阅读说明：本技术 一种海上养殖平台的转体控制装置及其控制方法 (Swivel control device of offshore culture platform and control method thereof ) 是由 刘金保 蔡东伟 王闻 陈雷 周海丽 于 2019-10-25 设计创作，主要内容包括：本发明公开了一种海上养殖平台的转体控制装置及其控制方法,包括浮箱,及设于浮箱上的转体本体,转体本体内设有渔网,转体本体的两端均设有双绳槽转筒；浮箱四个角位置上设有第一储藏室、第二储存室、发电机室和控制室,第一储藏室、第二储存室、发电机室和控制室上对应设有W1-W4绞车,W1绞车与W2绞车通过钢丝绳与转体本体一端双绳槽转筒相连,W3绞车与W4绞车通过钢丝绳与转体本体另一端双绳槽转筒相连；控制室内设有驱动控制柜,驱动控制柜包括可编程控制器,及与其连接的变频器、HMI人机界面和ECC控制面板,变频器具有四个,分别对应连接W1-W4绞车。本发明通过养殖平台上转体的转动和位置控制,实现观察渔网破损情况。(The invention discloses a swivel control device and a swivel control method of a marine culture platform, and the swivel control device comprises a buoyancy tank and a swivel body arranged on the buoyancy tank, wherein a fishing net is arranged in the swivel body, and two ends of the swivel body are respectively provided with a double-rope-groove rotary drum; a first storage chamber, a second storage chamber, a generator chamber and a control chamber are arranged at four angular positions of the buoyancy tank, a W1-W4 winch is correspondingly arranged on the first storage chamber, the second storage chamber, the generator chamber and the control chamber, the W1 winch and the W2 winch are connected with a double-rope-groove rotary drum at one end of the swivel body through a steel wire rope, and the W3 winch and the W4 winch are connected with the double-rope-groove rotary drum at the other end of the swivel body through the steel wire rope; and a driving control cabinet is arranged in the control chamber, the driving control cabinet comprises a programmable controller, and four frequency converters, an HMI (human machine interface) and an ECC (error correction code) control panel which are connected with the programmable controller, wherein the four frequency converters are respectively and correspondingly connected with the W1-W4 winches. The invention realizes the observation of the damage condition of the fishing net by the rotation and the position control of the rotating body on the culture platform.)

1. The utility model provides a marine culture platform's controlling means that turns, includes the flotation tank, and locates the body of turning on the flotation tank, this internal fishing net that is equipped with of turning, its characterized in that:

two ends of the rotating body are provided with double-rope-groove rotating drums;

a first storage chamber, a second storage chamber, a generator chamber and a control chamber are respectively arranged at four angular positions of the buoyancy tank, a W1 winch, a W2 winch, a W3 winch and a W4 winch are correspondingly arranged on the first storage chamber, the second storage chamber, the generator chamber and the control chamber, the W1 winch and the W2 winch are connected with the double-rope-groove drum at one end of the swivel body through steel wires, and the W3 winch and the W4 winch are connected with the double-rope-groove drum at the other end of the swivel body through steel wires;

and a driving control cabinet is arranged in the control chamber, the driving control cabinet comprises a programmable controller, and four frequency converters, an HMI (human machine interface) and an ECC (error correction code) control panel which are connected with the programmable controller, and the four frequency converters are respectively and correspondingly connected with the W1-W4 winches.

2. Swivel control device of a marine culture platform according to claim 1, characterized in that: the buoyancy tank is arranged in a shape of Chinese character hui, and the swivel body is positioned at the center of the buoyancy tank.

3. Swivel control device of a marine culture platform according to claim 2, characterized in that: and both ends of the buoyancy tank are respectively provided with an LOS1 operation box and an LOS2 operation box, and the LOS1 operation box and the LOS2 operation box are connected with the programmable controller.

4. Swivel control device of a marine culture platform according to claim 1, characterized in that: the W1-W4 winch comprises a variable frequency motor, a reduction box and a winding drum which are sequentially and correspondingly connected, wherein the variable frequency motor is also provided with an incremental encoder, and the frequency converter is used for driving the variable frequency motor.

