Lifting hoisting mechanism of ocean mobile observation platform

Abstract

The invention relates to the technical field of offshore winches, and discloses a lifting winch mechanism of an ocean mobile observation platform, comprising: a winch main body comprising a driving motor, a winding drum and a brake; the torque adjusting device is used for adjusting the output torque of the driving motor; and the tension adjusting device is used for adjusting the tension of the rope output or recovered by the winding drum. By constructing a self-adaptive adjusting system composed of the tension adjusting device, the torque adjusting device, the sensing module and the control module, intelligent cooperative control of the hoisting mechanism under the complex sea condition is achieved. Based on real-time detection of platform motion parameters, wave data and rope states, a control system synchronously solves triple dynamic compensation amounts of torque, tension and rotating speed, and cooperates with a tension adjusting device and a torque adjusting device, so that the problem of load sudden change caused by sea wave disturbance is inhibited, and the defect of response lag of a traditional hoisting mechanism is overcome.

Description

TECHNICAL FIELD

[0001] The present application relates to the offshore winch technical field, more particularly, it relates to a kind of lifting winch of ocean mobile observation platform. BACKGROUND

[0002] The lifting winch arranged in the ocean mobile observation platform is the core component of deep-sea exploration equipment launching and recovery system, which realizes the accurate deployment and recovery of underwater sensor through the driving cable of winch.In dynamic ocean environment, such mechanism needs to continuously resist the disturbance force of wind and wave, maintain the stability of cable tension, and ensure that the exploration equipment is not impacted by sudden load.

[0003] However, the traditional winch usually relies on the open-loop control logic of motor slip brake, which can meet the basic operation demand in smooth sea conditions, but still has certain deficiencies when facing complex ocean dynamic coupling.For example, due to the six-degree-of-freedom motion of ocean platform caused by wave excitation, the output end of winch cable and the heave motion of platform form a strong coupled dynamic system, which will have the following problems: on the one hand, the heave motion of platform causes instantaneous relaxation or over-tension of cable, causing attitude instability of exploration equipment and even structural damage;On the other hand, the periodic load of wave is transmitted to the driving system through the cable, inducing the oscillation of motor output torque, which destroys the stability of winch speed.

[0004] Therefore, there is an urgent need for a lifting winch that can dynamically respond to changes in ocean environment, automatically adjust output torque and cable tension, to ensure stable deployment and recovery of deep-sea exploration equipment. SUMMARY

[0005] The present application provides a lifting winch of ocean mobile observation platform to solve the above technical problems.

[0006] The present application solves the above technical problems by the following technical solutions:

[0007] The present application provides a lifting winch of ocean mobile observation platform, comprising: a winch body, including a driving motor and a winch drum;

[0008] Torque adjusting device for adjusting the output torque of driving motor;

[0009] Tension adjusting device for adjusting the tension of cable output or recovered by winch drum;

[0010] Sensing module, comprising:

[0011] State sensing unit for detecting the working state parameters of winch, including cable tension, winch drum speed, driving motor torque;

[0012] Environmental sensing unit, used to detect ocean environmental parameters, including platform heave height, heave speed, and wave height;

[0013] The control module is connected to the drive motor, torque adjustment device, tension adjustment device and sensing module signals respectively, and is configured as follows:

[0014] Receive working status parameters and environmental parameters;

[0015] Calculate dynamic compensation based on the preset wave coupling dynamic model;

[0016] Output control instructions to the torque adjustment device, tension adjustment device and drive motor to make the output torque, rope tension and drum speed reach the target values.

[0017] Preferably, the torque adjustment device is a frequency converter, which realizes continuous control of the torque by adjusting the input current of the drive motor.

[0018] Preferably, the tension adjustment device includes a hydraulic drive component and a tensioning wheel group fixed to the hydraulic drive component, and the rope tension is adjusted by changing the displacement of the tensioning wheel through the hydraulic drive component.

