CN104876145B - Electronic active compensation hoister system - Google Patents
Electronic active compensation hoister system Download PDFInfo
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- CN104876145B CN104876145B CN201510230504.7A CN201510230504A CN104876145B CN 104876145 B CN104876145 B CN 104876145B CN 201510230504 A CN201510230504 A CN 201510230504A CN 104876145 B CN104876145 B CN 104876145B
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- winch
- controller
- frequency converter
- heave
- energy
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
- B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0125—Motor operated winches
- B66D2700/0141—Electrically actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0183—Details, e.g. winch drums, cooling, bearings, mounting, base structures, cable guiding or attachment of the cable to the drum
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feedback Control In General (AREA)
Abstract
A kind of electronic active compensation hoister system of special boat technical field, including：The cable sector that is set on hawser and for measuring the heave velocity of suspension centre and the heave measuring unit of acceleration, the winch drive units being connected with winch motor, winch controller and the energy process unit utilized for carrying out energy regenerating in suspension centre mechanism, the present invention is based on the ship heave movement data of historical data and real-time detection to carry out active predicting to the kinematic parameter of ship future in a short time, the feedforward control of ship movement velocity prediction is calculated, while calculating the feedback control of the relative velocity of load and ship and the feedback control of position excursion.
Description
Technical field
The present invention relates to a kind of device of special boat technical field, specifically a kind of electronic active compensation is twisted
Vehicle system.
Background technique
The research of domestic heave compensation winch is concentrated mainly on passive type compensation way, such as gas-liquid mixed type compensation system
System, lacks the development of active compensation system, and external active heave compensation winch mainly uses feedback control.Since wave is transported
Dynamic randomness is strong, and simple feedback control is caused to be difficult to improve compensation precision.
After searching and discovering the prior art, Chinese patent literature CN102691484A discloses (bulletin) day
2012.09.26, a kind of novel sea floating drilling platform winch heave compensator is disclosed, using differential planet gear system
It is defeated by outer gear ring from Active Compensation motor and the power of passive compensation hydraulic motor as the transmission mechanism of heave compensation winch
Enter, from sending the power for boring motor to be inputted by sun gear, planet carrier output power drives winch drum movement, PLC control unit
Based on the platform Heaving Signal detected, controls Active Compensation motor and drive the rotation of differential speed reducer outer gear ring, rolled by driving
The forward and reverse rotation of cylinder carrys out the heave movement of compensating platform；Based on the bit pressure variable signal detected, control, which is sent, bores motor driven too
Sun wheel rotation, realizes automatic bit feed movement.The part dead load that air-liquid converter undertakes drill string by passively compensating hydraulic motor,
Active Compensation motor overcomes remaining load in movement compensation process, reduces system energy consumption, improves compensation precision.But the skill
Art complicated in mechanical structure has hydraulic passive compensation and electronic Active Compensation, and electronic Active Compensation is separated with brill driving is sent, machinery knot
Structure complicated band is carried out non-linear factor and is increased, and increases control system difficulty, brings Control system resolution and less reliable.
Chinese patent literature CN1152290 discloses (bulletin) day 1997.06.18, disclose it is a kind of without mechanical or
The crane rope stable control method and equipment of the high-performance and low-cost of optical swing angle detection device.The technology provides
A kind of rope stable control method is used to cause to be driven by the mobile trolley of the load of the rope suspensions of crane etc. for having
The crane etc. of dynamic equipment, wherein being stopped by the waving for load of rope suspensions by following steps：Based on control system and drive
The gain coefficient and time equivalent constant of dynamic system do not include by estimating on calculating：Turned by the caused load of waving of rope
The motor torque estimation signal τ M* of square fluctuation and calculate and directly proportional to rope swing angle and load wave load signal
I2W*, and compare this estimation signal τ M* and real load torque tau M, and to the trolley speed command of trolley driving equipment (1)
The reversed feedback signal NW of NS, the signal are by detecting estimated value θ to waving the directly proportional swing angle of load signal to this
Difference between 1* and swing angle setting value θ S carries out caused by the compensation of phase lead-lag.But the technology control system knot
Structure is simple, control accuracy difference.
