CN119370286A - Pump-controlled semi-active ship heave compensation hydraulic system and control method thereof - Google Patents
Pump-controlled semi-active ship heave compensation hydraulic system and control method thereof Download PDFInfo
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- CN119370286A CN119370286A CN202411963315.6A CN202411963315A CN119370286A CN 119370286 A CN119370286 A CN 119370286A CN 202411963315 A CN202411963315 A CN 202411963315A CN 119370286 A CN119370286 A CN 119370286A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/005—Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to the technical field of hydraulic control, and provides a pump-control semi-active ship heave compensation hydraulic system and a control method thereof, wherein the system comprises an active compensation hydraulic module, a passive compensation hydraulic module, a sensor module, a controller and a motion sensor; the passive compensation hydraulic module comprises a nitrogen cylinder unit, an energy accumulator unit, a gas-liquid converter, a seventh electromagnetic reversing valve, a fourth electromagnetic reversing valve and a passive compensation asymmetric hydraulic cylinder, and the active compensation hydraulic module comprises a third energy accumulator, a servo motor, a bidirectional quantitative hydraulic pump, a first one-way valve, a second one-way valve, an active compensation asymmetric hydraulic cylinder, a first electromagnetic reversing valve, a second electromagnetic reversing valve and a third electromagnetic reversing valve. The invention combines passive compensation and active compensation, greatly improves the compensation precision and efficiency, and adopts an electrohydraulic servo pump control mode, thereby not only retaining the advantage of high control precision of a valve control mode, but also improving the stability.
Description
Technical Field
The invention relates to the technical field of hydraulic control, in particular to a pump-control semi-active ship heave compensation hydraulic system and a control method thereof.
Background
During offshore operations, the vessel is subjected to sea waves and wind, and severe heave motions are generated, which can reduce the accuracy of offshore operations and even cause damage and capsizing of the vessel, which is dangerous. The heave compensation system aims to decouple the load motion and the ship heave motion, so that the vertical motion of the load is not influenced by the ship motion, and the change of the cable tension is reduced, thereby ensuring the stability and the safety of offshore operation equipment and personnel.
Currently, there are three main types of heave compensation systems, namely a passive heave compensation system, an active heave compensation system and a semi-active heave compensation system according to the compensation mode. The passive heave compensation system is an open loop system which can work without inputting energy, and has simple structure but limited heave motion effect for high frequency and large amplitude. The active heave compensation system is a complex closed loop system which consumes energy, monitors the motion state of the ship in real time by using a sensor, and actively adjusts the motion of a load by driving an actuator through a control system so as to offset the influence of heave of the ship. Although the active compensation system can obviously improve the stability of the ship in the wave environment, the active compensation system has a plurality of challenges in practical application due to the defects of high cost, high energy consumption, limited reliability, response speed, system delay and the like. The semi-active heave compensation system is a composite model of a passive heave compensation system and an active heave compensation system, combines the advantages of the passive heave compensation system and the active heave compensation system, and not only utilizes a mechanical structure to absorb part of energy, but also carries out fine adjustment through active control, thereby realizing higher compensation effect and stability.
The existing semi-active heave compensation system has the defects of low compensation precision, poor system stability and the like.
Disclosure of Invention
The invention aims to provide a pump-control semi-active ship heave compensation hydraulic system and a control method thereof, which integrate passive compensation and active compensation, greatly improve the compensation precision and efficiency, and not only keep the advantage of high control precision of a valve control mode but also improve the stability by adopting an electrohydraulic servo pump control mode.
A pump-control semi-active ship heave compensation hydraulic system comprises an active compensation hydraulic module, a passive compensation hydraulic module, a sensor module, a controller and a motion sensor;
the motion sensor is used for acquiring sea wave signals and the motion state of the ship and sending the sea wave signals and the motion state of the ship to the controller;
The passive compensation hydraulic module comprises a nitrogen cylinder unit, an energy accumulator unit, a gas-liquid converter, a seventh electromagnetic directional valve, a fourth electromagnetic directional valve and a passive compensation asymmetric hydraulic cylinder;
The nitrogen cylinder unit is connected with the AIR end of the gas-liquid converter through the switch valve unit, the OIL end of the gas-liquid converter is connected with the first end of the fourth electromagnetic directional valve, the second end of the fourth electromagnetic directional valve is connected with the D port of the passive compensation asymmetric hydraulic cylinder, the C port of the passive compensation asymmetric hydraulic cylinder is connected with the first end of the seventh electromagnetic directional valve, and the second end of the seventh electromagnetic directional valve is connected with the accumulator unit;
The active compensation hydraulic module comprises a third energy accumulator, a servo motor, a bidirectional quantitative hydraulic pump, a first one-way valve, a second one-way valve, a first hydraulic control one-way valve, a second hydraulic control one-way valve, an active compensation asymmetric hydraulic cylinder, a first electromagnetic directional valve, a second electromagnetic directional valve and a third electromagnetic directional valve;
The servo motor is coaxially connected with the bidirectional quantitative hydraulic pump through a coupler;
The first end of the first check valve, the first end of the first hydraulic control check valve and the first end of the first electromagnetic reversing valve are communicated with an oil port a of the bidirectional quantitative hydraulic pump;