[0019] Preferably, the state sensing unit includes a torque sensor and a speed sensor provided on the output shaft of the drive motor, and a tension sensor provided on the rope output path.

[0020] Preferably, the environmental perception unit includes an inertial measurement unit for detecting the platform's heave height, heave speed and acceleration, and a wave radar for detecting wave height and frequency.

[0021] Preferably, the control module includes a data acquisition unit for receiving detection data in real time, a calculation unit for executing wave coupling dynamics model calculations, and an execution unit for outputting torque, tension and speed compensation instructions.

[0022] Preferably, the dynamic compensation includes a torque compensation, which is calculated based on the drum moment of inertia, angular acceleration, friction torque and rope deformation parameters.

[0023] Preferably, the dynamic compensation amount includes a tension compensation amount, which is calculated based on the vertical acceleration of the platform and a tension compensation coefficient.

[0024] Preferably, the dynamic compensation includes a rotational speed compensation, which is generated through proportional-integral control based on a deviation between the target tension and the real-time tension.

[0025] Preferably, the wave-coupled dynamics model includes: platform motion equations, wave excitation force model, rope tension coupling equations and winch dynamics equations.

[0026] The beneficial effects of the present invention are:

[0027] The present invention realizes intelligent collaborative control of the hoisting mechanism under complex sea conditions by constructing an adaptive adjustment system consisting of a tension adjustment device, a torque adjustment device, a sensing module, and a control module. Based on real-time detection of platform motion parameters, wave data, and rope status, the control system synchronously solves the triple dynamic compensation of torque, tension, and speed, and cooperates with the tension adjustment device and the torque adjustment device to suppress the load mutation problem caused by wave disturbances and overcome the drawback of the traditional hoisting mechanism's response lag. It can not only keep the rope tension highly stable and significantly reduce the risk of impact loads, but also improve the response speed and positioning accuracy of emergency braking, extend the continuous operation time of the equipment, optimize energy efficiency performance, and improve the reliability of the lifting and hoisting mechanism in deep-sea operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural diagram of a lifting and hoisting mechanism of a marine mobile observation platform provided by the present invention;

[0029] Figure 2 This is a side view of a lifting and hoisting mechanism of a marine mobile observation platform provided by the present invention;

[0030] Figure 3 This invention Figure 2 A partial enlarged schematic diagram of point A in the middle;

[0031] Figure 4 This is a block diagram of the relationship between the modules in the lifting and hoisting mechanism of a marine mobile observation platform provided by the present invention;

[0032] Figure 5 The present invention provides a flow chart of the lifting and hoisting mechanism of a marine mobile observation platform.

[0033] In the figure: 10, winch body; 101, drive motor; 102, drum; 103, brake; 20, torque adjustment device; 30, tension adjustment device; 301, hydraulic drive assembly; 302, tensioning pulley group; 40, support frame; 50, rope; 60, hook. DETAILED DESCRIPTION

[0034] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed solely to enable those skilled in the art to better understand and implement the subject matter described herein, and that the functions and arrangements of the elements discussed may be varied without departing from the scope of this specification. Various examples may omit, substitute, or add various processes or components as needed. In addition, features described with respect to some examples may also be combined in other examples.

[0035] Please refer to Figures 1 to 5 The lifting winch mechanism of the marine mobile observation platform comprises a winch body 10, a torque adjusting device 20, a tension adjusting device 30, a sensing module and a control module. The winch body 10 comprises a driving motor 101, a winding drum 102 and a brake 103. The winding drum 102 is rotatably arranged on the winch body 10. The driving motor 101 is fixed on the winch body 10, and its rotating end is connected with one of the rotating ends of the winding drum 102. A rope 50 is wound on the winding drum 102. A support frame 40 is fixed on the winch body 10. A pulley block is arranged on the support frame 40. The rope 50 is slidably connected with the pulley block on the support frame 40. A hook 60 is connected with the end of the rope 50.

