Self-adaptive multi-dimensional deviation rectification and collaborative penetration control system and method for suction foundation group

Abstract

The application discloses a kind of self-adapting multidimensional rectification and collaborative penetration control system and method of suction foundation group.The system is composed of multi-source perception, central control and distributed execution module.The system establishes master-slave collaborative control architecture, the effective soil penetration resistance of bottom of cylinder is real-time inversion through soil resistance soft measurement unit, and geological uneven area is identified in advance.The execution module is configured with two-way fluid control pump station, and differential negative pressure suction sinking is carried out under normal working condition.When extreme soft soil leads to inclination overrun, the pump station on the side of sinking too fast is automatically controlled to switch to positive pressure water injection mode, active jacking torque is generated to rectify powerfully, and anti-pipe heaving protection is assisted.The application effectively solves the problem that suction foundation is prone to irreversible inclination in soft and hard uneven geology, and realizes automatic and high-precision collaborative penetration installation.

Description

Technical Field

[0001] This invention relates to the field of marine engineering equipment and automatic control technology, specifically to an adaptive multidimensional correction and collaborative penetration control system for offshore wind power fixed multi-tube jacket foundations and deep-sea floating suction group anchor foundations. Background Technology

[0002] With the continuous development of offshore wind power resources, offshore wind power foundation structures are evolving towards larger scale and deeper waters. Among the various foundation types, fixed multi-cylinder jacket foundations and suction group anchor foundations for deep-sea floating systems (such as tension leg platforms (TLP) and semi-submersible platforms) are gradually becoming the industry mainstream due to their ease of construction and high load-bearing capacity. Whether fixed or floating, multi-cylinder suction foundations are typically integral group structures connected by rigid structures (such as jackets or platform floats). Their installation process heavily relies on pumping fluid out of the cylinders to create negative pressure, using the pressure difference between the inside and outside to press the cylinders into the seabed.

[0003] However, the geological conditions of the seabed in nearshore and deep-sea areas are extremely complex. Within a foundation coverage area of ​​several hundred square meters, unevenness in soil texture is very likely to occur (for example, one side of the foundation may be soft, fluid-like silt, while the other side may be a dense layer of sand). Current construction techniques typically employ independent control of each pumping cylinder or simple synchronous control. When encountering uneven geological conditions, if all pumping cylinders use the same pumping power, the side with less soil resistance will sink too quickly, causing irreversible tilting of the entire foundation and even structural deformation.

[0004] While existing technologies have proposed the concept of multi-cylinder collaboration, their control logic is mostly limited to the simple "tilt equals flow reduction," lacking real-time sensing capabilities for soil resistance. Furthermore, relying on a single suction negative pressure adjustment method, their ability to correct deviation is extremely limited when encountering severe tilting or sudden sinking into soft mud on one side. Because a deep coupling relationship between platform attitude and single-cylinder resistance has not been established, the traditional method of manually adjusting valves by divers or underwater robots (ROVs) is not only inefficient and risky but also suffers from severe operational lag. In addition, existing systems cannot automatically and flexibly switch between multiple operating conditions such as sinking, pressure holding, and upward pulling based on real-time geological conditions, resulting in extremely low fault tolerance in extreme situations. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive multidimensional correction and collaborative penetration control system for suction foundation groups. Through the deep integration of software algorithms and hardware actuators, it solves the technical problems of multi-cylinder foundations (including fixed and floating types) being prone to tilting in uneven geological conditions and rigid switching of working conditions.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An adaptive multidimensional correction and cooperative penetration control system for a suction-based base group, characterized in that it includes:

[0008] The multi-source sensing module is configured on the platform of the suction foundation group and each suction cylinder to collect attitude data of the foundation platform, fluid state data and soil coupling data in each suction cylinder.

[0009] The distributed execution module includes an exhaust valve, a bidirectional fluid control pump station, and an electric regulating valve group connected to the pipeline of each suction cylinder, all independently installed on the top of each suction cylinder. The bidirectional fluid control pump station includes a variable frequency drive motor and a flow direction switching unit, which can switch between "negative pressure suction mode" and "positive pressure water injection mode" in response to control commands.

[0010] The central control module communicates with the multi-source sensing module and the distributed execution module via industrial fieldbus or industrial Ethernet, respectively.

[0011] The central control module includes a master-slave collaborative control unit and a soil resistance soft measurement unit.

