Joint simulation and operation operability evaluation method based on wind power operation and maintenance ship motion dynamic response and active compensation gangway ladder motion control

Abstract

A joint simulation and operation operability evaluation method based on wind power operation and maintenance ship motion dynamic response and active compensation gangway ladder motion control comprises the steps that an operation and maintenance ship frequency domain seakeeping model is built, and a hydrodynamic coefficient library is calculated; wave exciting force is reconstructed based on a Cummins time domain motion equation, and ship motion response prediction is realized by adopting implicit generalized alpha time domain composite integral; the dynamic positioning system extracts low-frequency motion through a Kalman filter and optimizes thruster thrust distribution to stabilize the position of the ship. A gangway ladder dynamic model is established based on a Lagrange equation, real-time control over displacement, speed and acceleration of the top end of the gangway ladder is achieved through a feedforward-feedback composite control strategy, and nonlinear output of a hydraulic actuator is optimized. And realizing joint simulation of the coupling system through time domain synchronization and self-adaptive PID (Proportion Integration Differentiation) control. And checking gangway ladder movement based on a preset threshold value and a space boundary condition, and evaluating the operability of the climbing operation. According to the method, the limitation of traditional single-disciplinary analysis is broken through, and the forecasting precision of wind power operation and maintenance operation operability is effectively improved.

Description

Technical Field

[0001] The present invention relates to the fields of ocean engineering technology and marine renewable energy, and particularly to a joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance ship and the motion control of an active compensation gangway. Background Art

[0002] Currently, the safety issue of operation and maintenance operations in complex marine environments has become increasingly prominent. Measured data from the International Energy Agency shows that in a typical sea state 4 operation area (significant wave height of 2.5 - 3.2 meters) 60 kilometers away from the coastline, there can be vertical displacement of ±3.5 meters and dynamic attitude angle of ±22° between the operation and maintenance ship and the floating wind turbine platform. In the coupled environment of deep - sea wind farms, safely docking with the wind turbine has become the primary task of operation and maintenance operations, and improving the operability of docking operations has become the core goal of engineering personnel.

[0003] To address the above challenges, wind power operation and maintenance ships are usually equipped with a gangway docking system as an important passage connecting the operation and maintenance ship and the offshore wind turbine platform for the transfer of personnel and equipment. The operability of gangway operations is directly related to the smooth implementation of operation and maintenance tasks and the safety guarantee of personnel. In actual operations, the operation and maintenance ship is affected by environmental factors such as wind, waves, and tides, and its motion state exhibits complex six - degree - of - freedom characteristics, including surge, sway, heave, roll, pitch, and yaw. At the same time, modern wind power operation and maintenance ships are mostly equipped with a dynamic positioning system (DP System), which adjusts the ship's attitude in real time through thrusters to minimize the impact of sea conditions on the ship's motion and provide a relatively stable operating environment for gangway operations.

[0004] In the prior art, the evaluation of the operability of gangway offshore operations is usually analyzed based on the ship's motion state, environmental conditions, and the structural characteristics of the gangway. Common technical means include real - time collection of the ship's motion data, environmental parameters, and the force data of the gangway through sensors, and a preliminary judgment of operation operability is made by combining mathematical modeling or empirical formulas. In addition, some operation and maintenance ships have introduced wave compensation technology, and the displacement and attitude changes caused by ship motion are offset through active or passive compensation mechanisms of the gangway to improve the safety and stability of operations. These technical means have provided support for offshore wind power operation and maintenance to a certain extent, but in the complex sea conditions of deep - sea areas, the dynamic response of wind power operation and maintenance ships and the operability of gangway docking operations still require more accurate and systematic evaluation methods to meet the industry's needs.

[0005] Although the prior art has made certain progress in the evaluation of the operability of gangway operations of wind power operation and maintenance ships, there are still the following defects in several aspects, which limit its application effect in complex sea conditions: First, the existing wind turbine boarding technologies are difficult to meet the long-term operation and maintenance requirements of deep-water and far-sea wind farms under complex working conditions. The existing technologies mainly include traditional gangways, passive compensation gangways, basket / helicopter transfer, and dynamic positioning assistance. However, these technologies have significant defects: traditional gangways have poor wave resistance and rely on manual operation, resulting in a high accident rate; passive compensation gangways can only compensate for heaving motion due to mechanical structure limitations and cannot handle multi-degree-of-freedom coupled motions; basket / helicopter transfer is costly and has low operation efficiency. These defects lead to a narrow operation window for existing technologies in medium and high sea states and pose safety hazards.