[0036] The torque adjusting device 20 is used for adjusting the output torque of the driving motor 101. The torque adjusting device 20 is a frequency converter connected with the driving motor 101. The frequency converter realizes continuous control of the torque by adjusting the input current of the driving motor 101.

[0037] The tension adjusting device 30 is used for adjusting the tension of the rope 50 output or recovered by the winding drum 102. The tension adjusting device 30 is arranged on the rope 50 output path of the winding drum 102, and comprises a hydraulic driving assembly 301 and a tension pulley block 302 connected with the telescopic end of the hydraulic driving assembly 301. The tension of the rope 50 is adjusted by changing the displacement amount ΔS of the tension pulley block 302 through the hydraulic driving assembly 301. The hydraulic driving assembly 301 can be a hydraulic cylinder fixed on the support frame 40. The tension pulley block 302 is composed of three fixed pulleys arranged in a triangle. Two small pulleys are fixed on the outer side of the support frame 40. One large pulley is fixed with the telescopic end of the hydraulic cylinder. The large pulley is driven to synchronously extend and retract with the hydraulic cylinder. Since the two ends of the rope 50 are limited by the two small pulleys, the large pulley can adjust the tension of the rope 50 when it extends and retracts.

[0038] The sensing module comprises a state sensing unit and an environment sensing unit. The state sensing unit is used for detecting the working state parameters of the winch, including the tension of the rope 50, the rotating speed of the winding drum 102 and the torque of the driving motor 101. The state sensing unit comprises a torque sensor and a rotating speed sensor arranged on the output end of the driving motor 101, and a tension sensor arranged on the rope 50 output path of the winding drum 102. The environment sensing unit is used for detecting the marine environment parameters, including the fluctuation height, fluctuation speed, wind speed and wave height of the platform. The environment sensing unit comprises an inertial measurement unit (IMU) for detecting the fluctuation height, fluctuation speed and acceleration of the platform, and a wave radar for detecting the wave height and frequency.

[0039] The control module is signal-connected to the drive motor 101, the torque adjustment device 20, the tension adjustment device 30, and the sensing module. The control module includes a data acquisition unit for receiving detection data in real time, a calculation unit for executing the wave-coupled dynamics model calculation, and an execution unit for outputting torque, tension, and speed compensation instructions. The control module is configured as follows:

[0040] Receive working status parameters and environmental parameters;

[0041] Calculate dynamic compensation based on the preset wave coupling dynamic model;

[0042] The control instructions are output to the torque adjustment device 20 , the tension adjustment device 30 and the drive motor 101 so that the output torque, the tension of the rope 50 and the speed of the drum 102 reach the target values.

[0043] The wave-coupled dynamics model includes: platform motion equations, wave excitation force model, rope 50 tension coupling equations and winch dynamics equations.

[0044] Regarding the above-mentioned wave coupling dynamic model expression and parameter definition

[0045] 1. Platform motion equation: m p Z″+c p Z′+k p Z=F ω +F C , where mp represents the equivalent mass of the platform (unit: kg), Z represents the platform heave displacement (unit: m), Z′ represents the platform heave velocity (unit: m / s), and Z″ represents the platform heave acceleration (unit: m / s 2 ), c p Indicates the platform damping coefficient (unit: N·s / m), k p Indicates the platform stiffness coefficient (unit: N / m), F ω Indicates the wave excitation force (unit: N), F C Indicates the coupling force of the rope on the platform (unit: N);

[0046] Physical meaning: describes the vertical motion of the platform (Z) affected by the wave force (F ω ) and rope force (F C ) driven second-order system;

[0047] Parameter acquisition: m p = platform mass + additional water mass, which can be calculated from the platform design drawings; damping coefficient c p Calibrated by water tank towing test; mooring stiffness k p Determined according to the anchor chain specifications.