In conclusion being now badly in need of the technology of a kind of energy look-ahead wave moved and compensation precision can be greatly improved.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of electronic active compensation hoister system, base
Active predicting is carried out to the kinematic parameter of ship future in a short time in the ship heave movement data of historical data and real-time detection,
Calculate ship movement velocity prediction feedforward control, while calculate the relative velocity of load and ship feedback control and
The feedback control of position excursion.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of electronic active compensation hoister systems, including：Be set to the cable sector on hawser with
And the winch for measuring the heave measuring unit of the heave velocity of suspension centre and acceleration in suspension centre mechanism, being connected with winch motor
Driving unit, winch controller and the energy process unit utilized for carrying out energy regenerating, wherein：Heave measuring unit with
Winch controller is connected and transmits heave velocity and displacement data, and energy process unit is connected with winch drive units and recycles more
Remaining energy, winch drive units are connected with winch controller and transmission electrical machine encoder revolving speed, circle number and angle, winch control
Prediction is calculated according to motor encoder angle, circle number and rotary speed data, heave velocity and displacement data, historical data is calculated in device
Parameter is simultaneously exported to winch drive units, the corresponding compensation driving current of winch drive units output, voltage and frequency, for driving
Dynamic motor compensates the interference of balancing out motions wave.
The historical data refers to：It is stored in winch controller, there is the historical data of ship heave movement, winch to turn
Speed and the releasing long running parameter of cable.
The heave measuring unit is used to obtain the speed data and displacement data of detection ship heave movement, the unit
Including：It waterproof detection case and is set to its internal and acceleration transducer for being connected respectively with winch controller and is used for signal
The advance data processing module of conversion and signal filtering, wherein：Advance data processing module exports heave speed to winch controller
Degree and displacement data, acceleration transducer export acceleration information to winch controller, and waterproof detection case is fixed on suspension centre mechanism
On.
The winch controller includes：For the feed forward prediction controller of ship motion prediction feedforward, based on BP nerve
The PID controller of network, the velocity feedback controller for velocity feedback and the Displacement Feedback controller for Displacement Feedback.
The winch drive units include：Filter unit, encoder, Digit Velocity machine interface board, reactor, main driving
Frequency converter drives frequency converter from driving frequency converter and row's cable, wherein：Filter unit, reactor and master and slave driving frequency converter and
Row's cable frequency conversion is sequentially connected, and Digit Velocity machine interface board is connected with encoder and master and slave driving frequency converter respectively, master and slave driving
It is connected between frequency converter by optical fiber and exchanges data to realize synchronous and Torque distribution, master and slave frequency converter and row's cable frequency converter
It is connected with winch controller by fieldbus and output motor encoder revolving speed, circle number and angle.
The energy process unit includes：Waterproof rain-proof case and the power with temperature detection for being set to its inside
Resistance, super capacitor and inverter module with voltage detecting, wherein：The temperature detection end of power resistor and super capacitor
Voltage detection terminal be connected with winch controller, power resistor and super capacitor are connected with inverter module respectively.
The power resistor prevents frequency converter for consuming the extra hyperplasia energy that winch generates during heave
Rectified voltage increases and burns out frequency converter；The super capacitor be used for by the energy stores of hyperplasia and export to inverter module with
Inversion loopback power grid.