5. Swivel control device of a marine culture platform according to claim 1, characterized in that: the outer sides of the double-rope groove rotary drums are all provided with 0-150-degree angle scale lines.

6. A swivel control apparatus control method according to any one of claims 1 to 5, characterized in that:

the programmable controller sends a starting instruction and provides a rotating speed signal, the four frequency converters drive the corresponding frequency conversion motors, the frequency conversion motors drive the winding drums to release and/or tighten the steel wire rope, and finally the rotating body is controlled to perform net drying operation in a partition circulating rotation mode of 0 ° → 120 ° → -120 ° → 0 ° in the same direction.

7. The swivel control apparatus control method according to claim 6, characterized in that: the programmable controller is used for controlling the rotation of the rotating body according to the circumferential ratio Pi, the diameter D of the steel wire rope, the diameter D of the winding drum and the diameter D of the rotating body_RSpeed ratio i of the reduction gearbox, number of pulses per revolution n of the incremental encoder₀Then, the programmable controller calculates the length variation L of the steel wire rope on the winding drum through the total pulse number N of the incremental encoder obtained by the frequency converter, and calculates the rotation angle θ of the swivel body according to the length variation L equal to the length variation of the steel wire rope on the double-rope-groove drum and a circumference calculation formula, wherein the specific calculation formula is as follows:

the length variation L of the steel wire rope is N/(N)₀*i)*Pi*(D+d)，

The rotation angle theta of the rotator body is L360/[ Pi (D)_R+d)]。

8. The swivel control apparatus control method according to claim 6, characterized in that: the two winches on one side of the rotating body actively wind the steel wire rope at a constant speed, the torque limit is 100%, and the two winches on the other side of the rotating body slowly wind the steel wire rope in a constant tension mode.

Technical Field

The invention relates to a control device for a swivel of a marine engineering platform or a marine culture platform, in particular to a swivel control device of the marine culture platform and a control method thereof.

Background

Mariculture is a production mode for raising and breeding marine economic animals and plants in sea areas such as shallow sea, tidal flat, estuary and pond, and is one of important ways for directional utilization of marine biological resources and development of marine aquaculture by human beings. With the development of society and economy and the trend of people to good living environment, people put higher demands on living environment and food safety. The offshore mariculture space is seriously extruded, so that the problems of overlarge mariculture density, frequent diseases, environmental deterioration and the like are increasingly prominent. The method has the advantages of wide deep and open sea area, good seawater circulation, high exchange rate, strong water body self-cleaning capability and low pollutant content, and can produce healthy and high-quality marine products by carrying out industrial culture through advanced culture technology and equipment. Therefore, the seawater aquaculture industry has become a necessary trend to transfer from near shore to deep open sea, and the deep open sea aquaculture has huge market potential, so that the deep open sea aquaculture is vigorously developed without the support of advanced fishery facility equipment.

At present, the sea water culture mostly adopts a method of hanging a fishing net on a foam or plastic floating body for carrying out the artificial culture of marine fishes, the fishing net soaked in the sea water for a long time is easy to grow marine organisms such as oyster, and the like, so that the damage of the fishing net is aggravated, the breakage of the fishing net caused by foreign objects is not easy to discover, the accident of escaping of the cultured fishes is frequently generated, and the great economic loss is caused to farmers.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a swivel control device of a marine culture platform and a control method thereof, which realize the observation of the damage condition of a fishing net and the airing of the fishing net through the rotation and position control of a large swivel on the culture platform, kill marine organisms attached to the fishing net and prolong the service life of the fishing net.