the first end of the second one-way valve, the first end of the second hydraulic control one-way valve and the first end of the second electromagnetic directional valve are communicated with the b oil port of the bidirectional quantitative hydraulic pump, the flow direction of the first one-way valve is from the second end of the first one-way valve to the first end of the first one-way valve, and the flow direction of the second one-way valve is from the second end of the second one-way valve to the first end of the second one-way valve;
the second end of the first check valve, the second end of the first hydraulic control check valve, the second end of the second hydraulic control check valve and the third accumulator are communicated with each other;
The second end of the first electromagnetic directional valve and the first end of the third electromagnetic directional valve are both connected with an A port of the active compensation asymmetric hydraulic cylinder, and the second end of the second electromagnetic directional valve and the second end of the third electromagnetic directional valve are both connected with a B port of the active compensation asymmetric hydraulic cylinder;
The sensor module comprises a first pressure sensor, a second pressure sensor, a displacement sensor and a force sensor;
The hydraulic system comprises a hydraulic pump, a first pressure sensor, a displacement sensor, a force sensor, a controller, a force sensor, a controller, a hydraulic rod and a hydraulic rod of the active compensation asymmetric hydraulic cylinder, wherein the hydraulic pump is used for acquiring the displacement of the hydraulic rod of the active compensation asymmetric hydraulic cylinder;
the first electromagnetic directional valve, the second electromagnetic directional valve, the third electromagnetic directional valve, the first one-way valve, the second one-way valve, the servo motor, the first pressure sensor, the second pressure sensor, the fourth electromagnetic directional valve, the seventh electromagnetic directional valve and the nitrogen cylinder unit are all connected with the controller;
The first circuit of the first electromagnetic directional valve, the second electromagnetic directional valve, the third electromagnetic directional valve, the fourth electromagnetic directional valve and the seventh electromagnetic directional valve are all provided with double circuits, the first circuits of the first electromagnetic directional valve, the second electromagnetic directional valve, the third electromagnetic directional valve, the fourth electromagnetic directional valve and the seventh electromagnetic directional valve are all bidirectional circuits, the second circuits of the first electromagnetic directional valve, the second electromagnetic directional valve, the third electromagnetic directional valve and the fourth electromagnetic directional valve are open circuits, the second circuit of the seventh electromagnetic directional valve is a unidirectional circuit, and the second circuit of the seventh electromagnetic directional valve is an oil flowing from a C port of the passive compensation asymmetric hydraulic cylinder to the accumulator unit.
Optionally, the nitrogen cylinder unit comprises a first nitrogen cylinder, a second nitrogen cylinder and a third nitrogen cylinder, and the switch valve unit comprises a first switch valve, a second switch valve and a third switch valve;
The first nitrogen cylinder, the second nitrogen cylinder and the third nitrogen cylinder are connected in parallel and are connected with the AIR end of the gas-liquid converter;
The first nitrogen cylinder is connected with the AIR end of the gas-liquid converter through a first switch valve, the second nitrogen cylinder is connected with the AIR end of the gas-liquid converter through a second switch valve, and the third nitrogen cylinder is connected with the AIR end of the gas-liquid converter through a third switch valve.
Optionally, the accumulator unit comprises a first accumulator and a second accumulator;
the first energy accumulator and the second energy accumulator are connected in parallel and are connected with the second end of the seventh electromagnetic directional valve.
Optionally, the active compensation hydraulic module further comprises a fifth electromagnetic directional valve and a sixth electromagnetic directional valve;
The first end of the fifth electromagnetic directional valve is respectively connected with an oil port a of the bidirectional quantitative hydraulic pump and the first end of the first electromagnetic directional valve, and the second end of the fifth electromagnetic directional valve is connected with the third energy accumulator;
The first end of the sixth electromagnetic directional valve is connected with the b oil port of the bidirectional quantitative hydraulic pump and the first end of the second electromagnetic directional valve respectively, and the second end of the sixth electromagnetic directional valve is connected with the third energy accumulator;
The fifth electromagnetic directional valve and the sixth electromagnetic directional valve are provided with double circuits, the first circuits of the fifth electromagnetic directional valve and the sixth electromagnetic directional valve are bidirectional passages, the second circuits of the fifth electromagnetic directional valve and the sixth electromagnetic directional valve are unidirectional passages, the second circuit of the fifth electromagnetic directional valve is the flow of oil from the second end of the fifth electromagnetic directional valve to the first end of the fifth electromagnetic directional valve, and the second circuit of the sixth electromagnetic directional valve is the flow of oil from the second end of the sixth electromagnetic directional valve to the first end of the sixth electromagnetic directional valve.
Optionally, the active compensation hydraulic module further comprises a first relief valve and a second relief valve;
An oil inlet of the first overflow valve is respectively connected with an oil port a of the bidirectional quantitative hydraulic pump and a first end of the first electromagnetic reversing valve, and an oil outlet of the first overflow valve is connected with the third energy accumulator;
the oil inlet of the second overflow valve is respectively connected with the oil port b of the bidirectional quantitative hydraulic pump and the first end of the second electromagnetic reversing valve, and the oil outlet of the second overflow valve is connected with the third energy accumulator.
Optionally, the seventh electromagnetic directional valve, the fifth electromagnetic directional valve and the sixth electromagnetic directional valve are all pilot-operated two-position two-way electromagnetic directional valves.