Technical effect
Compared with prior art, technical effect of the invention includes：Pure electric vehicle multi-motor driving has structure and control letter
It is single, control precision and the high advantage of unfailing performance.The present invention is surveyed by electronic heave compensation winch in-site modeling, and compensation precision can
Up to 95% or more.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is heave movement measuring unit schematic diagram
Fig. 3 is winch drive units main circuit schematic diagram；
Fig. 4 is energy process unit schematic illustration
Fig. 5 is energy process method flow diagram
Fig. 6 is winch drive units control circuit schematic diagram；
Fig. 7 is principal and subordinate's control structure figure；
Fig. 8 is winch controller control system architecture figure；
Fig. 9 speed control structure chart；
Figure 10 displacement controller structure chart；
Figure 11 structure of fuzzy controller figure；
Figure 12 feed forward prediction controller structure diagram；
Figure 13 is that quantizing factor adjusts matched curve
Figure 14 is without feed forward prediction controller speed/displacement/torque-time curve graph；
Figure 15 is band feed forward prediction controller speed/displacement/torque-time curve graph；
In Fig. 1：1 energy process unit, 2 winch drive units, 3 winch controllers, 4 driving motors, 5 winches, 6 row's cable machines
Structure, 7 hawsers, 8 heave measuring units, 9 suspension centres, 10 loads, reduction gearing.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
Embodiment 1
As shown in Figure 1, the present embodiment includes：The cable sector 6 that is set on hawser and for measuring 9 mechanism of suspension centre
The heave velocity of suspension centre 9 and the heave measuring unit 8 of heave displacement, the winch drive units 2 being connected with winch drive motor,
Winch controller 3 and the energy process unit 1 recycled for carrying out regeneration energy, wherein：It heaves measuring unit 8 and twists
Vehicle controller 3 is connected and exports heave velocity and displacement data, the main circuit phase of energy process unit 1 and winch drive units 2
Connect simultaneously reclaiming energy, the control circuit of winch drive units 2 is connected with winch controller 3 and transmission electrical machine encoder turns
Speed, circle number and angle, winch controller 3 is according to the deceleration for calculating motor encoder angle, circle number and rotary speed data, reduction gearing
Prediction Parameters are calculated than, heave velocity and displacement data, historical data and export to winch drive units 2, winch driving
Unit 2 exports corresponding compensation driving current, voltage and frequency, and it is dry to compensate balancing out motions wave for drive motor
It disturbs.
As shown in Fig. 2, the heave measuring unit 8 includes the motion reference of sequentially connected built-in acceleration sensor
Unit MRU (Motion Reference Unit, motion reference units), bandwidth-limited circuit, analog quantity acquisition circuit and calculating
Machine digital processing unit, wherein：Acceleration transducer measures ship vertical movement acceleration signal, and acceleration signal is filtered by band logical
Computer digit processor is given after wave, computer digit processor carries out digital filtering, integral operation, output to input signal
Ship heave velocity and displacement signal are to winch controller 3.
The acceleration signal is integrated into speed signal through computer digital processing unit, and speed signal is integrated again as position
Shifting signal first carries out Fourier transformation to acceleration signal, time-domain signal is converted into frequency-region signal, integral in frequency domain with
Fourier components coefficient replacement form indicates that concrete operations are：When acceleration signal time series be a (n), then Fu is carried out to it
In leaf transformation obtain：It is once integrated, available speed signal, speed Carry out quadratic integral, available displacement signal, displacement Wherein：H (k) is equivalent to a bandpass filter, wherein：N is that the data of actual measureed value of acceleration signal time sequence are counted, and Δ f is frequency discrimination
Rate, ω are Fourier components respective frequencies, fdFor cutoff frequency lower limit, fuFor the cutoff frequency upper limit.Can be had using Frequency Domain Integration
Effect avoids accumulation amplification of the slight error of time-domain signal in integral process, so that calculated result is more accurate.
As shown in figure 3, the winch drive units 2 include：If dry circuit isolator, filter unit, several reactance
Device, the primary transducer with energy process unit, the slave frequency converter with energy process unit, row cable frequency converter, energy process
Unit, main drive motor M1, from driving motor M2 and row cable motor M3, wherein：First circuit isolator is connected with filter unit,
And export dynamic power to filter unit, filter unit can fall the harmonic filtration that principal and subordinate's frequency converter generates, and prevent harmonic wave
Interference.The output end of filter unit is separately connected three branches, and every branch routes concatenated circuit isolator, reactor, main transformer
Frequency device or from frequency converter or row's cable frequency converter and corresponding motor form.
As shown in figure 4, the first circuit isolator or second circuit isolator in electronic switch corresponding diagram 2 in Fig. 4；Reactance
The first reactor or the second reactor in device corresponding diagram 2；Master in frequency converter corresponding diagram 2 or from frequency converter；Drive motor
Driver motor M1 or from drive motor M2 in corresponding diagram 2.
