The invention provides a wave compensation crane control system integrating multiple control methods, and relates to the technical field of active wave compensation. The signal acquisition module acquires pitching angle information, telescopic length information, rotation angle information, three-dimensional attitude information and distance information of the crane, and pressure information and three-dimensional geometric information of a hydraulic system of the crane and sends the information to the PLC central controller; the PLC central controller receives the information and transmits the information to the upper computer control device; inverse kinematics calculation is conducted through an artificial intelligence algorithm, the motion direction and the motion distance needed by the execution mechanism are obtained, an instruction is sent to a servo valve of the hydraulic station, the servo valve of the hydraulic station controls the execution mechanism to act, and finally the load moves at the constant speed or keeps static relative to the target. By the adoption of the device, irregular movement, caused by wind, waves and flow, of operation equipment on a working mother ship or an ocean platform can be rapidly and accurately compensated, and therefore the equipment on the ship can stably work under the wind and wave working condition permitted by design.

    本发明提出了一种综合多种控制方法的波浪补偿吊机控制系统,涉及主动波浪补偿技术领域。信号采集模块采集吊机的俯仰角度信息、伸缩长度信息、回转角度信息、三维姿态信息、距离信息、吊机液压系统的压力信息、三维几何信息并发送到PLC中央控制器;PLC中央控制器接收信息并传输到上位机控制装置;通过人工智能算法进行运动学逆解计算,得到执行机构所需要的运动方向及运动距离,并向液压站的伺服阀发送指令,液压站的伺服阀控制执行机构动作,最终使负载匀速运动或与目标保持相对静止。采用本发明,能够对风、浪、流作用引起的工作母船或者海洋平台上作业设备的不规则运动进行快速、精准地补偿,从而使船上设备在设计许可的风浪工况下平稳作业。


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    Title :

    Wave compensation crane control system integrating multiple control methods


    Additional title:

    一种综合多种控制方法的波浪补偿吊机控制系统


    Contributors:
    LI MIN (author) / RAN ZHIJUN (author)

    Publication date :

    2022-07-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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