[0006] Secondly, there is a lack of analysis of the coupling effect between the hydrodynamic response of the wind power operation and maintenance vessel and the motion control of the gangway during the current operation process. In actual operations, the operation and maintenance team often relies on empirical judgment and rough estimation to evaluate operability, lacking systematic calculation and analysis support. Existing research is mostly limited to single analysis strategies based on hydrodynamic models or mechanical control, and fails to fully integrate the multi-physical field coupling effects involved in operation and maintenance operations. For example, the real-time interaction between the six-degree-of-freedom motion of the ship caused by wave loads and the active compensation of the gangway limits the predictability of the operation process and the adaptability to complex sea conditions. In addition, modern operation and maintenance vessels rely on the single feedback control method of traditional dynamic positioning systems, lacking monitoring and response to the motion state of the gangway top. When facing wave period changes or sudden sea conditions, the response speed is slow and the real-time compensation ability is limited.

[0007] Therefore, in view of the requirements for safety and efficiency in offshore wind turbine operation and maintenance operations, a high-precision evaluation method for the operability of the gangway boarding operation of the operation and maintenance vessel is urgently needed.

[0008] It should be noted that the information disclosed in the above background technology section is only used for understanding the background of the present application, and therefore may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0009] The main object of the present invention is to overcome the defects existing in the above background technology and provide a joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance vessel and the motion control of an active compensation gangway.

[0010] To achieve the above object, the present invention adopts the following technical solutions: A joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance vessel and the control of an active compensation gangway, comprising the following steps: 1) Establish a frequency-domain hydrodynamic model of the operation and maintenance vessel, solve for the frequency-domain added mass, damping coefficient, and wave load response amplitude operator of the operation and maintenance vessel through wave excitation force, and generate a second-order difference frequency transfer function; 2) Based on Cummins time-domain motion equations, a prediction model for the time-domain motion response of the maintenance ship is constructed. Combining with the wave data in the operation sea area, an implicit time-domain integration strategy is adopted to predict the dynamic response of the ship including six degrees of freedom of surge, sway, heave, roll, pitch and yaw; 3) According to the time-domain motion response, the low-frequency motion part of the ship is extracted by filtering, and the thruster thrust allocation instruction is generated in combination with the control strategy of the dynamic positioning system; 4) According to the motion response prediction data and the motion state of the wind turbine platform, an active compensation control instruction for the gangway is generated, in which a composite control strategy combining feedforward control with feedback of the displacement, velocity and acceleration at the top of the gangway is adopted, and the nonlinear output of the hydraulic drive system is optimized by the autoregressive integrated moving average model prediction control algorithm; 5) The ship motion response and the gangway control instruction are synchronously solved for the coupled system through the implicit time-domain integration strategy to update the ship-gangway joint dynamic response in real time; 6) Based on the preset motion threshold and spatial boundary conditions of the gangway, the displacement, velocity and attitude at the top of the compensated gangway are checked, and the operability of the berthing operation is evaluated in combination with the wave environment data.

[0011] Furthermore, step 1) specifically includes: The boundary element method is used to divide the surface elements of the maintenance ship. Based on the ideal fluid assumption and the irrotational flow condition, the Laplace equation of the wave field velocity potential is solved, and the incident, radiation and diffraction velocity potentials are calculated through Green's function integration; based on the velocity potential distribution, the added mass and damping coefficients in the frequency domain are converted, and the first-order wave load response amplitude operator is solved in combination with the six-degree-of-freedom frequency-domain motion equation under regular waves, and the second-order difference-frequency transfer function including the influence of the free surface is generated through the near-field velocity potential pressure integration to construct a hydrodynamic coefficient database.

[0012] Furthermore, step 2) specifically includes: Based on the Cummins time-domain motion equation framework, the time-domain infinite-frequency added mass and impulse response function are constructed by performing inverse Fourier transform on the added mass and damping coefficients in the frequency domain; a roll quadratic damping term is introduced into the motion equation to characterize the viscous nonlinear effect, and the implicit generalized α time-domain composite integration strategy is used for second-order accurate discretization solution to predict the six-degree-of-freedom motion response of the ship in real time.

[0013] Furthermore, step 3) specifically includes: The Kalman filter is used to extract the second-order low-frequency component of the ship motion response, and the propulsion force correction amount is calculated according to the target positioning position or motion trajectory; based on the thruster operability and power distribution strategy, a thrust instruction is generated, and the horizontal displacement deviation of the ship is suppressed through the dynamic allocation of the thruster to limit the low-frequency motion range.

[0014] Further, step 4) specifically includes: Establish a dynamic model of a hydraulically driven active motion compensation gangway with a six-degree-of-freedom parallel platform as the base. Use the Denavit-Hartenberg transformation to construct the coordinate system relationship and solve the leg telescopic amount through inverse kinematics. Based on the Lagrange equation, establish a dynamic model including hydraulic driving force, construct a three-parameter closed-loop control system, introduce the relative motion signal between the ship and the wind turbine through the feedforward channel, and combine the displacement, velocity, and acceleration feedback signals to implement a composite control strategy, and optimize the non-linear output of the hydraulic system through the generalized predictive control algorithm.