As shown in figure 4, the energy process unit includes：Super capacitor group with voltage sensor has temperature
Power resistor, electronic switching circuit and the energy process of sensor control computer, wherein：Super capacitor group and electronic switch
The input terminal of circuit is connected with the primary transducer of winch drive units or from the rectification output DC bus inside frequency converter, electronics
The output end of switching circuit is connected with power resistor, the voltage sensor in temperature sensor and super capacitor group in power resistor
Device is connected respectively with energy process computer and output temperature monitoring signals and voltage monitoring signal, and energy process control calculates
Machine is connected with the circuit isolator of winch drive units and exports control instruction.
For winch during lash ship heaves, in order to keep the opposing stationary of load 10, winch controller control driving is electronic
Machine forward or reverse to compensate the heave movement of lash ship, i.e., guarantee that the tension of hawser, motor are in the raising stage
Generating state, regeneration energy are back to the DC bus of master and slave frequency converter, and the energy process unit in the present embodiment remains function
Rate resistance increases super capacitor group to carry out energy consumption to realize the absorption of regeneration energy.
As shown in figure 5, being the specific works schematic diagram of above-mentioned energy process unit, above-mentioned super capacitor group is large capacity
Capacitor is used for absorption and regeneration energy when motor is in generating state, frequency changer direct current bus voltage is made to be maintained at safe electricity
Pressure is hereinafter, when regeneration energy is excessive, and energy process controls computer control electronic switching circuit conducting, by power resistor into one
Step consumes excessive energy；When motor is in motoring condition, energy process computer controls electronic switching circuit cut-off, makes
It obtains super capacitor and then controls electronic switching circuit when detecting that super-capacitor voltage is too low to drive motor offer energy and lead
It is logical, allow ship electricity to supplement energy.
During ship heave movement, heave compensation winch needs very high-power.It, can be sufficiently sharp by energy process unit
The regeneration energy generated with ship heave movement, can reduce the power requirement of marine generator, while having saved a large amount of electric energy, together
When structure it is simple, at low cost, high reliability.
As shown in fig. 6, the winch controller 3 includes：The analogue collection module A/D being connected with heave measuring unit
And digital output module DO, digital quantity input module DI and the central control unit CPU being successively connected, modules A/D, module
DO and module DI is connect by module back data/address bus with central control unit CPU, and winch controller is formed.Winch controller
The communication interface end of central control unit CPU be connected respectively with three branches by fieldbus, every branch includes：Successively
Concatenated converter module, Digit Velocity machine interface board and rotating speed coder, wherein：Analogue collection module A/D, passes through mould
Block back data/address bus exports the information of ship heave velocity and displacement signal to central control unit CPU.Central control unit
CPU sends main driving frequency converter to further through fieldbus, the output quantity of winch controller.Operate the operation letter of display unit
Number, it is input to digital quantity input module DI, module DI by its back data/address bus to is sent obtained digital input signals
Central control unit CPU.The information of control process is transported to digital output by data/address bus by central control unit CPU
Module DO, module DO output procedural information to operation display unit are shown.The communication interface of central control unit CPU passes through
Communication bus is connected with corresponding primary transducer in winch drive units 2, from frequency converter or row's cable frequency converter respectively, revolving speed coding
Device and main drive motor M1 corresponding in winch drive units 2, be connected from driving motor M2 or row cable motor M3 and acquire revolving speed,
Circle number and angle information are exported to Digit Velocity machine interface board, Digit Velocity machine interface board again collected revolving speed, enclose number and
Angle information is output to frequency converter, the central control unit CPU for the winch controller that frequency converter is conveyed further through communication bus.
The analogue collection module A/D and digital output module DO, the digital quantity input module being sequentially connected in series
DI is equipped with operation display unit for showing real time data result.
