Intelligent immersed tube carrying and installation integrated ship docking control method and control system
A control method and intelligent technology, applied in the direction of control/regulation system, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of time-consuming and labor-consuming, high construction cost, low construction efficiency, etc., to achieve The effect of improving the degree of intelligent control, reducing construction costs, and saving process time
Active Publication Date: 2022-04-26
CCCC FIRST HARBOR ENG +1
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Problems solved by technology
The integrated ship is equipped with a driving device to realize self-propelled driving, but the special working conditions of the docking process require high positional accuracy of the integrated ship's movement, and it is difficult to realize the self-propelled docking of the integrated ship with existing ship driving control methods. At present, most integrated ships are docked by winching
[0003] Adopting the docking method of twisting and moving, the docking control process is time-consuming and labor-intensive, the construction efficiency is low, and the construction cost is high
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[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.
[0047] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.
[0048] In addition, the descriptions involving "first", "second" and so on in the present invention are only for descriptive purposes, and should not be understood as indicating or implying their relative importance or implicitly indicating the ...
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The invention discloses an intelligent immersed tube carrying and installation integrated ship docking control method and control system. The control method includes the following steps: selecting the opening mode of the side thrust drive unit according to the real-time water flow information outside the integrated ship, and selecting the opening mode of the side thrust drive unit according to the real-time water flow information outside the integrated ship. Information to calculate the side thrust power required to resist cross flow forces as the anti cross flow side thrust power P c , turn on the side thrust drive unit, and control the working power of the side thrust drive unit in real time according to Pc; calculate the correction side thrust power required to correct the position deviation according to the position deviation of the integrated ship, and the anti-cross flow side thrust power P c On the basis of real-time control and adjustment of the side thrust drive unit's working power according to the deviation correction side thrust power, the real-time position of the integrated ship meets the design requirements; the integrated ship continues to self-propelled until docking is completed. The control system and control method can realize intelligent and automated control for the docking process of the integrated ship, and perform real-time and precise control of the energy consumption of the driving mechanism of the integrated ship during the docking process.
Description
technical field [0001] The invention relates to the technical field of underwater tunnel construction engineering, in particular to a control method and a control system for an intelligent immersed tube carrying and installing an integrated ship docking. Background technique [0002] The immersed tube tunnel is a building used for underwater traffic. Usually, the immersed tube tunnel is prefabricated in sections, and then the prefabricated immersed tube is transported to the designated location by water for construction and installation. The volume and dead weight of the prefabricated immersed tube are very large. In order to better realize the water transportation of the prefabricated immersed tube, Chinese patent CN106628018A discloses a self-propelled large-scale component carrying and installing integrated ship and construction technology. The integrated ship can realize the underwater installation of the immersed tube. Before the immersed tube is transported by this int...
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IPC IPC(8): G05D1/02E02C1/00E02D29/073
CPCG05D1/0206E02C1/00E02D29/073
Inventor 潘伟李一勇张乃受宿发强王强岳远征宁进进冯海暴付院平刘德进李增军王建黄涛高大伟苏长玺鲍占礼马宗田王明祥毕荣君杜闯刘明
Owner CCCC FIRST HARBOR ENG