[0015] Further, step 5) specifically includes: Adopt an implicit generalized α time-domain composite integration strategy to discretize the time steps of the ship motion response and the gangway control command, construct a constrained variational dynamic equation and a Jacobian matrix, and achieve the dynamic coupling and numerical stability synchronization of the ship-gangway system through iterative correction.

[0016] Further, in step 5), the joint dynamic response of the ship-gangway is updated in real time, which specifically includes: synchronizing the time domain of the gangway closed-loop control command generated by the three-parameter feedforward-feedback composite control strategy of the gangway top displacement, velocity, and acceleration with the predicted results of the ship's six-degree-of-freedom motion. Among them, the feedforward channel adjusts the gangway target pose in real time based on the motion response signal of the ship relative to the wind turbine, and the feedback channel dynamically corrects the hydraulic driving force through the deviations of the gangway top displacement, velocity, and acceleration, combined with the optimized hydraulic output by the generalized predictive control algorithm, to generate a coordinated motion compensation trajectory for the gangway top and the wind turbine platform.

[0017] Further, step 6) specifically includes: Based on the preset thresholds of the heaving displacement, horizontal displacement, attitude angle, and acceleration at the gangway top, perform real-time motion threshold verification, and at the same time verify the safety distance, mechanical limit, and contact angle space boundary conditions between the gangway top and the wind turbine platform; combine the wave environment data to dynamically determine the operability of the berthing operation and generate operation execution or abort commands.

[0018] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance ship and the control of an active compensation gangway.

[0019] A computer program product includes a computer program, and when the computer program is executed by a processor, it implements the joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance ship and the control of an active compensation gangway.

[0020] The present invention has the following beneficial effects: The present invention provides a combined simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance vessel and the motion control of an active compensation gangway. By constructing a combined simulation system for the dynamic motion response of the wind power operation and maintenance vessel and the control of the active compensation gangway, high-precision coupling analysis of the six-degree-of-freedom dynamic response of the ship and the motion compensation of the gangway under complex sea conditions is achieved. The method of the present invention breaks through the limitations of traditional single hydrodynamic analysis or mechanical control models, adopts a strategy combining the frequency-domain seakeeping model and the time-domain motion prediction, can accurately capture the non-linear characteristics of the ship's wave loads, and synchronously solves the real-time interaction of the ship-gangway system through implicit time-domain integration, significantly improving the dynamic response prediction accuracy. Based on the three-parameter feedforward-feedback composite control strategy of the displacement, velocity and acceleration at the top of the gangway, the motion prediction data of the ship relative to the wind turbine is introduced into the hydraulic drive system in advance through the feedforward channel, combined with the real-time feedback closed loop of the displacement, velocity and acceleration at the top of the gangway, effectively overcoming the inertia lag and mechanical limitations of traditional passive compensation technologies in multi-degree-of-freedom coupled motion. At the same time, the autoregressive integrated moving average model prediction algorithm is used to optimize the non-linear output of the hydraulic pressure, enhancing the real-time compensation ability under sudden sea conditions. Through a dual-check mechanism of preset motion thresholds and spatial boundary conditions, the safety of the pose at the top of the gangway is dynamically evaluated, and the scientific prediction of the operation window is realized by integrating wave environment data, completely replacing the operation evaluation mode relying on manual experience. While ensuring the safety of deep-sea operation and maintenance operations, the downtime and operation and maintenance costs are significantly reduced, providing a systematic solution for wind power operation and maintenance in a multi-physical-field coupling environment.

[0021] Other beneficial effects in the embodiments of the present invention will be further described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic flow chart of the combined simulation and operation operability evaluation based on the motion dynamic response of a wind power operation and maintenance vessel and the motion control of an active compensation gangway according to an embodiment of the present invention; Figure 2 It is a schematic structural diagram of a hydraulically driven active motion compensation gangway with a six-degree-of-freedom parallel platform as the base according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following makes a detailed description of the embodiments of the present invention. It should be emphasized that the following description is merely exemplary and not intended to limit the scope of the present invention and its applications.

[0024] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for a fixing function or for a coupling or communicating function.

[0025] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0026] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0027] Refer to Figure 1 , embodiments of the present invention provide a combined simulation and operation maneuverability evaluation method based on the motion dynamic response of a wind power operation and maintenance ship and the control of an active compensation gangway, including the following steps: Step 1): Establish a frequency-domain hydrodynamic model of the operation and maintenance ship. By solving the wave excitation force, obtain the frequency-domain added mass, damping coefficient and wave load response amplitude operator of the operation and maintenance ship, and generate a second-order difference frequency transfer function.