The invention also provides a control method of the pump-control semi-active ship heave compensation hydraulic system, which is applied to the pump-control semi-active ship heave compensation hydraulic system, and comprises the following steps:
S1, a controller obtains sea condition grades according to sea wave signals, judges the sea condition grades and the motion state, executes S2 when the sea condition grades are smaller than or equal to the set grades and the motion state is sinking, executes S3 when the sea condition grades are smaller than or equal to the set grades and the motion state is rising, executes S4 when the sea condition grades are larger than the set grades and the motion state is sinking, and executes S5 when the sea condition grades are larger than the set grades and the motion state is rising;
S2, the controller controls the switching valve unit to be communicated, the seventh electromagnetic directional valve is arranged on a first circuit, the fourth electromagnetic directional valve is arranged on a first circuit, the first electromagnetic directional valve is arranged on the first circuit, the second electromagnetic directional valve is arranged on the first circuit and the third electromagnetic directional valve is arranged on the second circuit;
the OIL in the accumulator unit enters a rod cavity of the passive asymmetric hydraulic cylinder from a C port of the passive asymmetric hydraulic cylinder through a seventh electromagnetic directional valve, a hydraulic rod of the passive asymmetric hydraulic cylinder is pushed to shrink, the hydraulic rod of the passive asymmetric hydraulic cylinder is driven to shrink, the OIL in a rodless cavity of the passive asymmetric hydraulic cylinder is driven to flow out from a D port of the passive asymmetric hydraulic cylinder, the OIL enters an OIL end of the gas-liquid converter through a fourth electromagnetic directional valve, a directional board in the gas-liquid converter is driven to move towards an AIR end, and nitrogen in the AIR end of the gas-liquid converter is filled into a nitrogen cylinder unit through a switch valve unit;
the controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to displacement and force, the bidirectional quantitative hydraulic pump sequentially passes the oil of the oil port B through the oil port a and the first electromagnetic directional valve, and enters a rodless cavity of the active compensation asymmetric hydraulic cylinder from the oil port a of the active compensation asymmetric hydraulic cylinder to drive a hydraulic rod of the active compensation asymmetric hydraulic cylinder to extend out, the oil in a rod cavity of the active compensation asymmetric hydraulic cylinder flows out from the oil port B of the active compensation asymmetric hydraulic cylinder and passes through the second electromagnetic directional valve to flow to the oil port B of the bidirectional quantitative hydraulic pump, at the moment, the flow direction of the first hydraulic check valve flows from the first end of the first hydraulic check valve to the second end of the first hydraulic check valve, the flow direction of the second hydraulic check valve flows from the second end of the second hydraulic check valve to the first end of the second hydraulic check valve, and the oil in the third accumulator flows to the oil port B of the bidirectional quantitative hydraulic pump respectively through the second check valve and the second hydraulic check valve;
s3, the controller controls the switching valve unit to be communicated, the seventh electromagnetic directional valve is arranged on a second circuit, the fourth electromagnetic directional valve is arranged on a first circuit, the first electromagnetic directional valve is arranged on the first circuit, the second electromagnetic directional valve is arranged on the first circuit, and the third electromagnetic directional valve is arranged on the second circuit;
Nitrogen in the nitrogen cylinder unit enters an AIR end of the gas-liquid converter through the switch valve unit to drive a reversing plate in the gas-liquid converter to move towards an OIL end, OIL at the OIL end of the gas-liquid converter enters a rodless cavity of the passive compensation asymmetric hydraulic cylinder from a D port of the passive compensation asymmetric hydraulic cylinder through a fourth electromagnetic reversing valve to push a hydraulic rod of the passive compensation asymmetric hydraulic cylinder to extend out, and the hydraulic rod of the passive compensation asymmetric hydraulic cylinder extends out to drive OIL in a rod cavity of the passive compensation asymmetric hydraulic cylinder to flow out from a C port of the passive compensation asymmetric hydraulic cylinder to enter the energy accumulator unit through a seventh electromagnetic reversing valve;
The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to the displacement and the force, and the bidirectional quantitative hydraulic pump sequentially passes through the oil liquid of the oil port a, the oil liquid of the oil port B and the second electromagnetic reversing valve and enters a rod cavity of the active compensation asymmetric hydraulic cylinder from the oil port B of the active compensation asymmetric hydraulic cylinder to drive a hydraulic rod of the active compensation asymmetric hydraulic cylinder to shrink; the hydraulic fluid in the rodless cavity of the active compensation asymmetric hydraulic cylinder flows out from an opening A of the active compensation asymmetric hydraulic cylinder and flows to an opening a of the bidirectional quantitative hydraulic pump through a first electromagnetic directional valve, at the moment, the flow direction of the first hydraulic control check valve is from the first end of the first hydraulic control check valve to the second end of the first hydraulic control check valve, the flow direction of the second hydraulic control check valve is from the second end of the second hydraulic control check valve to the first end of the second hydraulic control check valve, and the hydraulic fluid in the rodless cavity of the active compensation asymmetric hydraulic cylinder sequentially passes through the first electromagnetic directional valve, the first hydraulic control check valve, the second hydraulic control check valve and the second electromagnetic directional valve from an opening B of the active compensation asymmetric hydraulic cylinder and enters a rod cavity of the active compensation asymmetric hydraulic cylinder;
s4, the controller controls the switching valve unit to be communicated, the seventh electromagnetic directional valve is arranged on a first circuit, the fourth electromagnetic directional valve is arranged on a first circuit, the first electromagnetic directional valve is arranged on the first circuit, the second electromagnetic directional valve is arranged on a second circuit and the third electromagnetic directional valve is arranged on the first circuit;
