阅读说明：本技术 深水动力定位原油输送装置的液压变压器控制器及绞车系统 (Hydraulic transformer controller and winch system of deep water dynamic positioning crude oil conveying device ) 是由 邱少华 肖体兵 陈德林 吴承恩 张春林 张海峰 朱益锋 于 2020-12-31 设计创作，主要内容包括：本发明涉及深水动力定位原油输送装置的液压变压器控制器,包括：L1环节计算模块,用于根据主控制器、初级马达以及次级马达输入的数据计算初级马达的排量V-1；L2环节计算模块,用于根据所述L1环节计算模块输出的数据计算液压变压器的转速差Δn；L3环节计算模块,用于根据所述L2环节计算模块输出的数据计算液压变压器的转矩调节量ΔT；L4环节计算模块,用于根据所述L3环节计算模块输出的数据计算次级马达的排量V-2；控制模块,用于根据所述L4环节计算模块输出的数据对所述初级马达以及次级马达的排量进行控制。本发明能够实现传统型液压变压器的稳定控制,提高其抗干扰能力,为深水动力定位原油输送装置的绞车系统提供液压变压器的实现方式。(The invention relates to a hydraulic transformer controller of a deepwater dynamic positioning crude oil conveying device, which comprises: an L1 link calculation module for calculating the displacement V of the primary motor based on the data input from the primary controller, the primary motor and the secondary motor 1 (ii) a The L2 link calculation module is used for calculating the rotating speed difference delta n of the hydraulic transformer according to the data output by the L1 link calculation module; the L3 link calculation module is used for calculating the torque adjustment quantity delta T of the hydraulic transformer according to the data output by the L2 link calculation module; an L4 link calculation module for calculating the displacement V of the secondary motor according to the data output by the L3 link calculation module 2 (ii) a A control module for counting according to the L4 linkThe data output by the calculation module controls the displacement of the primary motor and the secondary motor. The invention can realize the stable control of the traditional hydraulic transformer, improve the anti-interference capability of the traditional hydraulic transformer and provide the implementation mode of the hydraulic transformer for the winch system of the deep-water dynamic positioning crude oil conveying device.)

1. The hydraulic transformer controller of the deepwater dynamic positioning crude oil conveying device is characterized by comprising the following components:

an L1 link calculation module, the input end of which is connected with a main controller, a primary motor and a secondary motor which are arranged on a winch of the deepwater dynamic positioning crude oil conveying device, and used for calculating the displacement V of the primary motor according to the data input by the main controller, the primary motor and the secondary motor₁；

The input end of the L2 link calculation module is connected with the output end of the L1 link calculation module and is used for calculating the rotating speed difference delta n of the hydraulic transformer according to the data output by the L1 link calculation module;

the input end of the L3 link calculation module is connected with the output end of the L2 link calculation module and is used for calculating the torque adjustment quantity delta T of the hydraulic transformer according to the data output by the L2 link calculation module;

an L4 link calculating module, the input end of which is connected with the output end of the L3 link calculating module, and is used for calculating the displacement V of the secondary motor according to the data output by the L3 link calculating module₂；

And the input end of the control module is connected with the output end of the L4 link calculation module, and the output end of the control module is connected with the primary motor and the secondary motor and is used for controlling the displacement of the primary motor and the secondary motor according to the data output by the L4 link calculation module.

2. The hydraulic transformer controller for deepwater dynamically positioned crude oil transportation device according to claim 1, wherein the L1 link calculation module calculates the displacement V of the primary motor by the following formula (5)₁，

Wherein V₁₀Is the initial displacement of the primary motor, V_1maxFor maximum regulated displacement of the primary motor, q_1maxMaximum flow of hydraulic transformer, k_dpIs a differential pressure-displacement compensation coefficient.

3. The hydraulic transformer controller of the deepwater dynamically positioned crude oil transportation device according to claim 1, wherein the L2 link calculating module calculates the rotating speed difference Δ n of the hydraulic transformer by the following formula (6),

wherein n is the rotation speed of the hydraulic transformer.

4. The hydraulic transformer controller of the deepwater dynamically positioned crude oil transportation device according to claim 1, wherein the L3 link calculating module calculates the torque adjustment quantity Δ T of the hydraulic transformer by the following formula (7),

wherein, the delta t is the adjusting time and can be set manually.

