Active heave compensation control system of crane

Abstract

The utility model discloses an active heave compensation control system of a crane, which relates to the technical field of active heave compensation of cranes and comprises a first Hall encoder, a first capacitive grating displacement sensor, a second capacitive grating displacement sensor, a second Hall encoder, a lifting hook optical fiber gyroscope and a ship optical fiber gyroscope, the upper computer receives data acquired by the first Hall encoder, the second Hall encoder, the first capacitive grating displacement sensor, the second capacitive grating displacement sensor, the lifting hook optical fiber gyroscope and the ship optical fiber gyroscope, and generates an active heave compensation control signal according to the received data; and the field controller is used for receiving the active heave compensation control signal sent by the upper computer and controlling the crane to carry out active heave compensation. According to the utility model, the crane actuating mechanism is controlled through the field controller, so that the heaving motion of the load can be effectively compensated, and the load stability is improved.

Description

Technical Field

[0001] This utility model relates to the field of active lifting and sinking compensation technology for cranes, and in particular to an active lifting and sinking compensation control system for cranes. Background Technology

[0002] Marine cranes are one of the core pieces of equipment in the field of marine engineering, playing a vital role in tasks such as seabed mineral resource exploration, deep-sea geological sampling, equipment transfer, and remote sensing exploration. However, the harsh marine working environment causes loads to experience violent swaying and heave movements, which can lead to collisions between the load and other equipment or structures on the ship, greatly threatening the safety of offshore lifting operations. Active heave compensation systems are an effective means of reducing the heave movement of loads. By controlling the rotation of the winch, they counteract the vertical swaying of the load, thereby ensuring the safety of offshore lifting operations, increasing the operational window, and improving the efficiency of offshore resource development. However, a safe and reliable heave compensation control system is still lacking. Utility Model Content

[0003] In view of the shortcomings of existing technologies, this utility model provides an active heave compensation control system for cranes. This utility model mainly utilizes multiple sets of sensors to collect ship motion state information, and a host computer generates active control signals based on the ship state information. The field controller then controls the crane actuators to achieve active heave compensation control of the crane.

[0004] This utility model provides an active heave compensation control system for a crane, comprising:

[0005] A first Hall encoder is installed at the slewing joint of the crane to detect the angle of the slewing joint, which is used to drive the crane's slewing table to rotate.

[0006] The second Hall encoder is installed at the winch of the crane and is used to detect the rotation angle of the winch.

[0007] The first capacitive displacement sensor is installed at the first hydraulic cylinder and is used to detect the length of the first hydraulic cylinder, which is used to drive the pitching and opening of the crane boom.

[0008] The second capacitive displacement sensor is installed at the second hydraulic cylinder and is used to detect the length of the second hydraulic cylinder, which is used to drive the pitching and opening of the crane boom.

[0009] A hook fiber optic gyroscope is installed at the hook position of the crane to detect the real-time lifting and lowering motion signal of the hook.

[0010] A ship fiber optic gyroscope, which is installed on the ship's deck or bridge, is used to detect the real-time motion signals of the ship's roll, pitch, bow roll, sway, heave, and sway.

[0011] The host computer is used to receive data collected by the first Hall encoder, the second Hall encoder, the first capacitive grating displacement sensor, the second capacitive grating displacement sensor, the hook fiber optic gyroscope, and the ship fiber optic gyroscope, and to generate an active heave compensation control signal from the received data.

[0012] The field controller is used to receive the active heave compensation control signal sent by the host computer and control the crane to perform active heave compensation. The active heave compensation control signal includes the slewing joint rotation drive signal, the first hydraulic cylinder extension control signal, the second hydraulic cylinder extension control signal, and the winch motor start / stop signal.

[0013] Furthermore, both the first Hall encoder and the second Hall encoder use an angle sensor of model AS5600.

[0014] Furthermore, both the first capacitive grating displacement sensor and the second capacitive grating displacement sensor are capacitive grating measurement sensors of model GC7626C.

[0015] Furthermore, both the hook fiber optic gyroscope and the ship fiber optic gyroscope use an inertial measurement unit of model KVH 1775IMU.

[0016] Furthermore, the field controller uses a microcontroller of model STM32F103VET6.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. This utility model achieves load heave compensation by controlling the crane, which has a faster response speed than the traditional hydraulic compensation system and will not cause cable fatigue damage due to the frequent cable winding and unwinding operations of the winch compensation system.

[0019] 2. This utility model generates heave compensation control commands based on the real-time motion status data of the ship through a host computer, and sends the generated compensation control commands to the ship crane through a field controller. The ship crane then performs heave compensation for the load. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of an active lifting and sinking compensation control system for a crane according to the present invention.