The OIL in the accumulator unit enters a rod cavity of the passive asymmetric hydraulic cylinder from a C port of the passive asymmetric hydraulic cylinder through a seventh electromagnetic reversing valve, a hydraulic rod of the passive asymmetric hydraulic cylinder is pushed to shrink, the hydraulic rod of the passive asymmetric hydraulic cylinder is driven to shrink, the OIL in a rodless cavity of the passive asymmetric hydraulic cylinder is driven to flow out from a D port of the passive asymmetric hydraulic cylinder, the OIL enters an OIL end of the gas-liquid converter through a fourth electromagnetic reversing valve, a reversing plate in the gas-liquid converter is driven to move towards an AIR end, and nitrogen in an AIR end of the gas-liquid converter is filled into a nitrogen cylinder unit;
The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to the displacement and the force, and the bidirectional quantitative hydraulic pump sequentially passes through the oil port a and the first electromagnetic reversing valve to enable the oil of the oil port B to enter a rodless cavity of the active compensation asymmetric hydraulic cylinder from the port A of the active compensation asymmetric hydraulic cylinder so as to drive a hydraulic rod of the active compensation asymmetric hydraulic cylinder to extend out; the oil in the rod cavity of the active compensation asymmetric hydraulic cylinder flows out from the port B of the active compensation asymmetric hydraulic cylinder, flows to the port A of the active compensation asymmetric hydraulic cylinder through the third electromagnetic directional valve and enters the rodless cavity of the active compensation asymmetric hydraulic cylinder, at the moment, the flow direction of the first hydraulic control check valve flows from the first end of the first hydraulic control check valve to the second end of the first hydraulic control check valve, the flow direction of the second hydraulic control check valve flows from the second end of the second hydraulic control check valve to the first end of the second hydraulic control check valve, and the oil in the third energy accumulator flows to the port B of the bidirectional quantitative hydraulic pump through the second check valve and the second hydraulic control check valve respectively;
s5, the controller controls the switching valve unit to be communicated, the seventh electromagnetic directional valve is arranged on a second circuit, the fourth electromagnetic directional valve is arranged on a first circuit, the first electromagnetic directional valve is arranged on a second circuit, the second electromagnetic directional valve is arranged on the first circuit, and the third electromagnetic directional valve is arranged on the first circuit;
Nitrogen in the nitrogen cylinder unit enters an AIR end of the gas-liquid converter through the switch valve unit to drive a reversing plate in the gas-liquid converter to move towards an OIL end, OIL at the OIL end of the gas-liquid converter enters a rodless cavity of the passive compensation asymmetric hydraulic cylinder from a D port of the passive compensation asymmetric hydraulic cylinder through a fourth electromagnetic reversing valve to push a hydraulic rod of the passive compensation asymmetric hydraulic cylinder to extend out, and the hydraulic rod of the passive compensation asymmetric hydraulic cylinder extends out to drive OIL in a rod cavity of the passive compensation asymmetric hydraulic cylinder to flow out from a C port of the passive compensation asymmetric hydraulic cylinder to enter the energy accumulator unit through a seventh electromagnetic reversing valve;
The controller controls the servo motor to drive the bidirectional quantitative hydraulic pump according to displacement and force, the bidirectional quantitative hydraulic pump sequentially enables oil liquid of an oil port a to enter a rod cavity of the active compensation asymmetric hydraulic cylinder from an oil port B and a second electromagnetic directional valve, drives a hydraulic rod of the active compensation asymmetric hydraulic cylinder to shrink, oil liquid in a rodless cavity of the active compensation asymmetric hydraulic cylinder flows out from an oil port A of the active compensation asymmetric hydraulic cylinder, flows to an oil port B of the active compensation asymmetric hydraulic cylinder through a third electromagnetic directional valve, enters the rod cavity of the active compensation asymmetric hydraulic cylinder, and at the moment, the flow direction of the first hydraulic check valve is from the second end of the first hydraulic check valve to the first end of the first hydraulic check valve, and the flow direction of the second hydraulic check valve is from the first end of the second hydraulic check valve to the second end of the second hydraulic check valve, and oil liquid in the third accumulator flows to the oil port a of the bidirectional quantitative hydraulic pump respectively.
The invention has the following effects:
The pump-control semi-active ship heave compensation hydraulic system integrates the advantages of passive compensation and active compensation, greatly improves the compensation precision and efficiency, and has the advantages of high control precision, high pollution resistance, low equipment maintenance cost, high efficiency and energy conservation by adopting an electrohydraulic servo pump control mode.
The pump-control semi-active ship heave compensation hydraulic system is compact in structure, the position holding unit formed by the first hydraulic control one-way valve and the second hydraulic control one-way valve effectively solves the problem of asymmetric flow of an asymmetric cylinder, improves the control precision of the system, and meanwhile, the guarantee module formed by the fifth electromagnetic reversing valve and the sixth electromagnetic reversing valve improves the stability of the system.
The pump-control semi-active ship heave compensation hydraulic system adopts the gas-liquid converter and the energy accumulator to be matched for use, the gas-liquid converter is used as a power module for passive compensation, during the passive compensation, the gas-liquid converter converts gas high pressure into liquid high pressure, stored hydraulic energy can be released in a shorter time as a force, and meanwhile, the hydraulic energy is matched with the energy accumulator to control the action of the hydraulic rod in an optimal mode.
Drawings
FIG. 1 is a block diagram of a pump-controlled semi-active marine heave compensation hydraulic system of the invention;
FIG. 2 is a functional block diagram of a pump-controlled semi-active marine heave compensation hydraulic system according to the invention.