In order to achieve the purpose, the invention adopts the following technical scheme:

on one hand, the swivel control device of the offshore culture platform comprises a buoyancy tank and a swivel body arranged on the buoyancy tank, wherein a fishing net is arranged in the swivel body;

two ends of the rotating body are provided with double-rope-groove rotating drums;

a first storage chamber, a second storage chamber, a generator chamber and a control chamber are respectively arranged at four angular positions of the buoyancy tank, a W1 winch, a W2 winch, a W3 winch and a W4 winch are correspondingly arranged on the first storage chamber, the second storage chamber, the generator chamber and the control chamber, the W1 winch and the W2 winch are connected with the double-rope-groove drum at one end of the swivel body through steel wires, and the W3 winch and the W4 winch are connected with the double-rope-groove drum at the other end of the swivel body through steel wires;

and a driving control cabinet is arranged in the control chamber, the driving control cabinet comprises a Programmable Logic Controller (PLC), and four frequency converters, an HMI (human machine interface) and an ECC (error correction code) control panel which are connected with the PLC, and the four frequency converters are respectively and correspondingly connected with the W1-W4 winches.

The buoyancy tank is arranged in a shape of Chinese character hui, and the swivel body is positioned at the center of the buoyancy tank.

And both ends of the buoyancy tank are respectively provided with an LOS1 operation box and an LOS2 operation box, and the LOS1 operation box and the LOS2 operation box are connected with the programmable controller.

The W1-W4 winch comprises a variable frequency motor, a reduction box and a winding drum which are sequentially and correspondingly connected, wherein the variable frequency motor is also provided with an incremental encoder, and the frequency converter is used for driving the variable frequency motor.

The outer sides of the double-rope groove rotary drums are all provided with 0-150-degree angle scale lines.

On the other hand, a swivel control device control method:

the programmable controller sends a starting instruction and provides a rotating speed signal, the four frequency converters drive the corresponding frequency conversion motors, the frequency conversion motors drive the winding drums to release and/or tighten the steel wire rope, and finally the rotating body is controlled to perform net drying operation in a partition circulating rotation mode of 0 ° → 120 ° → -120 ° → 0 ° in the same direction.

The programmable controlThe diameter D of the steel wire rope, the diameter D of the winding drum and the diameter D of the rotating body are determined according to the circumferential ratio Pi_RSpeed ratio i of the reduction gearbox, number of pulses per revolution n of the incremental encoder₀Then, the programmable controller calculates the length variation L of the steel wire rope on the winding drum through the total pulse number N of the incremental encoder obtained by the frequency converter, and calculates the rotation angle θ of the swivel body according to the length variation L equal to the length variation of the steel wire rope on the double-rope-groove drum and a circumference calculation formula, wherein the specific calculation formula is as follows:

the length variation L of the steel wire rope is N/(N)₀*i)*Pi*(D+d)，

The rotation angle theta of the rotator body is L360/[ Pi (D)_R+d)]。

The two winches on one side of the rotating body actively wind the steel wire rope at a constant speed, the torque limit is 100%, and the two winches on the other side of the rotating body slowly wind the steel wire rope in a constant tension mode.

In the above technical scheme, the swivel control device of the offshore culture platform and the control method thereof provided by the invention also have the following beneficial effects:

1) the rotating body control device utilizes the increment coder of the variable frequency motor to obtain the actual speed feedback, and simultaneously utilizes the accumulated pulse sum of the increment coder to determine the position of the rotating body, thereby solving the problems of mounting an absolute value coder and setting the position limit of the rotating shaft of the rotating body below the water surface and saving the cost;

2) the swivel control device adopts a mode of circularly drying the net in a subarea manner of 0 degrees → 120 degrees → 0 degrees, and safely and economically realizes the omnibearing angle drying of the swivel body by the shortest length of the steel wire rope;

3) the rotating body control device adopts speed closed-loop control and constant tension control, so that the rotating body has quick response and stable rotation, and can adjust the rotating speed of the rotating body and adjust the torque in a constant tension mode;

4) the swivel control device utilizes the principle of opposite pulling, one side of the steel wire rope is retracted while the other side of the steel wire rope is released, and both sides of the steel wire rope are released while the steel wire rope is loosened, so that all the steel wire ropes are always in a tensioned state, and the normal operation of the swivel body under various sea conditions is ensured.

Drawings

Fig. 1 is a schematic structural view of a swivel control apparatus according to the present invention;

fig. 2 is a connection diagram of a control system of the swivel control apparatus of fig. 1;

fig. 3 is a schematic view of the swivel position control of the swivel control device of the present invention.