[0028] In some embodiments, in step 1), the boundary element method is used to divide the surface elements of the operation and maintenance ship. Based on the assumptions of ideal fluid and irrotational flow conditions, the Laplace equation of the wave field velocity potential is solved, and the incident, radiation and diffraction velocity potentials are calculated by Green's function integration; based on the velocity potential distribution, the frequency-domain added mass and damping coefficient are converted, and the first-order wave load response amplitude operator is solved by combining the six-degree-of-freedom frequency-domain motion equation under regular waves, and a second-order difference frequency transfer function including the influence of the free surface is generated by near-field velocity potential pressure integration to construct a hydrodynamic coefficient database.

[0029] Step 2): Based on the Cummins time-domain motion equation, construct a time-domain motion response prediction model of the operation and maintenance ship. Combining with the wave data in the operation sea area, adopt an implicit time-domain integration strategy to predict the ship's dynamic response including six degrees of freedom of surge, sway, heave, roll, pitch and yaw.

[0030] In some embodiments, in step 2), based on the Cummins time-domain motion equation framework, the time-domain infinite-frequency added mass and impulse response function are constructed by performing inverse Fourier transform on the frequency-domain added mass and damping coefficient; a roll quadratic damping term is introduced into the motion equation to characterize the viscous nonlinear effect, and an implicit generalized α time-domain composite integration strategy is used for second-order accurate discretization and solution to predict the six-degree-of-freedom motion response of the ship in real time.

[0031] Step 3): According to the time-domain motion response, the low-frequency motion part of the ship is extracted by filtering, and the thruster thrust distribution command is generated in combination with the control strategy of the dynamic positioning system to suppress the horizontal displacement deviation of the ship.

[0032] In some embodiments, in step 3), the Kalman filter is used to extract the second-order low-frequency component of the ship motion response, and the propulsion force correction amount is calculated according to the target positioning position or motion trajectory; based on the thruster operability and power distribution strategy, a thrust command is generated, and the horizontal displacement deviation of the ship is suppressed by dynamic distribution of the thrusters to limit the low-frequency motion range.

[0033] Step 4): According to the motion response prediction data and the motion state of the wind turbine platform, an active compensation control command for the gangway is generated, where a composite control strategy combining feedforward control with feedback of the displacement, velocity, and acceleration at the top of the gangway is adopted, and the nonlinear output of the hydraulic drive system is optimized by the autoregressive integrated moving average model predictive control algorithm.

[0034] In some embodiments, in step 4), a dynamic model of the hydraulic-driven active motion compensation gangway with a six-degree-of-freedom parallel platform as the base is established, the coordinate system relationship is constructed by using the Denavit-Hartenberg transformation, and the leg telescopic amount is solved by inverse kinematics; a dynamic model including hydraulic driving force is established based on the Lagrange equation, a three-parameter closed-loop control system is constructed, the relative motion signal between the ship and the wind turbine is introduced through the feedforward channel, and combined with the displacement, velocity, and acceleration feedback signals, a composite control strategy is realized, and the nonlinear output of the hydraulic system is optimized by the generalized predictive control algorithm.

[0035] Step 5): The ship motion response and the gangway control command are synchronously solved for the coupled system by using an implicit time-domain integration strategy to update the ship-gangway joint dynamic response in real time.

[0036] In some embodiments, in step 5), the implicit generalized α time-domain composite integration strategy is used to discretize the time step of the ship motion response and the gangway control command, a constrained variational dynamic equation and a Jacobian matrix are constructed, and the dynamic coupling and numerical stability synchronization of the ship-gangway system are realized through iterative correction.

[0037] In some embodiments, in step 5), the joint dynamic response of the ship and the gangway is updated in real time, specifically including: synchronizing the time domain of the closed-loop control command of the gangway generated by the feedforward-feedback composite control strategy of the three parameters of the displacement, velocity and acceleration at the top of the gangway with the prediction result of the six-degree-of-freedom motion of the ship. Among them, the feedforward channel adjusts the target pose of the gangway in real time based on the motion response signal of the ship relative to the wind turbine, and the feedback channel dynamically corrects the hydraulic driving force through the deviation of the displacement, velocity and acceleration at the top of the gangway, and combines the optimized hydraulic output force by the generalized predictive control algorithm to realize the generation of the cooperative motion compensation trajectory between the top of the gangway and the wind turbine platform.

[0038] Step 6): Based on the preset motion threshold and spatial boundary conditions of the gangway, check the displacement, velocity and attitude of the top of the compensated gangway, and evaluate the operability of the berthing operation in combination with the wave environment data.

[0039] In some embodiments, in step 6), real-time motion threshold checking is performed based on the preset heaving displacement, horizontal displacement, attitude angle and acceleration threshold at the top of the gangway, and at the same time, the safety distance, mechanical limit and contact angle spatial boundary conditions between the top of the gangway and the wind turbine platform are verified; combined with the wave environment data, the operability of the berthing operation is dynamically determined, and an operation execution or abort instruction is generated.