The device comprises a nitrogen cylinder unit, a2, an accumulator unit, a3, a gas-liquid converter, a 4, a seventh electromagnetic directional valve, a 5, a fourth electromagnetic directional valve, a 6, a passive compensation asymmetric hydraulic cylinder, a 7, a first nitrogen cylinder, a 8, a second nitrogen cylinder, a 9, a third nitrogen cylinder, a 10, a first switching valve, a 11, a second switching valve, a 12, a third switching valve, a 13, a first accumulator, a 14, a second accumulator, a 15, a third accumulator, a 16, a servo motor, a 17, a bidirectional quantitative hydraulic pump, a 18, a first one-way valve, a 19, a second one-way valve, a 20, a first hydraulic one-way valve, a 21, a second hydraulic one-way valve, a 22, an active compensation asymmetric hydraulic cylinder, a 23, a first electromagnetic directional valve, a 24, a second electromagnetic directional valve, a 25, a third electromagnetic directional valve, a 26, a first pressure sensor, a 27, a second pressure sensor, a 28, a fifth electromagnetic directional valve, a 29, a sixth electromagnetic directional valve, a 30, a first overflow valve, a 31, a second overflow valve, a 32, a second overflow valve, a switch unit, a 33, a displacement sensor and a 35.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in fig. 1 and 2, the present invention provides a pump-controlled semi-active marine heave compensation hydraulic system comprising an active compensation hydraulic module, a passive compensation hydraulic module, a sensor module, a controller 33 and a motion sensor 34.
The motion sensor 34 is used to acquire the sea wave signal and the motion state of the vessel and send it to the controller 33.
The passive compensation hydraulic module comprises a nitrogen cylinder unit 1, an energy accumulator unit 2, a gas-liquid converter 3, a seventh electromagnetic directional valve 4, a fourth electromagnetic directional valve 5 and a passive compensation asymmetric hydraulic cylinder 6.
The nitrogen cylinder unit 1 is connected with the AIR end of the gas-liquid converter 3 through the switch valve unit 32, the OIL end of the gas-liquid converter 3 is connected with the first end of the fourth electromagnetic directional valve 5, the second end of the fourth electromagnetic directional valve 5 is connected with the D port of the passive compensation asymmetric hydraulic cylinder 6, the C port of the passive compensation asymmetric hydraulic cylinder 6 is connected with the first end of the seventh electromagnetic directional valve 4, and the second end of the seventh electromagnetic directional valve 4 is connected with the accumulator unit 2.
Specifically, the nitrogen gas cylinder unit 1 includes a first nitrogen gas cylinder 7, a second nitrogen gas cylinder 8, and a third nitrogen gas cylinder 9, and the switch valve unit 32 includes a first switch valve 10, a second switch valve 11, and a third switch valve 12.
The first nitrogen cylinder 7, the second nitrogen cylinder 8 and the third nitrogen cylinder 9 are connected in parallel and connected with the AIR end of the gas-liquid converter 3.
The first nitrogen cylinder 7 is connected with the AIR end of the gas-liquid converter 3 through a first switch valve 10, the second nitrogen cylinder 8 is connected with the AIR end of the gas-liquid converter 3 through a second switch valve 11, and the third nitrogen cylinder 9 is connected with the AIR end of the gas-liquid converter 3 through a third switch valve 12.
The accumulator unit 2 comprises a first accumulator 13 and a second accumulator 14.
The first accumulator 13 and the second accumulator 14 are connected in parallel and connected to the second end of the seventh electromagnetic directional valve 4.
The active compensation hydraulic module comprises a third energy accumulator 15, a servo motor 16, a bidirectional quantitative hydraulic pump 17, a first one-way valve 18, a second one-way valve 19, a first hydraulic control one-way valve 20, a second hydraulic control one-way valve 21, an active compensation asymmetric hydraulic cylinder 22, a first electromagnetic directional valve 23, a second electromagnetic directional valve 24 and a third electromagnetic directional valve 25.
The servo motor 16 is coaxially connected with the bidirectional quantitative hydraulic pump 17 through a coupling.
The first end of the first check valve 18, the first end of the first pilot operated check valve 20 and the first end of the first electromagnetic directional valve 23 are all communicated with the a oil port of the bidirectional quantitative hydraulic pump 17.
The first end of the second check valve 19, the first end of the second pilot operated check valve 21 and the first end of the second electromagnetic directional valve 24 are all communicated with the port b of the bi-directional quantitative hydraulic pump 17, the flow direction of the first check valve 18 is from the second end of the first check valve 18 to the first end of the first check valve 18, and the flow direction of the second check valve 19 is from the second end of the second check valve 19 to the first end of the second check valve 19.
The second end of the first check valve 18, the second end of the first pilot operated check valve 20, the second end of the second check valve 19, the second end of the second pilot operated check valve 21 and the third accumulator 15 are in communication with each other.
The first end of the first hydraulic control check valve 20 is connected with an A port of the active compensation asymmetric hydraulic cylinder 22 through a first electromagnetic directional valve 23, the first end of the second hydraulic control check valve 21 is connected with a B port of the active compensation asymmetric hydraulic cylinder 22 through a second electromagnetic directional valve 24, a control oil way of the first hydraulic control check valve 20 is connected with the B port of the active compensation asymmetric hydraulic cylinder 22, a control oil way of the second hydraulic control check valve 21 is connected with the A port of the active compensation asymmetric hydraulic cylinder 22, and when the control oil way is not connected with pressure oil, the pressure oil only flows from the second end to the first end and cannot flow reversely. If the pressure of the first end is larger than that of the second end, the oil can flow reversely, and the problem of flow asymmetry of an asymmetric hydraulic cylinder can be solved by using the bidirectional hydraulic control one-way valve lock loop, so that accurate position control of the hydraulic rod is ensured.
The second end of the first electromagnetic directional valve 23 and the first end of the third electromagnetic directional valve 25 are both connected with the port A of the active compensation asymmetric hydraulic cylinder 22, and the second end of the second electromagnetic directional valve 24 and the second end of the third electromagnetic directional valve 25 are both connected with the port B of the active compensation asymmetric hydraulic cylinder 22.
The sensor module comprises a first pressure sensor 26, a second pressure sensor 27, a displacement sensor 35 and a force sensor 36.