[0048] 2. Wave excitation force model: Where ρ represents the density of seawater (unit: kg / m 3 ), g represents the acceleration due to gravity (9.8m / s 2 ), A ω Indicates the effective wave height (unit: m), C d represents the wave force coefficient, which can be fitted by the platform scale model wave pool test, ω represents the wave circular frequency (unit: rad / s), and φ represents the phase angle (unit: rad);

[0049] Physical meaning: Characterizes the periodic energy input of waves.

[0050] 3. Rope tension coupling equation: Among them, k r is the rope stiffness, which can be determined by axial tensile test, c r is the damping coefficient, which can be calibrated through a free decay vibration test.

[0051] 4. Winch dynamic equation: Where J is the moment of inertia of the drum, which can be calculated based on the center of mass of the three-dimensional model, τ m is the active torque driving the rotation, in N / m, τ f It is the friction torque that hinders rotation, with the unit of N / m, which can be measured by no-load acceleration test. r is the radius of the force arm (the distance from the point of force application to the axis of rotation), with the unit of m. F c is the contact force (or external force), unit is N.

[0052] The implementation process of solving the above-mentioned wave-wave coupled dynamic model includes real-time data input, numerical solution and control quantity generation.

[0053] Specifically, the use process of the above-mentioned lifting winch mechanism is as follows:

[0054] S100, when the marine mobile observation platform needs to deploy or recover underwater sensors, it first starts the drive motor 101, and the rotation of the drive motor 101 drives the drum 102 to rotate, thereby releasing or recovering the rope 50. During this process, the state perception unit will detect the working state parameters of the winch such as the rope 50 tension T, the drum 102 speed n and the drive motor 101 torque τ in real time, and transmit these data to the control module in real time. At the same time, the environmental perception unit will also detect the marine environmental parameters in real time, including the platform's undulation height Z, undulation speed Z' and wave height A ω Etc., and also transmit these data to the control module in real time.

[0055] S200, after receiving these data, the control module will calculate based on the preset wave coupling dynamic model to obtain the dynamic compensation amount, which includes the torque compensation amount Δτ, the tension compensation amount ΔT and the speed compensation amount Δn;

[0056] Specifically, the torque compensation amount Δτ calculation process includes the following steps:

[0057] Step 1: Get real-time parameters

[0058] l = n × 2πr (n: drum speed, r: drum radius)

[0059] d l / d t =(d n / d t )×2πr;

[0060] Step 2: Calculate the rope coupling force F c

[0061] Fc=k r ×(l0-l)+c r ×(d l / d t ), (k r Calibrated by rope tensile test, c r Obtained through damped oscillation testing)

[0062] Step 3: Calculate the target torque τ target

[0063] τ target =J×(d ω / d t )+τ f +r×F c ;

[0064] (J = 18.5 kg·m 2 , τ f =0.15τ rated Calibrated by no-load test)

[0065] Step 4: Output compensation amount

[0066]

[0067] Wherein, J is the moment of inertia of the drum 102 (kg·m 2 ), ω is the angular velocity of the drum 102 (rad / s), τ f is the friction torque of the system (N·m), r is the radius of the drum (m), k ris the stiffness coefficient of rope 50 (N / m), cr is the damping coefficient of rope 50 (N·s / m), l0 is the initial length of rope 50 (m), l is the real-time rope length (m), τ current is the current output torque of the driving motor 101 (N·m).

[0068] The calculation formula of tension compensation ΔT is:

[0069] ΔT=k d ·Z″;

[0070] Among them, k d is the tension compensation coefficient (N·s 2 / m), Z": platform vertical acceleration (m / s 2 ),kd=m L +0.3ρL,m L is the load mass (calibrated by a pressure sensor), ρ is the linear density of the rope (1.2 kg / m), and L is the length of the suspended rope.

[0071] The speed compensation Δn is calculated as follows:

[0072] Δn=K p ·(T d -T)+K i ·∫(T d -T)d t ;

[0073] Among them, K p K is the speed control proportional / integral coefficient, which is 2.5r / min / kN. i The value is 0.8r / min / (kN·s) (optimized by step response test), T d is the target tension (N), and T is the real-time tension (N).