The rotating speed coder is the incremental encoder exported with ABZ phase, for measuring revolving speed, the circle number of motor
And angle, specific acquisition pattern are：
1) revolving speed N=60 × D × 1000/ (n × t), wherein：Speed unit is rpm, and n is that encoder turns around output
Umber of pulse, t are time of measuring, and unit ms, D are that A phase or B phase count input pulse number in time of measuring t；
2) number is enclosed：Frequency converter internal controller counts encoder Z phase cumulative, and accumulated counts numerical value is motor rotation
Enclose number；
3) the counting number of pulses for Z phase number of pulses+A phase or the B phase of adding up, so that it may which calculating current location is circle number and angle
Degree.
As shown in fig. 7, for primary transducer and the master & slave control construction module from frequency converter, wherein：Control inside primary transducer
It is made as speed control mode, is direct torque from frequency converter internal control.Primary transducer is received by communication bus and comes from winch
The speed signal of controller forms velocity deviation with the data from rotating speed coder, passes by data buffering and speed limiting
PI speed regulator is given, PI speed regulator output control amount divides two-way：Control amount is conveyed to the electric current of primary transducer all the way
Control regulator, another way control amount are conveyed to from frequency converter, as the torque reference from frequency converter, after torque reference clipping,
It is conveyed to the current control adjuster from frequency converter.This master & slave control construction module can guarantee that principal and subordinate's frequency converter torque is identical, speed
It spends identical.
As shown in figure 8, the central control unit CPU includes：Feed forward prediction control for the feedforward of ship motion prediction
Device, the speed control for velocity feedback and the Displacement Feedback controller for Displacement Feedback processed, wherein：Feed forward prediction control
Device processed be connected with heave movement measuring unit and receive heave measuring unit output signal A (s), feed forward prediction controller it is defeated
Out, the output of Displacement Feedback controller and the output of encoder constitute control deviation e1 (t), the input of Displacement Feedback controller
For the deviation e for giving motion profile and actual motion track2(t)=r (t)-y (t).
Intermediate variable is eliminated, then the output quantity of controller is：
, G1(s)、
G2(s)、G3(s)、G4(s)、G5(s)、G6(s)、G7It (s) is respectively feed forward prediction controller, velocity feedback controller, Displacement Feedback
Controller, winch drive units, driving motor, reduction gearing, the transmission function of encoder.
Wherein, winch drive units, driving motor, reduction gearing, encoder are conventional components.Speed control is using normal
The PID controller of rule.Feed forward prediction controller adds BP neural network, on-line tuning PID on the basis of conventional PID controller
The parameter K of controllerp,Ki,Kd, construct the PID controller based on BP neural network.Displacement controller is in fuzzy controller
On the basis of, using the fitting function of BP neural network, the quantizing factor of fuzzy controller is fitted, generates fitting
Curve achievees the purpose that on-line tuning quantizing factor.By traditional PI D, PID and fuzzy based on BP neural network this three
Being used in combination for kind controller, improves the control performance of master controller.
The output quantity Y (s) of winch controller gives master and slave driving frequency converter, and master and slave driving frequency converter is controlled according to winch
The output quantity Y (s) of device, exports frequency corresponding with wave heave movement and electric current removes driving winch driving motor, to disappear
Influence except wave to load.
As shown in figure 12, the feed forward prediction controller uses the PID controller based on BP neural network, and the feedforward is pre-
Survey controller ship heave velocity prediction steps be：
1) structure of BP neural network, i.e. input layer, hidden layer and output layer number of nodes are determined, the first of weighting coefficient is given
Initial value, learning rate and inertia coeffeicent, when this k=1, wherein：K is sampled value.
2) it samples to obtain r (k) by deep measuring unit.
3) input of each layer neuron of neural network, output valve are calculated, the output of NN output layer is the 3 of PID controller
A adjustable parameter Kp,Ki,Kd, wherein：Kp,Ki,KdRespectively proportionality coefficient, integral coefficient and differential coefficient；
4) the output u of PID controller is calculated3(k)。
5) neural network learning, on-line tuning ω are carried outij(k)、ωli(k), the adaptive tune of pid control parameter is realized
It is whole, wherein：ωij(k)、ωliIt (k) is the weighting coefficient of neural network.
6) k=k+1, return step 1 are set).
As shown in figure 9, the speed control is made of adder, integrator, multiplier and differentiator, the speed control
Device processed receives the deviation signal e in Fig. 81(t), output signal u1(t) the automatically controlled driving unit into Fig. 8.
