 is used to supply oil alone. The first overflow valve 28 is used as a safety valve to limit the maximum working pressure.

[0038] In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent. Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A heave compensation winch dual variable motor type energy recovery experimental device platform, characterized by: It includes a dual-variable hydraulic motor type energy recovery mechanism, which includes a left variable hydraulic motor, a left elastic coupling, an intermediate connecting shaft, a right elastic coupling, a right variable hydraulic motor, an accumulator and an oil tank. The left end of the intermediate connecting shaft is connected to the output shaft of the left variable hydraulic motor through the left elastic coupling, and the right end of the intermediate connecting shaft is connected to the output shaft of the right variable hydraulic motor through the right elastic coupling. The right variable hydraulic motor is connected in series to the right energy transmission oil pipeline, one end of the right energy transmission oil pipeline is connected to the oil tank, and the other end is connected to the accumulator. The left variable hydraulic motor is connected in series to the left energy transmission oil pipeline.

2. The heave compensation winch dual variable motor type energy recovery experimental device platform according to claim 1 is characterized by: One end of the left energy transmission oil pipeline is connected to the oil tank, and the other end is connected to the quantitative hydraulic motor. The quantitative hydraulic motor is connected to the rotating shaft of the winch drum through a reducer, and the cable on the winch drum is connected to the mass block.

3. The heave compensation winch dual variable motor type energy recovery experimental device platform according to claim 2 is characterized by: An auxiliary power output oil pipeline is connected to a connection point A on the pipe wall of the left energy transmission oil pipeline. The auxiliary power output oil pipeline is connected to an auxiliary power output pump, and the auxiliary power output pump is driven by a servo motor.

4. The heave compensation winch dual variable motor type energy recovery experimental device platform according to claim 3 is characterized by: A one-way valve is connected to the auxiliary power output oil pipeline.

5. The heave compensation winch dual variable motor type energy recovery experimental device platform according to claim 4 is characterized by: It also includes a control system, which includes a controller, a displacement sensor, an encoder and a torque tachometer. The displacement sensor is used to transmit the displacement information of the mass block to the controller, the encoder is used to transmit the rotational speed of the winch drum to the controller, and the torque tachometer is used to detect the rotational speed and torque of the intermediate connecting shaft and transmit the rotational speed and torque information to the controller. The controller adjusts and controls the rotational speed of the servo motor and the displacement of the left variable hydraulic motor and the right variable hydraulic motor.

6. The heave compensation winch dual variable motor type energy recovery experimental device platform according to claim 5, characterized in that: The control system also includes a first bidirectional flow sensor and a second bidirectional flow sensor. The first bidirectional flow sensor and the second bidirectional flow sensor are respectively provided on the left energy transmission oil pipeline and on both sides of the connection point A. The first bidirectional flow sensor and the second bidirectional flow sensor are respectively used to detect the oil flow information of the fixed hydraulic motor and the left variable hydraulic motor, and transmit the oil flow information to the controller.

7. The heave compensation winch dual variable motor type energy recovery experimental device platform according to claim 5, characterized in that: The control system further includes a pressure sensor A and a pressure sensor B, which are used to detect the oil pressure at the oil port of the quantitative hydraulic motor and the oil pressure at the oil port of the right accumulator respectively and transmit the oil pressure information to the controller.

8. The heave compensation winch dual variable motor type energy recovery experimental device platform according to claim 3, characterized in that: The left energy transmission oil pipeline and the pipeline section between the connection point A and the quantitative hydraulic motor are connected to a first overflow valve and a first pressure gauge.

9. The heave compensation winch dual variable motor type energy recovery experimental device platform according to claim 1, characterized in that: A second relief valve and a second pressure gauge are connected to the right energy transmission oil pipeline and the pipeline section between the right variable hydraulic motor and the accumulator.

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