[0040] The joint simulation and operation operability evaluation method of the present invention based on the dynamic motion response of a wind power maintenance ship and the control of an active motion compensation gangway effectively solves the problems of insufficient analysis of the motion coupling effect between the maintenance ship and the gangway, low prediction accuracy of the operability of the berthing operation, and insufficient real-time performance in complex sea conditions. By constructing a high-precision ship motion response model based on hydrodynamic analysis and coupling it with the control of the dynamic positioning system and the active compensation gangway, the joint simulation of the motion dynamic response of the wind power maintenance ship and the motion control of the active compensation gangway is realized. Thereby, accurate gangway motion control and accurate operability evaluation can be provided, replacing traditional evaluation methods based on experience or rough estimation, reducing resource waste caused by increased personnel working hours and extended downtime in actual engineering, and thus improving the efficiency of wind power maintenance. The method of the present invention establishes a coupling system of the dynamic motion response of the maintenance ship - the motion control of the active compensation gangway. Through multidisciplinary joint simulation, the prediction accuracy of the dynamic response and the evaluation accuracy of the operability during the gangway berthing operation of the wind power maintenance ship in complex sea conditions are improved, the operation window prediction ability in complex sea conditions is enhanced, and reliable technical support is provided for maintenance decision-making.

[0041] The following further describes specific embodiments of the present invention, its algorithm examples and experimental verification.

[0042] A combined simulation and operation maneuverability evaluation method based on the dynamic motion response of a wind power maintenance ship and the control of an active motion compensation gangway, including the simulation of the dynamic motion response of the maintenance ship, the simulation of the control of the active motion compensation gangway, the coupling system and control strategy of the dynamic motion response - active compensation gangway motion control of the maintenance ship, and the motion verification of the gangway and the evaluation of the operation maneuverability. The simulation of the dynamic motion response of the maintenance ship includes: the seakeeping model of the maintenance ship in the frequency domain, the prediction model of the time-domain motion response of the maintenance ship, and the dynamic positioning system. The simulation of the control of the active motion compensation gangway uses a three-parameter feedforward-feedback composite control strategy to achieve real-time tracking and control of the displacement, velocity, and acceleration at the top of the gangway. The coupling system constructs a real-time interaction architecture for the six-degree-of-freedom motion response prediction of the maintenance ship, the control of the dynamic positioning system, and the control of the active compensation gangway, and realizes the combined simulation through high-precision time-domain dynamics solution to ensure the relative stability of the active compensation gangway. The operation maneuverability evaluation method is applicable to the maintenance of both fixed and floating wind turbines. By quantitatively verifying the motion of the gangway, it significantly improves the prediction accuracy of the operation maneuverability and ensures the safety of the wind power maintenance ship during offshore operations. For the overall work process, please refer to Figure 1 , and the equipment in the system mainly includes a maintenance ship 1, a gangway 2, a wind turbine platform 3, and a dynamic positioning system 4.

[0043] The specific implementation process includes: 1. The seakeeping model of the maintenance ship in the frequency domain.

[0044] Adopting the ideal fluid assumption and the irrotational flow condition for the ocean flow field, using the boundary element method to divide the surface elements of the maintenance ship, and using the Green's function for surface element integration of the incident, radiation, and diffraction processes of the maintenance ship based on the Laplace equation of the wave field velocity potential to solve the velocity potential:

[0045] In the formula, and are the field points and source points of the surface element grid, is the velocity potential, is the frequency domain Green's function between the field point and the singular point. Taking the partial derivative of means taking the partial derivative in the normal direction.

[0046] Based on the above results, calculate the added mass and damping coefficient of the maintenance ship in the frequency domain through the conversion of the velocity potential surface element. Calculate the amplitude operator of the first-order wave load response of the six-degree-of-freedom motion of the maintenance ship in the frequency domain under regular waves in each wave direction by solving the six-degree-of-freedom motion equation of the maintenance ship in the frequency domain. Further, through the near-field velocity potential pressure integration method, consider the free surface condition to calculate the second-order difference frequency transfer function of the waves of the maintenance ship, and form a complete database of the hydrodynamic coefficients of the maintenance ship.

[0047] 2. The prediction model of the time-domain motion response of the maintenance ship.

[0048] Based on the historical measured wave field data in the operation sea area, select the wave spectrum parameters and wave propagation directions in the operation sea area to form the sea area wave condition data. Use the Cummins time-domain motion equation as the calculation framework. By performing inverse Fourier transform on the frequency-domain added mass and damping coefficients, construct the time-domain infinite-frequency added mass and impulse response function, and realize the efficient time-domain reconstruction of wave excitation force through convolution integral:

[0049] In the formula, is the six-degree-of-freedom motion of the maintenance ship, and the dot above represents the derivative with respect to time, is the impulse response function, and are the structural mass and infinite-frequency added mass of the maintenance ship respectively, and are the first and second additional damping of the maintenance ship, is the wave excitation force at time, which is discretely superimposed according to the wave spectrum through the pre-calculated first-order wave load response amplitude operator and second-order difference frequency transfer function of the maintenance ship, is the propulsion force of the dynamic positioning system, which is obtained by the dynamic positioning system controller.