Wherein, Kp、Ki、KdRespectively proportionality coefficient, integration time constant, derivative time constant.
As shown in Figure 10, the Displacement Feedback controller includes：The PID controller of fuzzy controller, wherein：
Fuzzy controller and PID controller receive the deviation e of load movement track and feedback signal in Fig. 8 respectively2
(t), fuzzy controller exports regulated variable Δ Kp,ΔKi,ΔKdTo PID controller
The PID controller carries out on-line amending to three parameters, and formula is as follows：
Wherein：ΔKp, Δ Ki, Δ KdFor the knots modification of PID controller parameter.
As shown in figure 11, the fuzzy control implement body calculating process is as follows：
1) the physics domain X of the one-component x of input variable known toj=[- xj,xj](xj>0) domain N, is obscuredj=[-
nj,nj](nj>0).It then defines from XjTo NjTransformation coefficient kjFor quantizing factor, kj=nj/xj.Quantizing factor k is setjAfterwards, may be used
Input variable after inputting domain variation can be made to remain in the physics domain X of input variable variation, only to change quantizing factor
It falls in original fuzzy domain, so as to so that the nuclear structure of fuzzy controller remains unchanged.
After sharpening is handled, although output variable is clearly to be worth, but its value range is obtained by fuzzy reasoning
Fuzzy subset determine that the range that these fuzzy subsets are capped is known as fuzzy domain.In order to make fuzzy domain and execute below
The physics domain of mechanism demand is consistent, and can pass through scale factor kuIt is converted.After sharpening, it is assumed that output quantity
Fuzzy domain Kj=[- n, n] (n>0), executing agency requires physics domain U=[- u, u] (u of the control amount u of input>0).
By obscuring domain KjThe scale factor that transformation obtains physics domain U is ku=u/n.
Clear value is blurred using triangular membership, degree of membership calculation formula is：
Wherein：A, b is respectively the coordinate of triangle base or so endpoint, and c is
The central value of membership function, ω indicate that bottom edge is wide.
Total fuzzy implicative relationshipThe fuzzy quantity that system exports, which can be obtained, through fuzzy reasoning is：Wherein：A*To input fuzzy quantity, it is made of two obscuring components e and ec.Clearly
The calculation formula of clearization is：Wherein：N is the sum of fuzzy rule,For i-th fuzzy rule
The corresponding fuzzy subset of conclusionThe corresponding value in the membership function centre of area.
The quantizing factor of fuzzy controller is definite value after manually adjusting, fuzzy controller used by the present embodiment,
The quantizing factor that several are manually adjusted is fitted using BP neural network, on-line tuning quantizing factor, improves fuzzy
The performance of controller, as shown in figure 13, Figure 13 are that the quantizing factor of fuzzy controller adjusts matched curve, and left figure is artificial offline
Matched curve is adjusted, right figure is the matched curve of on-line tuning quantizing factor.
It as shown in figure 14, can from figure for without feed forward prediction controller speed/displacement/torque-time curve graph
Out, increase with time, winch heave movement tracks ship motion delay, and displacement can gradually drift out central point for ship movement, controls
Effect processed is poor.
It as shown in figure 15, is band feed forward prediction controller speed/displacement/torque-time curve graph, it can from figure
Out, increase with time, winch heave movement can track ship movement well substantially for ship movement, be displaced in will not generally drifting out
Heart point, control effect are preferable.