The first pressure sensor 26 is arranged between an oil port a of the bidirectional quantitative hydraulic pump 17 and an opening A of the active compensation asymmetric hydraulic cylinder 22, the second pressure sensor 27 is arranged between an oil port B of the bidirectional quantitative hydraulic pump 17 and an opening B of the active compensation asymmetric hydraulic cylinder 22, the displacement sensor 35 is arranged on a hydraulic rod of the active compensation asymmetric hydraulic cylinder 22, the displacement sensor 35 is used for acquiring the displacement of the hydraulic rod of the active compensation asymmetric hydraulic cylinder 22 and sending the displacement to the controller 33, the force sensor 36 is arranged at the joint of the hydraulic rod of the active compensation asymmetric hydraulic cylinder 22 and the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6, and the force sensor 36 is used for acquiring the force of the joint and sending the force to the controller 33. The first pressure sensor 26 and the second pressure sensor 27 are used for monitoring the pressure condition of the system during operation in real time, preventing the system from being overloaded in pressure and ensuring the safe operation of the system.
The first electromagnetic directional valve 23, the second electromagnetic directional valve 24, the third electromagnetic directional valve 25, the first one-way valve 18, the second one-way valve 19, the servo motor 16, the first pressure sensor 26, the second pressure sensor 27, the fourth electromagnetic directional valve 5, the seventh electromagnetic directional valve 4 and the nitrogen cylinder unit 1 are all connected with the controller 33.
The first electromagnetic directional valve 23, the second electromagnetic directional valve 24, the third electromagnetic directional valve 25, the fourth electromagnetic directional valve 5 and the seventh electromagnetic directional valve 4 are all provided with double circuits, the first circuits of the first electromagnetic directional valve 23, the second electromagnetic directional valve 24, the third electromagnetic directional valve 25, the fourth electromagnetic directional valve 5 and the seventh electromagnetic directional valve 4 are all bidirectional circuits, the second circuits of the first electromagnetic directional valve 23, the second electromagnetic directional valve 24, the third electromagnetic directional valve 25 and the fourth electromagnetic directional valve 5 are open circuits, the second circuit of the seventh electromagnetic directional valve 4 is a unidirectional circuit, and the second circuit of the seventh electromagnetic directional valve 4 is a C-port flow of oil from the passive compensation asymmetric hydraulic cylinder 6 to the accumulator unit 2.
Preferably, the active compensation hydraulic module further comprises a fifth electromagnetic directional valve 28 and a sixth electromagnetic directional valve 29.
The first end of the fifth electromagnetic directional valve 28 is connected with the oil port a of the bidirectional quantitative hydraulic pump 17 and the first end of the first electromagnetic directional valve 23, and the second end of the fifth electromagnetic directional valve 28 is connected with the third accumulator 15.
The first end of the sixth electromagnetic directional valve 29 is connected to the b port of the bidirectional fixed displacement hydraulic pump 17 and the first end of the second electromagnetic directional valve 24, respectively, and the second end of the sixth electromagnetic directional valve 29 is connected to the third accumulator 15. The seventh electromagnetic directional valve 4, the fifth electromagnetic directional valve 28 and the sixth electromagnetic directional valve 29 are all pilot-operated two-position two-way electromagnetic directional valves.
The fifth electromagnetic directional valve 28 and the sixth electromagnetic directional valve 29 are provided with double circuits, the first circuits of the fifth electromagnetic directional valve 28 and the sixth electromagnetic directional valve 29 are bidirectional passages, the second circuits of the fifth electromagnetic directional valve 28 and the sixth electromagnetic directional valve 29 are unidirectional passages, the second circuit of the fifth electromagnetic directional valve 28 is the first end of the fifth electromagnetic directional valve 28 from which oil flows to the second end of the fifth electromagnetic directional valve 28, and the second circuit of the sixth electromagnetic directional valve 29 is the first end of the sixth electromagnetic directional valve 29 from which oil flows to the second end of the sixth electromagnetic directional valve 29.
Because the ship is lifted and sunk along with the sea wave under the influence of the sea wave, which is a process with very high frequency and has a certain influence on the service life of the valve, a fifth electromagnetic directional valve 28 and a sixth electromagnetic directional valve 29 are added as backup oil paths.
Further, the active compensating hydraulic module further comprises a first relief valve 30 and a second relief valve 31.
The oil inlet of the first overflow valve 30 is respectively connected with the oil port a of the bidirectional quantitative hydraulic pump 17 and the first end of the first electromagnetic directional valve 23, and the oil outlet of the first overflow valve 30 is connected with the third energy accumulator 15.
The oil inlet of the second overflow valve 31 is respectively connected with the oil port b of the bidirectional quantitative hydraulic pump 17 and the first end of the second electromagnetic directional valve 24, and the oil outlet of the second overflow valve 31 is connected with the third energy accumulator 15. The first relief valve 30 and the second relief valve 31 prevent pressure overload and act as a protection system. When unloading is needed, the first overflow valve 30 and the second overflow valve 31 are opened to enable oil to overflow back to the third energy accumulator 15, so that the system pressure is maintained within a safe range, the system pressure is ensured not to be overloaded, and the safe operation of the system is ensured.
The invention also provides a control method of the pump-control semi-active ship heave compensation hydraulic system, which is applied to the pump-control semi-active ship heave compensation hydraulic system, and comprises the following steps:
S1, the controller 33 obtains sea state grades according to sea wave signals, judges the sea state grades and the motion state, executes S2 when the sea state grades are smaller than or equal to the set grades and the motion state is sinking, executes S3 when the sea state grades are smaller than or equal to the set grades and the motion state is rising, executes S4 when the sea state grades are larger than the set grades and the motion state is sinking, and executes S5 when the sea state grades are larger than the set grades and the motion state is rising.