[0050] For the viscous non-linear motion response of the roll motion, introduce the roll quadratic damping term to improve the prediction accuracy of the roll motion. In the time domain, use the implicit generalized time-domain composite integration strategy for time step discretization, perform discrete-time prediction of the second-order accuracy motion response of the maintenance ship, and calculate the motion response, the position of the top of the maintenance ship's gangway and the motion compensation target at the next moment.

[0051] 3. Dynamic positioning system.

[0052] According to the predicted motion response of the maintenance ship, use the Kalman filter to filter the time-domain data, extract the second-order low-frequency motion part, and analyze the current position and speed. According to the set positioning position or motion trajectory of the maintenance ship, calculate the target difference and motion correction amount, and obtain the required propulsion force according to the control strategy. According to the operability and propulsion force range of the maintenance ship's thrusters, determine the operation direction and power correlation of the thrusters, distribute the required propulsion force, match the thruster position and propulsion power to balance the second-order horizontal wave force, limit the low-frequency motion range of the maintenance ship, and ensure the operation safety.

[0053] 4. Hydraulic-driven active compensation gangway motion control simulation.

[0054] Referring to Figure 2 , the gangway includes a six-degree-of-freedom parallel platform 5 and a telescopic structure 6. The six-degree-of-freedom parallel platform includes a bottom plate 7, a hydraulic actuator 8, and a top plate 9.

[0055] Build a gangway model including a six-degree-of-freedom parallel platform and a telescopic structure. Use the Denavit-Hartenberg transformation to construct the coordinate relationship between the platform bottom plate and the top position of the gangway. After receiving the motion compensation target pose, solve the telescopic lengths of the six legs through inverse kinematics; apply the Lagrange method to establish the dynamic equation, including the kinetic energy, gravitational potential energy of the platform top plate and the telescopic mechanism, and the driving force term of the hydraulic actuator.

[0056]

[0057] Among them, is the generalized coordinate of the gangway position and control, is the mass matrix, is the constraint control equation, is the second variation form of the constraint control equation with respect to , is the hydraulic driving force.

[0058] The hydraulic actuator adopts a valve-controlled cylinder structure, and its linear model is the transfer function relationship between the driving force and the servo voltage. Adopt a three-parameter feedforward-feedback composite control method to control the displacement, speed and acceleration of the top of the gangway to form a controller. The feedforward channel introduces the motion response signal of the maintenance ship relative to the wind turbine to achieve early control, and the feedback channel constructs a control closed-loop through the measured position deviation of the top of the gangway by a laser rangefinder. For the non-linear model of the hydraulic actuator, adopt the generalized predictive control algorithm, predict the future output based on the autoregressive integrated moving average model, and suppress the system disturbance through rolling optimization and feedback correction.

[0059] 5. Dynamic motion response of the maintenance ship - Active compensation gangway motion control coupling system and control strategy.

[0060] The above-mentioned dynamic motion response simulation module of the maintenance ship and the hydraulic-driven active motion compensation gangway simulation module form a dynamic motion response of the maintenance ship - Active compensation gangway motion control coupling system, and adopt an implicit generalized time-domain composite integration strategy for time-step discretization processing, construct the constrained variational dynamic equation and the Jacobian matrix, and synchronize in the time domain with the known motion of the wind turbine platform through time-step prediction integration and iterative correction according to the six-degree-of-freedom motion data of the maintenance ship and the wave load conditions. The PID controllers of the gangway and the dynamic positioning system use the Ziegler-Nichols method to estimate the parameters, and optimize the control law with the ITAE index:

[0061] Among them, is the controller output, is the displacement, speed or acceleration error, are the three control parameters of the PID controller, and the adaptive control is performed based on the high-precision predicted positions of the two boarding point of the maintenance ship and the wind turbine platform.

[0062] 6. Gangway movement verification and operability assessment of boarding operation.

[0063] Perform real-time threshold verification on the movement of the gangway top adjusted by the controller. For specific examples of the gangway movement threshold, refer to Table 1; perform spatial boundary condition verification on the pose of the gangway top balanced by the dynamic positioning system. The spatial boundary conditions include the safety distance between the gangway top and the wind turbine platform, the mechanical limit of the gangway telescopic arm, and the contact offset angle between the gangway top and the wind turbine platform, to avoid the collision risk between the gangway top and the wind turbine platform. If the above two composite constraint conditions are verified to pass, continue the current control strategy for operation; if not, issue a warning. Based on the long-term wave scatter diagram or short-term weather forecast of the operation location, combined with the gangway movement verification results, judge the operability of the maintenance boarding operation in the working sea area in real time, so as to ensure the safety and efficiency of the maintenance ship's offshore operation.