Detailed Description

The technical scheme of the invention is further explained by combining the drawings and the embodiment.

Please refer to fig. 1 to 2, the swivel control device of a marine culture platform according to the present invention includes a float tank 1 in a shape of a Chinese character 'hui', and a swivel body 2 disposed at a middle position of the float tank 1, wherein a fishing net is disposed in the swivel body 2, the float tank 1 provides buoyancy for the whole marine culture platform, and the swivel body 2 provides a moving space for fish culture, which is a part of the prior art and will not be described herein again. Different from the prior art:

preferably, two ends of the swivel body 2 are provided with double-groove drums 3 and 4 for fixing and winding the steel wire ropes 15, 16, 17 and 18. The outer sides of the double-rope groove rotary drums 3 and 4 are respectively carved with an angle scale line 9 of 0 degree to +/-150 degrees and used for indicating the actual rotating angle of the rotating body 2.

Preferably, a first storage chamber 5, a second storage chamber 6, a generator chamber 7 and a control chamber 8 are respectively arranged at four angular positions of the buoyancy tank 1, and the first storage chamber 5 and the second storage chamber 6 are used for storing feed and culture related instruments. The first storage chamber 5, the second storage chamber 6, the generator chamber 7 and the control chamber 8 are correspondingly provided with a W1 winch 11, a W2 winch 12, a W3 winch 13 and a W4 winch 14, the W1 winch 11 and the W2 winch 12 are connected with the double-rope-groove drum 3 at one end of the swivel body 2 through steel wires 15 and 16, the W3 winch 13 and the W4 winch 14 are connected with the double-rope-groove drum 4 at the other end of the swivel body through steel wires 17 and 18, and the rotation and position control of the swivel body 2 is realized through the operation of the W1- W4 winches 11, 12, 13 and 14.

Preferably, a driving control cabinet 20 is disposed in the control room 8, the driving control cabinet 20 includes a programmable controller 30, and four frequency converters 31, 32, 33, 34, an HMI human-machine interface 35 and an ECC control panel 36 connected thereto, the frequency converter 31 is correspondingly connected to the W1 winch 11, the frequency converter 32 is correspondingly connected to the W2 winch 12, the frequency converter 33 is correspondingly connected to the W3 winch 13, and the frequency converter 34 is correspondingly connected to the W4 winch 14.

Preferably, both ends of the buoyancy tank 1 are respectively provided with a LOS1 operation box 21 and a LOS2 operation box 22, and both the LOS1 operation box 21 and the LOS2 operation box 22 are connected with the programmable controller 30. The LOS1 operation box 21 and the LOS2 operation box 22 are responsible for sending local operation instructions, can be used for single action and linkage, and are mainly used for debugging and maintenance.

Preferably, each of the W1- W4 winches 11, 12, 13 and 14 includes a variable frequency motor 41, 42, 43 and 44, a reduction box 61, 62, 63 and 64 and a winding drum 71, 72, 73 and 74 which are correspondingly connected in sequence, and the variable frequency motors 41, 42, 43 and 44 are further provided with incremental encoders 51, 52, 53 and 54.

Preferably, the programmable controller 30 is a brain of the swivel control device of the present invention, and is responsible for collecting, calculating, sending control commands and receiving feedback signals of external operation commands and sensor signals, the four frequency converters 31, 32, 33, 34 are responsible for receiving the control commands of the programmable controller 30 and driving the corresponding four frequency conversion motors 41, 42, 43, 44, the HMI human-machine interface 35 is responsible for monitoring equipment states and setting important parameters of the swivel control device of the present invention, and the ECC control panel 36 is responsible for sending core operation commands such as automatic functions.

As shown in fig. 3, the present invention further provides a control method of the swivel control apparatus:

the programmable controller 30 sends a starting instruction and provides a rotation speed signal, the four frequency converters 31, 32, 33 and 34 drive the corresponding frequency conversion motors 41, 42, 43 and 44, the frequency conversion motors 41, 42, 43 and 44 drive the winding drums 71, 72, 73 and 74 to release and/or tighten the steel wire ropes 15, 16, 17 and 18, and finally the rotor body 2 is controlled to perform net drying operation in a zone-by-zone circulating rotation mode of 0 ° → 120 ° → -120 ° → 0 ° in the same direction, so that whether the fishing net is damaged greatly can be observed, and meanwhile, marine organisms attached to the fishing net can be killed by airing the fishing net above the water surface, and the service life of the fishing net is prolonged.

