RAHC - Functional Description

Electric Drives Linear Motion and
and Controls Hydraulics Assembly Technologies Pneumatics Service
Secondary Controlled Drives
Winch and Crane

Rotative Active Heave Compensation
(RAHC)
The Drive & Control Company
Functional description
RAHC drive principal components:

The Bosch Rexroth RAHC drive is a modular build-on hydraulically operated solution for winches and
cranes. Principal components are: Primary station, secondary controlled winch drive and accumulator
station for high pressure and low pressure side. Loads in a range from 1t up to several hundred tons can
be handled with the same system configuration due to the fact of the modularly system design.
3.0 Accumulator Station
2.0 Secondary controlled winch drive
1.0 Primary Station
RAHC_Functional description.doc -2- Version 1.0

1.0 Primary Station:
The RAHC hydraulic system based on a closed loop constant pressure oil supply, provided from
A4VSO high pressure variable displacement axial piston pumps. Low pressure constant pumps
are supply for closed loop and system cooling. The installed power of the primary station is
calculated to provide a constant high pressure system for standard winch operations. To realise
the powerful AHC mode the primary and accumulator station jointly pressurise the system.
Above all the primary station can be dimensioned for additional installed and simultaneously
working hydraulic driven crane functions.
2.0 Secondary controlled winch drive:
The winch drive is realized with secondary controlled hydrostatic drives, a special kind of A4VS...
axial piston units. These units are able to work in four quadrant operation which means to work
as a motor as well as a pump with swivelling over centre. In combination with the very dynamic
control performance this configuration forms an energy saving drive concept. Depending on the
load that has to be handled it’s possible to enlarge the amount of parallel working secondary
controlled units nearly without restriction.
For more details about secondary controlled hydrostatic drives see data sheet:
RE 92 056: Secondary control with A4VSO/G axial piston units.
3.0 Accumulator station:
The high pressure (HP) and low pressure (LP) accumulator station are used to store the energy
that is needed to supply the RAHC system in AHC mode and if required in AHC + hoisting mode.
During AHC mode, the
- HP accumulator will be charged during the secondary controlled units work in pump operation
while lowering the load. In hoisting mode the stored energy will be charged back into the drive
system.
- LP accumulator will be charged during the secondary controlled units work in motor operation
while hoisting the load. In lowering mode the stored energy is used to provide the required
additional oil flow during AHC.
Up to 70% of the energy that is needed for AHC mode is stored in the accumulator station and
must not to be delivered by the primary station (= 70% reduction of installed power).
4.0 Electronics:
The digital HNC100-SEK control is suitable for the closed loop control of speed and torque for
secondary controlled axial piston pumps type A4VS...DS1. The software contains closed loop
control and monitoring functions, laid out for the secondary control, with special integrated AHC
functions such as listed under: Functionalities of the RAHC system.
Fore more details about HNC100-SEK see data sheet:
RE 30 141: Digital control system assembly HNC100-SEK for the secondary control of axial
piston units.
5.0 Switch cabinet:
The RAHC system PLC, a Bosch Rexroth PLC IndraControl L40 is a modular and scalable
control. It is a universal hardware platform that provides communication interfaces, such as
Ethernet, Profibus, RS232 and Sercos. Via integrated PCI bus, additional modules permit the
extension of the IndraControl L40 by additional field bus and technology interfaces, such as
DeviceNet and master axis encoder interfaces.

Functionalities of the RAHC drive:

Rotative Active Heave Compensation (RAHC):
A secondary control based hydraulic system to keep the distance of a load related to a working level
(sea bed) constant, indepentant of ship or floating platform movements.
Active Rope Tensioning System (ART):

Simplification of the load take over by the winch. After hook on in the ART operation mode the winch
slowly winds up the rope until the tension have reached a limitation value. Afterwards the system
switches over to hold this value in constant tension mode.
Automatic Overload Protection System (AOPS):

Winch overload protection system. Limitation of the maximum rope tension by the system, under
consideration of the crane boom position. In emergency case e.g. rough sea, AOPS prevent the crane
from damaging.
This operation mode needs a signal of the max. acceptable tension of the rope in consideration of the
position of the crane boom and the mass of the load is needed.
Manual Overload Protection System (MOPS):

Manual winch overload protection system. Limitation of the maximum rope tension by limitation of the
system pressure. In emergency case e.g. rough sea without control of the crane, MOPS prevent the
crane from damaging.
Constant Tension Mode (CT):

After put down the load to another ship or the sea bed a switch over in the constant tension mode
prevents a slack in the rope. With a controlled low tension in the rope, the movement of the ship related
to the load is compensated.
Monitored Freefall Mode (MFM):

Automatic freefall mode by using a constant tension mode to prevent a slack in the rope during lowering
the load. The freefall speed depends on the load weight and shape. It’s limitated by the max. allowable
speed of the secondary controlled units.
BOSCH REXROTH AG
The Drive & Control Company
Zum Eisengießer 1
97816 Lohr a. Main
Germany

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Electric Drives Linear Motion and

and Controls Hydraulics Assembly Technologies Pneumatics Service

Secondary Controlled Drives

Winch and Crane

The Drive & Control Company

RAHC drive principal components:

3.0 Accumulator Station

2.0 Secondary controlled winch drive

1.0 Primary Station

RAHC_Functional description.doc -2- Version 1.0

1.0 Primary Station:

2.0 Secondary controlled winch drive:

3.0 Accumulator station:

5.0 Switch cabinet:

RAHC_Functional description.doc -3- Version 1.0

Functionalities of the RAHC drive:

Active Rope Tensioning System (ART):

Automatic Overload Protection System (AOPS):

Manual Overload Protection System (MOPS):

Constant Tension Mode (CT):

Monitored Freefall Mode (MFM):

RAHC_Functional description.doc -4- Version 1.0

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