Claims (8)
1. a kind of electronic active compensation hoister system, which is characterized in that including：The cable sector that is set on hawser and
Winch for measuring the heave measuring unit of the heave velocity of suspension centre and acceleration in suspension centre mechanism, being connected with winch motor drives
Moving cell, winch controller and the energy process unit utilized for carrying out energy regenerating, wherein：It heaves measuring unit and twists
Vehicle controller is connected and transmits heave velocity and displacement data, energy process unit be connected with winch drive units and recycle it is extra
Energy, winch drive units are connected with winch controller and transmission electrical machine encoder revolving speed, circle number and angle, winch controller
Prediction ginseng is calculated according to motor encoder angle, circle number and rotary speed data, heave velocity and displacement data, historical data is calculated
It counts and exports to winch drive units, the corresponding compensation driving current of winch drive units output, voltage and frequency, for driving
Motor compensates the interference of balancing out motions wave；
The winch drive units include：If dry circuit isolator, several reactors, has energy process list at filter unit
Member primary transducer, the slave frequency converter with energy process unit, row cable frequency converter, energy process unit, main drive motor M1,
From driving motor M2 and row cable motor M3, wherein：First circuit isolator is connected with filter unit, and by dynamic power export to
Filter unit, filter unit fall the harmonic filtration that principal and subordinate's frequency converter generates, and prevent harmonic wave interference；The output end of filter unit point
Not Lian Jie three branches, every branch routes concatenated circuit isolator, reactor, primary transducer or from frequency converter or row's cable frequency conversion
Device and corresponding motor form；
Primary transducer internal control is speed control mode, is direct torque from frequency converter internal control；Primary transducer passes through logical
Believe that bus receives the speed signal from winch controller, by data buffering and speed limiting, and from rotating speed coder
Data form velocity deviation, send PI speed regulator to, and PI speed regulator output control amount divides two-way：Control amount is defeated all the way
The current control adjuster of primary transducer is given, another way control amount is conveyed to from frequency converter, gives as from the torque of frequency converter
It is fixed, after torque reference clipping, it is conveyed to the current control adjuster from frequency converter；This master & slave control construction module, can guarantee master
Identical from frequency converter torque, speed is identical；
The energy process unit includes：Super capacitor group with voltage sensor, the power resistor with temperature sensor,
Electronic switching circuit and energy process control computer, wherein：The input terminal and strand of super capacitor group and electronic switching circuit
The primary transducer of vehicle driving unit is connected from the rectification output DC bus inside frequency converter, the output end of electronic switching circuit
Be connected with power resistor, the voltage sensor in temperature sensor and super capacitor group in power resistor respectively with energy process
Computer is connected and output temperature monitoring signals and voltage monitoring signal, and energy process controls computer and winch drive units
Circuit isolator be connected and export control instruction；
The super capacitor group is large bulk capacitance, and absorption and regeneration energy is used for when motor is in generating state, makes frequency conversion
Device DC bus-bar voltage is maintained at safe voltage hereinafter, when regeneration energy is excessive, and energy process controls computer and controls electronic cutting
Powered-down road conducting, excessive energy is further consumed by power resistor；When motor is in motoring condition, energy process meter
Calculation machine control electronic switching circuit cut-off so that super capacitor give drive motor provide energy, when detect super capacitor electricity
Press through it is low, then control electronic switching circuit conducting, allow ship electricity supplement energy.
2. electronic active compensation hoister system according to claim 1, characterized in that the historical data is
Refer to：It is stored in winch controller, there is historical data, winch revolving speed and the releasing long running parameter of cable of ship heave movement.
3. electronic active compensation hoister system according to claim 1, characterized in that the heave measuring unit
Including：Waterproof detection case and the acceleration transducer and advance data for being set to its inside and being connected respectively with winch controller
Processing module, wherein：Advance data processing module exports heave velocity and displacement data, acceleration transducer to winch controller
Acceleration information is exported to winch controller, waterproof detection case is fixed in suspension centre mechanism.
4. electronic active compensation hoister system according to claim 3, characterized in that the winch controller packet
It includes：For ship motion prediction feedforward feed forward prediction controller, for velocity feedback velocity feedback controller and be used for
The Displacement Feedback controller of Displacement Feedback.
5. electronic active compensation hoister system according to claim 3, characterized in that the winch drive units
Including：Filter unit, encoder, Digit Velocity machine interface board, reactor, main driving frequency converter, from driving frequency converter and row cable
Frequency converter is driven, wherein：Filter unit, reactor and master and slave driving frequency converter and row's cable frequency conversion are sequentially connected, Digit Velocity
Machine interface board is connected with encoder and master and slave driving frequency converter respectively, is connected and hands over by optical fiber between master and slave driving frequency converter
Data are changed to realize that synchronous and Torque distribution, master and slave frequency converter and row's cable frequency converter and winch controller pass through fieldbus phase
Connect simultaneously output motor encoder revolving speed, circle number and angle.