[0064] Table 1 Gangway movement threshold (g = 9.8m / s 2 )

[0065] Compared with the prior art, the technical advantages of the present invention are: 1. The present invention proposes a joint simulation and operation operability assessment method based on the motion dynamic response of a wind power maintenance ship and the active compensation of gangway movement control, replacing the traditional offshore operation assessment method that relies on engineering experience and rough estimation. With scientific theoretical support and rigorous simulation verification, it accurately and quantitatively analyzes the coupling effect of the hydrodynamic response of the maintenance ship and the gangway movement compensation. The data-driven assessment results show excellent scientificity and repeatability, greatly improving the prediction accuracy of maintenance operability, and providing core technical support for the operation planning and risk management of wind power maintenance ships.

[0066] 2. The present invention establishes a complete coupling system for the dynamic motion response of the maintenance ship - active compensation of gangway movement control, breaking the barriers between the ship's dynamic response and gangway movement control operating independently, and realizing the real-time coupling analysis of the six-degree-of-freedom motion of the maintenance ship and the movement of the gangway top. Compared with the traditional frequency-domain analysis method, the present invention considers the first-order and second-order wave loads of the ship in a complex environmental field, accurately captures the instantaneous changes of the nonlinear motion response, the ship's motion acceleration, and the dynamic response of the gangway, and improves the accuracy of gangway movement prediction under complex sea conditions.

[0067] 3. Through the three-parameter feedforward-feedback composite control strategy, the present invention optimizes the control performance of the hydraulically driven motion-compensated gangway by combining the real-time monitoring of the displacement, velocity, and acceleration at the top of the gangway. Compared with the response lag caused by system inertia in traditional feedback control, this technology introduces the relative motion response of the maintenance ship relative to the access point of the wind turbine into the control closed-loop through the feedforward channel, achieving the advance control before the deviation between the controlled quantity and the given quantity occurs, and significantly improving the control accuracy.

[0068] An embodiment of the present invention also provides a storage medium for storing a computer program, which when executed, at least executes the method described above.

[0069] An embodiment of the present invention also provides a control device, including a processor and a storage medium for storing a computer program; wherein, the processor is used to execute the computer program to at least execute the method described above.

[0070] An embodiment of the present invention also provides a processor, which executes a computer program and at least executes the method described above.

[0071] The storage medium can be implemented by any type of non-volatile storage device, or a combination thereof. Among them, the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read-Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory), an electrically erasable programmable read-only memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), a ferromagnetic random access memory (FRAM, Ferromagnetic Random Access Memory), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory); the magnetic surface memory can be a disk memory or a tape memory. The storage medium described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memories.

[0072] In several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the couplings between the various components shown or discussed, or direct couplings, or communication connections can be through some interfaces. The indirect couplings or communication connections of devices or units can be electrical, mechanical, or other forms.

[0073] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0074] In addition, each functional unit in the embodiments of the present invention can be all integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in a unit; the above-mentioned integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0075] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks, or optical disks and other various media that can store program codes.

[0076] Alternatively, if the above-mentioned integrated units of the present invention are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solutions of the embodiments of the present invention, in essence, or the parts that contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present invention. And the foregoing storage medium includes: removable storage devices, ROM, RAM, magnetic disks, or optical disks and other various media that can store program codes.

[0077] In the method disclosed in several method embodiments provided by the present invention, the methods can be arbitrarily combined without conflict to obtain new method embodiments.

[0078] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those skilled in the technical field to which the present invention belongs, without departing from the concept of the present invention, several equivalent substitutions or obvious variations can be made, and if the performance or use is the same, they should all be regarded as belonging to the protection scope of the present invention.

Claims

1. A joint simulation and operation operability evaluation method based on the dynamic response of wind power operation and maintenance vessel motion and active compensation gangway control, characterized in that: The following steps are involved: 1) Establish a frequency domain hydrodynamic model of the operation and maintenance ship, obtain the frequency domain added mass, damping coefficient and wave load response amplitude operator of the operation and maintenance ship by solving the wave excitation force, and generate the second-order difference frequency transfer function; 2) Based on the Cummins time-domain motion equation, a time-domain motion response prediction model for the operation and maintenance ship is constructed. Combined with the wave data of the operating sea area, an implicit time-domain integration strategy is used to predict the dynamic response of the ship including six degrees of freedom motion including surge, sway, heave, roll, pitch and bow pitch; 3) According to the time domain motion response, the low-frequency motion part of the ship is extracted by filtering, and the thrust distribution instruction of the thruster is generated in combination with the control strategy of the dynamic positioning system; 4) generating active compensation control instructions for the gangway according to the motion response prediction data and the motion state of the wind turbine platform, wherein a composite control strategy combining feedforward control with displacement, velocity, and acceleration feedback of the top of the gangway is adopted, and the nonlinear output of the hydraulic drive system is optimized through an autoregressive integral moving average model predictive control algorithm; 5) The ship motion response and the gangway control command are solved synchronously by the implicit time-domain integration strategy for the coupled system, and the ship-gangway joint dynamic response is updated in real time; 6) Based on the preset gangway motion threshold and spatial boundary conditions, the displacement, velocity and attitude of the top of the gangway after compensation are checked, and the operability of the boarding operation is evaluated in combination with the wave environment data.