S2, the controller 33 controls the on-off valve unit 32 to be communicated, the seventh electromagnetic directional valve 4 is on the first line, the fourth electromagnetic directional valve 5 is on the first line, the first electromagnetic directional valve 23 is on the first line, the fifth electromagnetic directional valve 28 is on the second line, the sixth electromagnetic directional valve 29 is on the second line, the second electromagnetic directional valve 24 is on the first line, and the third electromagnetic directional valve 25 is on the second line.
The OIL in the accumulator unit 2 enters a rod cavity of the passive asymmetric hydraulic cylinder 6 from a C port of the passive asymmetric hydraulic cylinder 6 through a seventh electromagnetic directional valve 4, a hydraulic rod of the passive asymmetric hydraulic cylinder 6 is pushed to shrink, the hydraulic rod of the passive asymmetric hydraulic cylinder 6 is driven to shrink, the OIL in the rod cavity of the passive asymmetric hydraulic cylinder 6 is driven to flow out from a D port of the passive asymmetric hydraulic cylinder 6, the OIL enters an OIL end of the gas-liquid converter 3 through a fourth electromagnetic directional valve 5, a directional board in the gas-liquid converter 3 is driven to move towards an AIR end, and nitrogen in the AIR end of the gas-liquid converter 3 is filled into the nitrogen cylinder unit 1 through a switch valve unit 32.
The controller 33 controls the servo motor 16 to drive the bidirectional quantitative hydraulic pump 17 according to displacement and force, the bidirectional quantitative hydraulic pump 17 sequentially passes the oil of the oil port B through the oil port a and the first electromagnetic directional valve 23, enters the rodless cavity of the active compensation asymmetric hydraulic cylinder 22 from the oil port a of the active compensation asymmetric hydraulic cylinder 22 to drive the hydraulic rod of the active compensation asymmetric hydraulic cylinder 22 to extend, the oil in the rod cavity of the active compensation asymmetric hydraulic cylinder 22 flows out from the oil port B of the active compensation asymmetric hydraulic cylinder 22, passes through the second electromagnetic directional valve 24 and flows to the oil port B of the bidirectional quantitative hydraulic pump 17, at the moment, the flow direction of the first hydraulic check valve 20 is from the first end of the first hydraulic check valve 20 to the second end of the first hydraulic check valve 20, the flow direction of the second hydraulic check valve 21 is from the second end of the second hydraulic check valve 21 to the first end of the second hydraulic check valve 21, and the oil in the third accumulator 15 flows to the oil port B of the bidirectional hydraulic pump 17 through the second check valve 19 and the second hydraulic check valve 21 respectively. The controller 33 controls the servo motor 16 based on closed loop control, and adjusts the rotational speed and torque of the servo motor 16 by the displacement and force signals fed back. For example, a PID controller is used to regulate the speed and torque of the servo motor to achieve precise control.
S3, the controller 33 controls the on-off valve unit 32 to be communicated, the seventh electromagnetic directional valve 4 is on the second line, the fourth electromagnetic directional valve 5 is on the first line, the first electromagnetic directional valve 23 is on the first line, the fifth electromagnetic directional valve 28 is on the second line, the sixth electromagnetic directional valve 29 is on the second line, the second electromagnetic directional valve 24 is on the first line, and the third electromagnetic directional valve 25 is on the second line.
Nitrogen in the nitrogen cylinder unit 1 enters the AIR end of the gas-liquid converter 3 through the switch valve unit 32, the reversing plate in the gas-liquid converter 3 is driven to move to the OIL end, OIL in the OIL end of the gas-liquid converter 3 enters the rodless cavity of the passive asymmetric hydraulic cylinder 6 from the D port of the passive asymmetric hydraulic cylinder 6 through the fourth electromagnetic reversing valve 5, the hydraulic rod of the passive asymmetric hydraulic cylinder 6 is pushed to extend, and the hydraulic rod of the passive asymmetric hydraulic cylinder 6 extends to drive OIL in the rod cavity of the passive asymmetric hydraulic cylinder 6 to flow out from the C port of the passive asymmetric hydraulic cylinder 6 to enter the accumulator unit 2 through the seventh electromagnetic reversing valve 4.
The controller 33 controls the servo motor 16 to drive the bidirectional quantitative hydraulic pump 17 according to displacement and force, the bidirectional quantitative hydraulic pump 17 sequentially passes the oil of the oil port a through the oil port B and the second electromagnetic directional valve 24 to enter a rod cavity of the active compensation asymmetric hydraulic cylinder 22 from the oil port B of the active compensation asymmetric hydraulic cylinder 22 to drive a hydraulic rod of the active compensation asymmetric hydraulic cylinder 22 to shrink, the oil in a rod cavity of the active compensation asymmetric hydraulic cylinder 22 flows out from the oil port A of the active compensation asymmetric hydraulic cylinder 22, passes through the first electromagnetic directional valve 23 to the oil port a of the bidirectional quantitative hydraulic pump 17, at the moment, the flow direction of the first hydraulic unidirectional valve 20 sequentially passes through the first electromagnetic directional valve 23, the first hydraulic unidirectional valve 20 and the second electromagnetic directional valve 24 from the first end of the first hydraulic unidirectional valve 20 to the second end of the first hydraulic unidirectional valve 20, and the flow direction of the second hydraulic unidirectional valve 21 sequentially passes through the oil in the rod cavity A of the active compensation asymmetric hydraulic cylinder 22 from the second end of the second hydraulic unidirectional valve 21 to the first end of the second hydraulic unidirectional valve 21, and the oil in the rod cavity of the active compensation asymmetric hydraulic cylinder 22 sequentially passes through the first electromagnetic directional valve 23, the first electromagnetic directional valve 20, the second hydraulic unidirectional valve 21 and the second electromagnetic directional valve 24 sequentially to enter the rod cavity of the active compensation asymmetric hydraulic cylinder 22.