Preferably, the programmable controller 30 controls the diameter D of the wire ropes 15, 16, 17, 18, the diameter D of the reels 71, 72, 73, 74, the diameter D of the rotor body 2 according to the circumferential ratio Pi_RThe speed ratio i of the reduction gearbox 61, 62, 63, 64, the number of pulses per revolution n of the incremental encoder 51, 52, 53, 54₀Then, the programmable controller 30 calculates the length variation L1-L4 of the wire ropes 15, 16, 17, 18 on the drums 71, 72, 73, 74 by using the total pulse number N1-N4 of the incremental encoders 51, 52, 53, 54 obtained by the frequency converters 31, 32, 33, 34, and calculates the rotation angle θ 1- θ 4 of the swivel body 2 according to the length variation L1-L4 equal to the length variation and circumference calculation formula of the wire ropes 15, 16, 17, 18 on the double-rope-groove drums 3, 4, taking the W1 winch 11 as an example, the specific calculation formula is as follows:

the length change L1 of the wire rope 15 is N1/(N)₀*i)*Pi*(D+d)，

The rotation angle θ 1 of the rotor body 2 is L1 × 360/[ Pi (D)_R+d)]。

In the same way, the remaining three sets of values L2-L4, θ 2- θ 4 can be obtained by the same method, since the W1 winch 11 and the W2 winch 12 are counter-pulling winches, the W3 winch 13 and the W4 winch 14 are counter-pulling winches, and L1 is L2 and L3 is L4 in the state that the wire ropes 15, 16, 17 and 18 are tensioned, in the present invention, only L1 and θ 1 are used for controlling the swivel body 2, L1-L2 and L3-L4 are used for monitoring the loosening state of the wire ropes 15, 16, 17 and 18, and when the difference value is large, an alarm is given or swivel operation is stopped, and L1-L3 and L2-L4 are used for the synchronization condition of the two ends of the swivel body 2, and when the difference value is large, an alarm is given or swivel operation is stopped.

Preferably, the two winches on one side of the swivel body 2 actively wind the steel wire rope at a constant speed, the torque limit is 100%, the two winches on the other side of the swivel body wind the steel wire rope in a constant tension mode with a very low speed and adjustable torque, the steel wire rope is oppositely pulled and passively discharged when the steel wire rope is tensioned, the winches on the two sides wind the steel wire rope when the steel wire rope is loosened, the tensioning speed of the steel wire rope can be increased, and therefore 4 steel wire ropes 15, 16, 17 and 18 are always in a tensioning state.

Under the ordinary sea condition, if 3 or 4 steel wire ropes are loosened in the rotation process of the rotating body 2, the tension of the steel wire ropes is not enough to overcome the interference of waves, and the moment under the passive side constant tension mode needs to be increased; if the 2 steel wire ropes at one end have longer relaxation time, the two winches at the driving side are not synchronous obviously, and the speed of the winch at the driven side needs to be increased.

In order to protect the rotor body 2 and the wire ropes 15, 16, 17, 18, the rotation operation of the rotor body 2 is not performed under rough sea conditions.

In order to protect the wire ropes 15, 16, 17 and 18 and ensure that the tensile force applied to the wire ropes 15, 16, 17 and 18 is always within an allowable range, the maximum torque of the variable frequency motors 41, 42, 43 and 44 is limited while a speed control mode is adopted.