6. electronic active compensation hoister system according to claim 1, characterized in that the energy process unit
Including：Waterproof rain-proof case and the power resistor with temperature detection being set to inside its, the super electricity with voltage detecting
Appearance and inverter module, wherein：The temperature detection end of power resistor and the voltage detection terminal and winch controller of super capacitor
It is connected, power resistor and super capacitor are connected with inverter module respectively.
7. electronic active compensation hoister system according to claim 4, characterized in that when heave measuring unit it is defeated
It is out A (s), then the output quantity of winch controller is：
G1(s)、G2(s)、G3(s)、G4(s)、G5(s)、G6(s)、G7It (s) is respectively feed forward prediction controller, speed feedback control
Device, Displacement Feedback controller, winch drive units, driving motor, reduction gearing, the transmission function of encoder.
8. the electronic active compensation hoister system according to claim 4 or 7, characterized in that the feed forward prediction
Controller uses the PID controller based on BP neural network；The Displacement Feedback controller uses fuzzy controller.
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| CN106892368B (en) * | 2015-12-17 | 2019-01-11 | 中国科学院沈阳自动化研究所 | A kind of control method for deep sea equipment active compensation |
| CN106429843A (en) * | 2016-09-29 | 2017-02-22 | 武汉船用机械有限责任公司 | Wave compensation device and control method |
| CN106678091B (en) * | 2017-02-27 | 2018-10-12 | 广州文冲船厂有限责任公司 | Compensation of undulation control method and device |
| CN110386563B (en) * | 2018-04-23 | 2020-11-03 | 杭州诺云科技有限公司 | Retraction storage device based on deep compensation control algorithm |
| CN109917643A (en) * | 2018-09-20 | 2019-06-21 | 青岛农业大学 | Deep water installs heave compensation feedback control system |
| CN110038291B (en) * | 2019-05-24 | 2020-11-24 | 深圳市前海动竞体育科技有限公司 | Motion information acquisition system and motion posture recovery method for rowing athletes |
| CN110422284A (en) * | 2019-07-24 | 2019-11-08 | 华中科技大学 | A kind of active compensation method and system based on Ship Motion forecast |
| CN111025893A (en) * | 2019-12-25 | 2020-04-17 | 武汉船舶设计研究院有限公司 | Deep sea mining water surface support cooperative control system based on generalized PID control |
| CN111389924A (en) * | 2020-03-24 | 2020-07-10 | 辽宁工程技术大学 | Axial high-precision automatic adjusting system for roller of blade rolling mill |
| CN112850530B (en) * | 2020-12-31 | 2022-10-14 | 南通中远海运船务工程有限公司 | Control method of main controller and heave compensation system applying main controller |
| CN112645228B (en) * | 2020-12-31 | 2022-10-14 | 南通中远海运船务工程有限公司 | Winch control device and winch system of deep water dynamic positioning crude oil conveying device |
| CN112678703B (en) * | 2020-12-31 | 2022-10-14 | 南通中远海运船务工程有限公司 | Main controller and winch system of deep water dynamic positioning crude oil conveying device |
| CN113800416A (en) * | 2021-09-18 | 2021-12-17 | 大连海事大学 | Scientific investigation ship active compensation winch system and use method thereof |
| CN117361369B (en) * | 2023-11-08 | 2024-07-12 | 大连海事大学 | Active disturbance rejection control method and device for active heave compensation system of electric winch |
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| CN101713982A (en) * | 2009-11-06 | 2010-05-26 | 中国人民解放军国防科学技术大学 | Active heave compensation control system |
| CN102691484B (en) * | 2012-06-06 | 2014-04-16 | 中国石油大学(华东) | Winch heave compensation device of marine floating drilling platform |
| CN102868336B (en) * | 2012-09-12 | 2015-06-10 | 江苏大学 | Three-motor synchronous control system based on fuzzy second-order active disturbance rejection controller |
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