2. The method according to claim 1, characterized in that Step 1) specifically includes: The boundary element method is used to divide the operation and maintenance ship into panels. The Laplace equation of the wave field velocity potential is solved based on the ideal fluid assumption and irrotational flow conditions, and the incident, radiation and diffraction velocity potentials are calculated by Green's function integration. The frequency domain added mass and damping coefficient are obtained based on the velocity potential distribution conversion, and the first-order wave load response amplitude operator is solved in combination with the six-degree-of-freedom frequency domain motion equation under regular waves. The second-order difference frequency transfer function including the influence of the free liquid surface is generated by the near-field velocity potential pressure integration, and a hydrodynamic coefficient database is constructed.

3. The method according to claim 1, characterized in that Step 2) specifically includes: Based on the framework of Cummins time-domain motion equation, the time-domain infinite frequency added mass and impulse response function are constructed by performing inverse Fourier transform on the frequency-domain added mass and damping coefficient. The roll quadratic damping term is introduced into the motion equation to characterize the viscous nonlinear effect, and the implicit generalized α time-domain composite integration strategy is used to perform discretization solution with second-order accuracy to predict the six-degree-of-freedom motion response of the ship in real time.

4. The method according to claim 1, characterized in that: Step 3) specifically includes: The Kalman filter is used to extract the second-order low-frequency component of the ship's motion response. The dynamic positioning system calculates the propulsion correction according to the target positioning position or motion trajectory, generates thrust instructions based on the thruster operability and power allocation strategy, and suppresses the ship's horizontal displacement deviation through dynamic thruster allocation to limit the low-frequency motion range.

5. The method according to claim 1, characterized in that: Step 4) specifically includes: A dynamic model of a hydraulically driven active motion compensation gangway with a six-degree-of-freedom parallel platform as the base is established. The Denavit-Hartenberg transformation is used to construct the coordinate system relationship and the extension and retraction of the outriggers is solved by inverse kinematics. A dynamic model including the hydraulic driving force is established based on the Lagrange equation, and a three-parameter closed-loop control system is designed. The relative motion signal of the ship and the wind turbine is introduced through the feedforward channel. The displacement, velocity and acceleration feedback signals are combined to realize a composite control strategy, and the nonlinear output of the hydraulic system is optimized through a generalized predictive control algorithm.

6. The method according to claim 1, characterized in that Step 5) specifically includes: The implicit generalized α time-domain composite integration strategy is used to discretize the ship motion response and the gangway control command in time steps, and the constrained variational dynamic equations and Jacobian matrix are constructed. The dynamic coupling and numerical stability synchronization of the ship-gangway system are achieved through iterative correction.

7. The method according to claim 1, characterized in that In step 5), the ship-gangway joint dynamic response is updated in real time, specifically including: synchronizing the gangway closed-loop control instructions generated by the three-parameter feedforward-feedback composite control strategy of the gangway top displacement, velocity and acceleration with the ship's six-degree-of-freedom motion prediction results in time domain, wherein the feedforward channel adjusts the gangway target posture in real time based on the motion response signal of the ship relative to the wind turbine, and the feedback channel dynamically corrects the hydraulic driving force through the displacement, velocity and acceleration deviation of the gangway top, combined with the hydraulic output optimized by the generalized predictive control algorithm, to achieve the generation of the coordinated motion compensation trajectory of the gangway top and the wind turbine platform.

8. The method according to claim 1, characterized in that Step 6) specifically includes: Based on the preset heave displacement, horizontal displacement, attitude angle and acceleration thresholds of the top of the gangway, real-time motion threshold verification is performed, and the safety distance, mechanical limit and contact angle space boundary conditions between the top of the gangway and the wind turbine platform are verified. The operability of the boarding operation is dynamically determined in combination with the wave environment data, and the operation execution or termination instructions are generated.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for joint simulation and operational operability evaluation based on the motion dynamic response of a wind power operation and maintenance vessel and active compensation gangway control as described in any one of claims 1 to 8 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for joint simulation and operational operability evaluation based on the motion dynamic response of a wind power operation and maintenance vessel and active compensation gangway control as described in any one of claims 1 to 8 is implemented.

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