5. The hydraulic transformer controller for deepwater dynamically positioned crude oil transportation equipment according to claim 4, wherein Δ t is 0.03 s.

6. The hydraulic transformer controller for deepwater dynamically positioned crude oil transportation device according to claim 1, wherein the L4 link calculation module calculates the displacement V of the secondary motor by the following formula (8)₂，

Wherein, in the energy recovery stage, the symbol in the middle of the molecule of formula (8) is taken-; and in the energy release stage, taking +.

7. The winch system is characterized in that the hydraulic transformer controller based on the flow control according to any one of the claims 1 to 6 is applied, and comprises a direct-drive pump source, a drive motor, a hydraulic transformer, an energy accumulator, a pulley block and a roller,

the direct-drive pump source comprises a servo motor and a hydraulic pump,

the hydraulic transformer is a traditional hydraulic transformer consisting of two variable motors with rigidly connected output shafts, in particular a primary motor and a secondary motor,

the output shaft of the driving motor is meshed with an internal gear of the hub on the end surface of the roller through a gear,

the hydraulic transformer controller is connected with the hydraulic transformer through a signal wire and controls the hydraulic transformer to work.

Technical Field

The invention relates to the field of ships, in particular to a hydraulic transformer controller and a winch system of a deep-water dynamic positioning crude oil conveying device.

Background

The deepwater dynamic positioning crude oil transfer device for reducing the FPSO oil unloading cost is produced on the background that international crude oil is low in price and loitering and the operation cost of global marine oil companies is greatly reduced. The deepwater dynamic positioning crude oil transfer device with a brand-new concept can cause great challenges to the traditional existing crude oil transfer mode in the market.

Previously, Shuttle tankers (Shuttle Tanker) were an important tool to undertake the oil offloading task of offshore floating production storage and offloading units (FPSO). Compared with the conventional oil tanker with the same tonnage, the shuttle oil tanker has high cost, the load capacity is only between 8 and 15 ten thousand tons, and the load capacity of the conventional oil tanker can reach 30 to 40 ten thousand tons. Therefore, how to fully play the advantages of large quantity, low cost, heavy load and low transportation cost of the conventional oil tanker in large-scale and long-distance deep-sea oil and gas resource development and transportation is an objective requirement for realizing safe and efficient production and reducing cost in the technical revolutionary direction of international crude oil transportation equipment and the offshore oil production transportation chain, and the existing original oil tanker can be used for crude oil transportation operation in deep-sea oil fields without being modified.

The winch system is a necessary system for the deep-water dynamic positioning crude oil conveying device, and how to design a hydraulic transformer controller of the winch system for the deep-water dynamic positioning crude oil conveying device is an urgent problem to be solved.

Disclosure of Invention

The invention aims to solve at least one of the defects of the prior art and provides a hydraulic transformer controller and a winch system of a deepwater dynamic positioning crude oil conveying device.

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

specifically, a hydraulic transformer controller of a deepwater dynamic positioning crude oil conveying device is provided, which comprises:

an L1 link calculation module, the input end of which is connected with a main controller, a primary motor and a secondary motor which are arranged on a winch of the deepwater dynamic positioning crude oil conveying device, and used for calculating the displacement V of the primary motor according to the data input by the main controller, the primary motor and the secondary motor₁；

The input end of the L2 link calculation module is connected with the output end of the L1 link calculation module and is used for calculating the rotating speed difference delta n of the hydraulic transformer according to the data output by the L1 link calculation module;

the input end of the L3 link calculation module is connected with the output end of the L2 link calculation module and is used for calculating the torque adjustment quantity delta T of the hydraulic transformer according to the data output by the L2 link calculation module;

an L4 link calculating module, the input end of which is connected with the output end of the L3 link calculating module, and is used for calculating the displacement V of the secondary motor according to the data output by the L3 link calculating module₂；

And the input end of the control module is connected with the output end of the L4 link calculation module, and the output end of the control module is connected with the primary motor and the secondary motor and is used for controlling the displacement of the primary motor and the secondary motor according to the data output by the L4 link calculation module.