[0022] Figure 2 This is a schematic diagram of the installation position of the crane according to this utility model.

[0023] In the diagram: 1. Load; 2. Hook fiber optic gyroscope; 3. Ship fiber optic gyroscope; 4. First hydraulic cylinder; 5. Second hydraulic cylinder; 6. Rotary joint; 7. Winch; 8. End point of the boom; 9. Crane boom; 10. Crane arm; 11. Crane slewing platform. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0025] This utility model provides an active lifting and heave compensation control system for a crane, including a sensor group, a field controller, and a host computer.

[0026] The sensor group includes a first Hall encoder, a second Hall encoder, a first capacitive grating displacement sensor, a second capacitive grating displacement sensor, a hook fiber optic gyroscope, and a ship fiber optic gyroscope. The first Hall encoder is installed at the slewing joint of the crane to detect the angle of the slewing joint, which drives the rotation of the crane's turntable. The second Hall encoder is installed at the winch of the crane to detect the rotation angle of the winch. The first capacitive grating displacement sensor is installed at the first hydraulic cylinder to detect the length of the first hydraulic cylinder, which drives the pitching and opening of the crane's boom. The second capacitive grating displacement sensor is installed at the second hydraulic cylinder to detect the length of the second hydraulic cylinder, which also drives the pitching and opening of the crane's boom. The hook fiber optic gyroscope is installed at the hook position of the crane to detect the real-time heave and sag motion signal of the hook. The ship fiber optic gyroscope is installed on the ship's deck or bridge to detect the real-time motion signals of the ship's roll, pitch, bow, sway, heave, and yaw. Preferably, in this application, both the first and second Hall encoders are AS5600 angle sensors. Preferably, in this application, both the first capacitive grating displacement sensor and the second capacitive grating displacement sensor are GC7626C capacitive grating measurement sensors. Preferably, in this application, both the hook fiber optic gyroscope and the ship fiber optic gyroscope are KVH 1775IMU inertial measurement units.

[0027] The host computer receives data from the first Hall encoder, the second Hall encoder, the first capacitive grating displacement sensor, the second capacitive grating displacement sensor, the hook fiber optic gyroscope, and the ship's fiber optic gyroscope, and generates an active heave compensation control signal from the received data. Specifically, the host computer is equipped with an algorithm capable of generating an active heave compensation control signal based on the ship's motion state data. Preferably, in this embodiment, the host computer generates the active heave compensation control signal from the received data according to the method in the paper "Model experimental studies on active heave compensation control strategy for electric-driven offshore cranes".

[0028] A field controller is provided, which receives active heave compensation control signals sent by a host computer and controls the crane to perform active heave compensation. The active heave compensation control signals include a slewing joint rotation drive signal, a first hydraulic cylinder extension / retraction control signal, a second hydraulic cylinder extension / retraction control signal, and a winch motor start / stop signal, to achieve heave compensation for load 1. Preferably, the field controller in this application uses an STM32F103VET6 microcontroller.

[0029] like Figure 2As shown, the crane unit in this application includes a rotary joint 6 for driving the rotary table 11 to rotate, a first hydraulic cylinder 4 for pitching the crane boom 9, a second hydraulic cylinder 5 for pitching the boom 10, and a winch motor 7 for cable winding and unwinding. In this application, the hook is connected to the load 1, and the heave motion measured by the hook fiber optic gyroscope 2 is the same as the actual heave motion of the load 1.

[0030] The workflow for implementing active crane heave compensation using this application system is as follows: When active crane heave compensation is performed, each sensor collects data in real time and transmits it to the field controller, which then uploads the data to the host computer. The first Hall encoder and the second Hall encoder respectively collect data on the crane's slewing joint angle and winch rotation angle, monitoring the crane's slewing and winch rotation in real time. Their sampling frequency can be set according to the crane's operating speed and accuracy requirements, typically not less than 100Hz, to ensure the real-time performance and accuracy of the data.

[0031] The first and second capacitive displacement sensors collect the length data of the first and second hydraulic cylinders, respectively, reflecting the extension and retraction status of the hydraulic cylinders in real time, thereby indirectly reflecting the pitch angle change of the crane boom. The sampling frequency of the sensors is also determined according to the movement speed and control accuracy requirements of the crane boom, and is generally set at around 200Hz to promptly capture subtle changes in the length of the hydraulic cylinders, providing data support for the precise movement control of the crane boom.

[0032] A fiber optic gyroscope is installed at the hook position of the crane to collect real-time heave motion signals. This signal directly reflects the load's vertical motion and is one of the key data points for achieving heave compensation. Its sampling frequency is high, typically between 500Hz and 1000Hz, to accurately capture rapid heave changes in the hook, providing high-precision real-time data input for subsequent compensation control.