The specific swivel control process of the invention is as follows:

(1) local operation

Turning a function selection switch of the ECC control panel 36 to 'local', respectively operating the W1 winch 11, the W2 winch 12, the W3 winch 13 and the W4 winch 14 to tension the steel wire ropes 15, 16, 17 and 18 through a single mode of the LOS1 operation box 21 or the LOS2 operation box 22, then selecting a group mode, selecting a proper rotation direction according to the field condition to rotate the rotator body 2 to a 0-degree scale, airing the fishing net above the water surface for a certain time, turning the direction selection switch to 'forward rotation', pressing a 'group starting' button, synchronously rotating the W1 winch 11 and the W3 winch 13 at the moment, starting a constant tension mode of the W2 winch 12 and the W4 winch 14, and turning the rotator body 2 to a 120-degree scale (the 1 st time) to stop rotating the rotator; airing the fishing net above the water surface for a certain time, rotating a direction selection switch to 'reverse direction', pressing a 'group starting' button, synchronously rotating the W2 winch 12 and the W4 winch 14 at the moment, starting a constant tension mode by the W1 winch 11 and the W3 winch 13, rotating the swivel body 2 to a scale of-120 degrees (2 nd time), and stopping rotating the swivel body 2; the fishing net above the water surface is aired for a certain time, the direction selection switch is rotated to the positive rotation state, the group starting button is pressed, the W1 winch 11 and the W3 winch 13 synchronously rotate at the moment, the W2 winch 12 and the W4 winch 14 start the constant tension mode, the swivel body 2 rotates back to the 0-degree scale (3 rd time), the swivel body 2 stops rotating, and the fishing net above the water surface is aired for a certain time, so that the 360-degree net airing of the swivel body 2 is completed.

(2) Automatic operation

The local operation requires switching the rotation direction of the swivel body 2, and requires memorizing the position every time, which is troublesome. In order to facilitate the use of users, an automatic net drying function is developed. The W1 winch 11, the W2 winch 12, the W3 winch 13 and the W4 winch 14 are respectively operated in a single mode of the LOS1 operation box 21 or the LOS2 operation box 22 to tension steel cables 15, 16, 17 and 18, the turning body 2 is turned to a 0-degree scale position in a group mode, a zero position setting button is pressed in the ECC control panel 36 to memorize the position of the zero position, a function selection switch is turned to 'automatic', the direction of the first turning is selected, and a 'starting' button is pressed to start the automatic function. Taking forward rotation as an example, when the set conditions are met, the W1 winch 11 and the W3 winch 13 synchronously rotate, the W2 winch 12 and the W4 winch 14 start a constant tension mode, the swivel body automatically decelerates when the swivel body 2 automatically rotates to 118 degrees, the swivel body slowly rotates to a scale of 120 degrees (the 1 st time), and the swivel body 2 automatically stops rotating; when the fishing net above the water surface is aired for a certain time, the rotation body 2 automatically decelerates when the rotation body 2 automatically rotates to-118 degrees, and slowly rotates to a scale position of-120 degrees (2 nd time), and the rotation body 2 automatically stops rotating; when the fishing net above the water surface is aired for a certain time, the rotating body 2 automatically decelerates when the rotating body 2 rotates to 2 degrees, and slowly rotates to the 0-degree scale (3 rd time), the rotating body 2 automatically stops rotating, and the fishing net above the water surface is aired for a certain time. The automatic net drying function of the swivel body 2 can be completed by executing the actions according to the 1 st time during the 4 th rotation, the 2 nd time during the 5 th rotation, the 3 rd time during the 6 th rotation, and so on.

In the swivel control apparatus of the present invention, when the swivel body 2 is rotated to a set deceleration position (automatic function), the programmable controller 30 issues a deceleration command and provides a small rotation speed signal to drive the swivel body 2 to rotate slowly.

In the swivel control device of the present invention, when the swivel body 2 is swiveled to a set stop position (at the time of an automatic function), the programmable controller 30 issues a stop command to stop the swivel body 2 from rotating.

In the swivel control device of the present invention, when the swivel body 2 is swiveled to the 0 ° stop position (in the automatic function), the programmable controller 30 issues a stop command, and after the swivel body 2 stops swiveling, the programmable controller 30 issues a motor incremental encoder clear signal after delaying a set time, and clears all the incremental encoders 51, 52, 53, and 54 provided in the 4 inverter motors 41, 42, 43, and 44, thereby eliminating the accumulation of errors.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.