S4, the controller 33 controls the on-off valve unit 32 to be communicated, the seventh electromagnetic directional valve 4 is on the first line, the fourth electromagnetic directional valve 5 is on the first line, the first electromagnetic directional valve 23 is on the first line, the fifth electromagnetic directional valve 28 is on the second line, the sixth electromagnetic directional valve 29 is on the second line, the second electromagnetic directional valve 24 is on the second line, and the third electromagnetic directional valve 25 is on the first line.
The OIL in the accumulator unit 2 enters a rod cavity of the passive asymmetric hydraulic cylinder 6 from a C port of the passive asymmetric hydraulic cylinder 6 through a seventh electromagnetic directional valve 4, a hydraulic rod of the passive asymmetric hydraulic cylinder 6 is pushed to shrink, the hydraulic rod of the passive asymmetric hydraulic cylinder 6 is driven to shrink, the OIL in the rod cavity of the passive asymmetric hydraulic cylinder 6 is driven to flow out from a D port of the passive asymmetric hydraulic cylinder 6, the OIL enters an OIL end of the gas-liquid converter 3 through a fourth electromagnetic directional valve 5, a directional board in the gas-liquid converter 3 is driven to move towards an AIR end, and nitrogen in the AIR end of the gas-liquid converter 3 is filled in the nitrogen cylinder unit 1.
The controller 33 controls the servo motor 16 to drive the bidirectional quantitative hydraulic pump 17 according to displacement and force, the bidirectional quantitative hydraulic pump 17 sequentially passes the oil of the oil port B through the oil port a and the first electromagnetic directional valve 23, enters the rodless cavity of the active compensation asymmetric hydraulic cylinder from the oil port a of the active compensation asymmetric hydraulic cylinder to drive the hydraulic rod of the active compensation asymmetric hydraulic cylinder 22 to extend, the oil in the rod cavity of the active compensation asymmetric hydraulic cylinder 22 flows out from the oil port B of the active compensation asymmetric hydraulic cylinder 22, flows to the oil port a of the active compensation asymmetric hydraulic cylinder 22 through the third electromagnetic directional valve 25, enters the rodless cavity of the active compensation asymmetric hydraulic cylinder 22, at the moment, the flow direction of the first hydraulic check valve 20 is from the first end of the first hydraulic check valve 20 to the second end of the first hydraulic check valve 20, the flow direction of the second hydraulic check valve 21 is from the second end of the second hydraulic check valve 21 to the first end of the second hydraulic check valve 21, and the oil in the third accumulator 15 flows to the oil port of the hydraulic pump 17B through the second check valve 19 and the second hydraulic check valve 21 respectively.
S5, the controller 33 controls the on-off valve unit 32 to be communicated, the seventh electromagnetic directional valve 4 is on the second line, the fourth electromagnetic directional valve 5 is on the first line, the first electromagnetic directional valve 23 is on the second line, the fifth electromagnetic directional valve 28 is on the second line, the sixth electromagnetic directional valve 29 is on the second line, the second electromagnetic directional valve 24 is on the first line, and the third electromagnetic directional valve 25 is on the first line.
Nitrogen in the nitrogen cylinder unit enters an AIR end of the gas-liquid converter through the switch valve unit, a reversing plate in the gas-liquid converter is driven to move to an OIL end, OIL at the OIL end of the gas-liquid converter enters a rodless cavity of the passive compensation asymmetric hydraulic cylinder 6 from a D port of the passive compensation asymmetric hydraulic cylinder 6 through a fourth electromagnetic reversing valve, a hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6 is pushed to extend, and the hydraulic rod of the passive compensation asymmetric hydraulic cylinder 6 extends to drive OIL in a rod cavity of the passive compensation asymmetric hydraulic cylinder 6 to flow out from a C port of the passive compensation asymmetric hydraulic cylinder 6 and enter the energy accumulator unit 2 through a seventh electromagnetic reversing valve 4.
The controller 33 controls the servo motor 16 to drive the bidirectional quantitative hydraulic pump 17 according to displacement and force, the bidirectional quantitative hydraulic pump 17 sequentially passes the oil of the oil port a through the oil port B and the second electromagnetic directional valve 24, enters the rod cavity of the active compensation asymmetric hydraulic cylinder 22 from the oil port B of the active compensation asymmetric hydraulic cylinder 22 to drive the hydraulic rod of the active compensation asymmetric hydraulic cylinder 22 to shrink, the oil in the rod cavity of the active compensation asymmetric hydraulic cylinder 22 flows out from the oil port A of the active compensation asymmetric hydraulic cylinder 22, passes through the third electromagnetic directional valve 25, flows to the oil port B of the active compensation asymmetric hydraulic cylinder 22, enters the rod cavity of the active compensation asymmetric hydraulic cylinder 22, at the moment, the flow direction of the first hydraulic check valve 20 flows to the first end of the first hydraulic check valve 20 from the second end of the first hydraulic check valve 20, the flow direction of the second hydraulic check valve 21 flows to the second end of the second hydraulic check valve 21, and the oil in the third accumulator 15 flows to the oil port of the bidirectional hydraulic pump 17 a through the first check valve 18 and the first hydraulic check valve 20 respectively.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (7)
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