[0074] S300. Then, based on the dynamic compensation amount calculated above, the control module will output corresponding control instructions, adjust the output torque and speed of the drive motor 101, and adjust the tension of the rope through the tension adjustment device 30, so that the hoisting mechanism can dynamically respond to changes in the marine environment, maintain the stability of the tension of the rope 50, and ensure that the deep-sea exploration equipment can be stably deployed and recovered.

[0075] In addition, when environmental parameters indicate that there is an overload risk or an emergency stop is required, the control module will also control the brake 103 to apply braking force according to the adjustment parameters to ensure the safe operation of the entire system.

[0076] The above describes the embodiments of the present application, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are only illustrative but not restrictive, and those skilled in the art can make many forms under the inspiration of the present application, which all belong to the protection of the present application.

Claims

1. A lifting and hoisting mechanism for a mobile ocean observation platform, characterized in that: include: The main body of the winch includes a drive motor and a drum; A torque regulating device, used to regulate the output torque of the drive motor; Tension adjustment device, used to adjust the tension of the rope output or recovered by the reel; Perception module, including: The state sensing unit is used to detect the working state parameters of the winch, including rope tension, drum speed, and drive motor torque; Environmental sensing unit, used to detect ocean environmental parameters, including platform heave height, heave speed, and wave height; The control module is connected to the drive motor, torque adjustment device, tension adjustment device and sensing module signals respectively, and is configured as follows: Receive working status parameters and environmental parameters; Calculate dynamic compensation based on the preset wave coupling dynamic model; Output control instructions to the torque adjustment device, tension adjustment device and drive motor to make the output torque, rope tension and drum speed reach the target values.

2. The lifting and hoisting mechanism of a marine mobile observation platform according to claim 1, characterized in that: The torque adjustment device is a frequency converter, which realizes continuous control of the torque by adjusting the input current of the drive motor.

3. The lifting and hoisting mechanism of a marine mobile observation platform according to claim 1, characterized in that: The tension adjustment device includes a hydraulic drive component and a tensioning wheel group fixed to the hydraulic drive component. The rope tension is adjusted by changing the displacement of the tensioning wheel through the hydraulic drive component.

4. The lifting and hoisting mechanism of a mobile ocean observation platform according to claim 1, characterized in that: The state sensing unit includes a torque sensor and a rotation speed sensor arranged on the output shaft of the driving motor, and a tension sensor arranged on the rope output path.

5. The lifting and hoisting mechanism of a mobile ocean observation platform according to claim 1, characterized in that: The environment perception unit includes an inertial measurement unit for detecting the platform's heave height, heave speed, and acceleration, and a wave radar for detecting wave height and frequency.

6. The lifting and hoisting mechanism of a mobile ocean observation platform according to claim 1, characterized in that: The control module includes a data acquisition unit for receiving detection data in real time, a calculation unit for executing wave coupling dynamics model calculations, and an execution unit for outputting torque, tension and speed compensation instructions.

7. The lifting and hoisting mechanism of a mobile ocean observation platform according to claim 1, characterized in that: The dynamic compensation includes a torque compensation, which is calculated based on the drum's moment of inertia, angular acceleration, friction torque, and rope deformation parameters.

8. The lifting and hoisting mechanism of a mobile ocean observation platform according to claim 1, characterized in that: The dynamic compensation amount includes a tension compensation amount, which is calculated based on the platform vertical acceleration and the tension compensation coefficient.

9. The lifting and hoisting mechanism of a mobile ocean observation platform according to claim 1, characterized in that: The dynamic compensation includes a rotation speed compensation, which is generated through proportional-integral control based on a deviation between the target tension and the real-time tension.

10. The lifting and hoisting mechanism of a mobile ocean observation platform according to claim 1, characterized in that: The ocean-wave coupled dynamics model includes: platform motion equations, wave excitation force model, rope tension coupling equations and winch dynamics equations.

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