Further, the L1 link calculation module calculates the displacement V of the primary motor by the following formula (5)₁，

Wherein V₁₀Is the initial displacement of the primary motor, V_1maxFor maximum regulated displacement of the primary motor, q_1maxMaximum flow of hydraulic transformer, k_dpIs a differential pressure-displacement compensation coefficient.

Further, the L2 link calculating module calculates a rotation speed difference Δ n of the hydraulic transformer by the following formula (6),

wherein n is the rotating speed of the hydraulic transformer;

further, the L3 link calculation module calculates the torque adjustment quantity DeltaT of the hydraulic transformer through the following formula (7),

wherein, the delta t is the adjusting time and can be set manually.

Further, Δ t is specifically 0.03 s.

Further, the L4 link calculation module calculates the displacement V of the secondary motor by the following formula (8)₂，

Wherein, in the energy recovery stage, the symbol in the middle of the molecule of formula (8) is taken-; and in the energy release stage, taking +.

The invention also provides a winch system, which applies the hydraulic transformer controller based on flow control as claimed in any one of the claims 1 to 5, and comprises a direct-drive pump source, a drive motor, a hydraulic transformer, an energy accumulator, a pulley block and a roller,

the direct-drive pump source comprises a servo motor and a hydraulic pump,

the hydraulic transformer is a traditional hydraulic transformer consisting of two variable motors with rigidly connected output shafts, in particular a primary motor and a secondary motor,

the output shaft of the driving motor is meshed with an internal gear of the hub on the end surface of the roller through a gear,

the hydraulic transformer controller is connected with the hydraulic transformer through a signal wire and controls the hydraulic transformer to work.

The invention has the beneficial effects that:

the invention provides a hydraulic transformer controller and a winch system of a deepwater dynamic positioning crude oil conveying device, which are firstly based on an expected flow q₁Determining the displacement V of a primary motor₁Then by adjusting the displacement V of the secondary motor₂The rotating speed of the hydraulic transformer is subjected to closed-loop control, so that the stable control of the traditional hydraulic transformer can be realized, the anti-interference capability of the traditional hydraulic transformer is improved, the device can adapt to a deepwater dynamic positioning crude oil conveying device, and the stable operation of the hydraulic transformer of the deepwater dynamic positioning crude oil conveying device is guaranteed.

Drawings

The foregoing and other features of the present disclosure will become more apparent from the detailed description of the embodiments shown in conjunction with the drawings in which like reference characters designate the same or similar elements throughout the several views, and it is apparent that the drawings in the following description are merely some examples of the present disclosure and that other drawings may be derived therefrom by those skilled in the art without the benefit of any inventive faculty, and in which:

FIG. 1 is a block diagram of a hydraulic transformer of a deepwater dynamically positioned crude oil transportation device according to the present invention;

FIG. 2 is a schematic block diagram of a hydraulic transformer controller of the deepwater dynamically positioned crude oil transportation device according to the present invention;

FIG. 3 is a schematic diagram of a winch system for a deep water dynamically positioned crude oil handling unit according to the present invention;

fig. 4 is a schematic diagram of a deepwater dynamically positioned crude oil delivery assembly after application of the hydraulic transformer controller of the present invention.

Detailed Description

The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The same reference numbers will be used throughout the drawings to refer to the same or like parts.

The hydraulic transformer has a primary motor displacement V₁And secondary motor displacement V₂Two adjustable variables and there is a moment coupling between the two variables. Since the flow rate of the hydraulic transformer is actually the flow rate of the primary motor, the following design concept is adopted herein: firstly according to the expected flow q₁Determining the displacement V of a primary motor₁Then by adjusting the displacement V of the secondary motor₂The rotation speed of the hydraulic transformer is controlled in a closed loop mode, and the essence of the control is also based on flow control. The schematic block diagram is shown in fig. 2.