[0033] Shipboard fiber optic gyroscopes are installed on the ship's deck or bridge to collect real-time motion signals of the ship's roll, pitch, bow, sway, heave, and pitch. These data comprehensively reflect the complex motion state of the ship under the influence of environmental factors such as waves, and are crucial for the system's heave compensation control. Their sampling frequency is similar to that of hook fiber optic gyroscopes, also within the 500Hz to 1000Hz range, ensuring comprehensive and accurate acquisition of the ship's motion information and providing reliable data support for subsequent compensation control decisions.

[0034] After receiving sensor data uploaded by the field controller, the host computer first preprocesses the data. This preprocessing includes data filtering, synchronization, and format conversion. Data filtering removes noise and interference signals from the sensor data using digital filtering algorithms such as Kalman filtering or low-pass filtering to improve data accuracy and reliability. Data synchronization aligns data collected by different sensors in time to ensure that subsequent processed data has the same time reference, achieved through interpolation or delay compensation. Format conversion converts the sensor data into a unified format required by the control algorithm for subsequent calculations and processing, using data standardization or normalization techniques. The control algorithm uses the methods described in the previously mentioned paper, "Model experimental studies on active heavecompensation control strategy for electric-driven offshore cranes."

[0035] After receiving the active heave compensation control signal from the host computer, the field controller analyzes and processes the signal. Based on the rotation drive signal of the slewing joint, it adjusts the speed and direction of the drive motor of the slewing joint to achieve precise rotation control of the crane's slewing table, adjusting the load to a suitable position to accommodate the ship's roll and pitch movements and prevent the load from colliding with the ship's structure. Simultaneously, based on the extension and retraction control signals of the first and second hydraulic cylinders, it controls the extension and retraction of the hydraulic cylinders, precisely adjusting the pitch angle of the crane's boom to counteract the impact of the ship's heave on the load's heave and maintain load stability.

[0036] In addition, the field controller controls the start, stop, and speed of the winch motor based on the start / stop signals, enabling cable winding and unwinding operations. During heave compensation, precise control of the winch motor adjusts the cable length, further reducing the heave amplitude of the load. Simultaneously, in conjunction with the movements of the slewing joint and hydraulic cylinders, it achieves stable load control in three-dimensional space. During execution, the field controller monitors the real-time operating status of each actuator, including parameters such as motor current, voltage, temperature, and hydraulic cylinder pressure, ensuring safe and stable operation. If any abnormality is detected, the field controller will immediately take appropriate protective measures, such as cutting off power and locking the actuator, and send fault alarm information to the host computer for timely troubleshooting and handling.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A crane active heave compensation control system, characterized in that, include: A first Hall encoder is installed at the slewing joint of the crane to detect the angle of the slewing joint, which is used to drive the crane's slewing table to rotate. The second Hall encoder is installed at the winch of the crane to detect the rotation angle of the winch. The first capacitive displacement sensor is installed at the first hydraulic cylinder and is used to detect the length of the first hydraulic cylinder, which is used to drive the pitching and opening of the crane boom. The second capacitive displacement sensor is installed at the second hydraulic cylinder and is used to detect the length of the second hydraulic cylinder, which is used to drive the pitching and opening of the crane boom. A hook fiber optic gyroscope is installed at the hook position of a crane to detect the real-time lifting and lowering motion signal of the hook. A ship fiber optic gyroscope, which is installed on the ship's deck or bridge, is used to detect the real-time motion signals of the ship's roll, pitch, bow roll, sway, heave, and sway. The host computer is used to receive data collected by the first Hall encoder, the second Hall encoder, the first capacitive grating displacement sensor, the second capacitive grating displacement sensor, the hook fiber optic gyroscope, and the ship fiber optic gyroscope, and to generate an active heave compensation control signal from the received data. The field controller is used to receive the active heave compensation control signal sent by the host computer and control the crane to perform active heave compensation. The active heave compensation control signal includes the slewing joint rotation drive signal, the first hydraulic cylinder extension control signal, the second hydraulic cylinder extension control signal, and the winch motor start / stop signal.

2. The crane active heave compensation control system according to claim 1, characterized in that, Both the first Hall encoder and the second Hall encoder use an angle sensor of model AS5600.

3. The crane active heave compensation control system according to claim 1, characterized in that, Both the first capacitive grating displacement sensor and the second capacitive grating displacement sensor are capacitive grating measurement sensors of model GC7626C.

4. The crane active heave compensation control system according to claim 1, characterized in that, Both the hook fiber optic gyroscope and the ship fiber optic gyroscope use an inertial measurement unit of model KVH 1775IMU.

5. The crane active heave compensation control system according to claim 1, characterized in that, The field controller uses a microcontroller of model STM32F103VET6.

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