Based on the principle, referring to fig. 1 and embodiment 1, the invention provides a hydraulic transformer controller of a deepwater dynamically positioned crude oil conveying device, which comprises:

an L1 link calculation module, the input end of which is connected with a main controller, a primary motor and a secondary motor which are arranged on a winch of the deepwater dynamic positioning crude oil conveying device, and used for calculating the displacement V of the primary motor according to the data input by the main controller, the primary motor and the secondary motor₁；

The input end of the L2 link calculation module is connected with the output end of the L1 link calculation module and is used for calculating the rotating speed difference delta n of the hydraulic transformer according to the data output by the L1 link calculation module;

the input end of the L3 link calculation module is connected with the output end of the L2 link calculation module and is used for calculating the torque adjustment quantity delta T of the hydraulic transformer according to the data output by the L2 link calculation module;

the input end of the L4 link computing module is connected with the L3 link computing moduleThe output end of the block is used for calculating the displacement V of the secondary motor according to the data output by the L3 link calculation module₂；

And the input end of the control module is connected with the output end of the L4 link calculation module, and the output end of the control module is connected with the primary motor and the secondary motor and is used for controlling the displacement of the primary motor and the secondary motor according to the data output by the L4 link calculation module.

As a preferred embodiment of the present invention, the L1 link calculation module calculates the displacement V of the primary motor by the following formula (5)₁，

Wherein V₁₀Is the initial displacement of the primary motor, V_1maxFor maximum regulated displacement of the primary motor, q_1maxMaximum flow of hydraulic transformer, k_dpIs a differential pressure-displacement compensation coefficient.

As a preferred embodiment of the present invention, the L2 link calculating module calculates a rotation speed difference Δ n of the hydraulic transformer by the following formula (6),

wherein n is the rotating speed of the hydraulic transformer;

as a preferred embodiment of the present invention, the L3 link calculation module calculates the hydraulic transformer torque adjustment quantity Δ T by the following formula (7),

wherein, the delta t is the adjusting time and can be set manually. Preferably, Δ t is specifically 0.03 s.

As a preferred embodiment of the present invention, the L4 link calculation module calculates the secondary motor by the following formula (8)Discharge volume V₂，

Wherein, in the energy recovery stage, the symbol in the middle of the molecule of formula (8) is taken-; and in the energy release stage, taking +.

Referring to fig. 3, the present invention further provides a winch system, to which the flow control based hydraulic transformer controller of any one of the above claims 1 to 5 is applied, comprising a direct drive pump source, a drive motor, a hydraulic transformer, an accumulator, a pulley block and a drum,

the direct-drive pump source comprises a servo motor and a hydraulic pump,

the hydraulic transformer is a traditional hydraulic transformer consisting of two variable motors with rigidly connected output shafts, in particular a primary motor and a secondary motor,

the output shaft of the driving motor is meshed with an internal gear of the hub on the end surface of the roller through a gear,

the hydraulic transformer controller is connected with the hydraulic transformer through a signal wire and controls the hydraulic transformer to work.

Wherein the mechanical efficiency η of the primary motor_m1And the mechanical efficiency η of the secondary motor_m2Can be read directly, and V₁₀Is the initial displacement of the primary motor, V_1maxFor maximum regulated displacement of the primary motor, q_1maxMaximum flow of the hydraulic transformer, which is also directly available after the components have been selected, k_dpFor the differential pressure-displacement compensation coefficient artificially set through experimental demonstration, the volume efficiency eta of the primary motor_v1The adjustment time delta t can be determined according to the working condition of the hydraulic transformer.

The system mainly comprises a direct-drive pump source (comprising a servo motor 1 and a hydraulic pump 2), a driving motor 3, a hydraulic transformer 4, an energy accumulator 5, a pulley block 6, a roller 7 and the like.

The hydraulic transformer is a traditional hydraulic transformer consisting of two variable motors (a primary motor and a secondary motor) with rigidly connected output shafts; high recovery efficiency and high reaction speed. The output shaft of the driving motor is meshed with the internal gear of the hub on the end face of the roller through a gear.

Referring to fig. 4, 100 is a hydraulic transformer controller of a deepwater dynamically positioned crude oil transportation device, which is installed in an electric control area of a cabin and connected with relevant parts of a winch system through signal lines to realize stable control of the winch system, and 200 is the winch system.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.

The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and can implement the steps of the above-described method embodiments when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

While the present invention has been described in considerable detail and with particular reference to a few illustrative embodiments thereof, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed as effectively covering the intended scope of the invention by providing a broad, potential interpretation of such claims in view of the prior art with reference to the appended claims. Furthermore, the foregoing describes the invention in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the invention, not presently foreseen, may nonetheless represent equivalent modifications thereto.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.