[0012] The soil resistance soft measurement unit is configured to receive the pressure difference at the pump inlet of each suction cylinder. With pipeline flow velocity Data, based on a fluid dynamics coupling model to eliminate pipe friction and local resistance losses, is used to calculate the effective soil penetration resistance at the bottom of each suction cylinder in real time. ;

[0013] The master-slave collaborative control unit is configured as follows: It establishes the overall levelness of the base platform and the target penetration speed as the main control targets, and the pressure inside each suction anchor and the penetration depth as the control targets. This is a cascade control architecture for the controlled variable; when the soil resistance soft measurement unit monitors the effective soil penetration resistance at each cylinder end... When the difference exceeds a preset threshold, causing the platform to tilt, the master-slave collaborative control unit generates differentiated control commands to control the high-resistance side pump station to increase its pumping power, while controlling the low-resistance side pump station to reduce its pumping power or reverse its operation to enter a positive pressure water injection mode, using the lifting torque generated by water injection to eliminate the tilt deviation.

[0014] Based on the above technical solutions, the present invention may also employ the following further technical solutions, or combine these technical solutions:

[0015] The specific configuration of the multi-source sensing module is as follows:

[0016] Attitude monitoring unit: including a dual-axis tilt sensor and a three-axis gyroscope installed at the geometric center of the base platform, used to monitor the real-time tilt angle and angular velocity of the platform in the roll and pitch directions;

[0017] The cylinder condition monitoring unit includes a liquid level sensor and a gas pressure sensor installed on the inside and outside of each suction cylinder, a contact earth pressure cell installed at the bottom of the cylinder, and a hydrostatic pressure depth sensor installed on the outside of the cylinder, used to obtain the penetration depth. ;

[0018] Fluid dynamic monitoring unit: includes an electromagnetic flowmeter and a pump inlet pressure transmitter installed in the pipeline connecting the pump station, respectively used to acquire the flow velocity in the pipeline. and pump inlet pressure difference .

[0019] The soil resistance soft measurement unit operates a resistance inversion algorithm, which includes the following steps:

[0020] Step A: Synchronously collect the current penetration depth of each suction cylinder Pump outlet pressure difference and pipeline flow velocity ;

[0021] Step B: Calculate the effective pressure difference acting on the cylinder cover based on the dynamic fluid equilibrium equation. :

[0022]

[0023] in, This is the friction coefficient. For the equivalent geometric parameters of the pipeline, This is the sum of local drag coefficients. For fluid density;

[0024] Step C: Combining the self-weight and buoyancy of the cylinder, calculate the effective soil penetration resistance at each end of the cylinder in real time. :

[0025]

[0026] in, The area of ​​the suction cylinder top cover under stress. For the weight of the cylinder, For buoyancy;

[0027] Step D: Based on the calculated effective soil penetration resistance The rate of change of resistance is derived from its derivative with respect to time. It is used to identify dynamic abrupt changes in soil properties.

[0028] The flow direction switching unit of the bidirectional fluid control pump station adopts one of the following structures:

[0029] Option 1: Use a four-way directional valve assembly. By changing the valve opening and closing combination, the direction of fluid inflow and outflow can be changed without changing the direction of pump rotation.

[0030] Option 2: Use a bidirectional reversible variable frequency motor to directly drive the impeller, and reverse the direction of fluid suction and discharge by changing the phase sequence of the motor;

[0031] When the system executes the "positive pressure water injection mode", it automatically opens the bypass water supply valve in the electric regulating valve group to introduce external seawater to apply positive pressure to the suction cylinder.

[0032] The master-slave collaborative control algorithm adopts an adaptive fuzzy PID control strategy:

[0033] The input variable for the fuzzy controller is set as: platform tilt angle error. Error change rate and the rate of change of resistance provided by the soil resistance soft measurement unit. ;

[0034] The output variable of the fuzzy controller is set as: the frequency correction amount of the frequency converter of each pumping station. and flow direction switching instructions ;

[0035] Establish a nonlinear fuzzy rule base: when the platform tilt angle error Maximum, rate of change of error The rate of change of suction cylinder resistance is positive and on the side with faster settling. When a negative abrupt change occurs, the overall output will switch the flow direction of the reverse water injection. and the corresponding frequency correction amount ;

[0036] The frequency correction amount is output in real time through defuzzification and PID calculation. and flow direction switching instructions The speed of the variable frequency pump is adjusted according to the frequency correction amount to change the effective pressure difference at the top of the cylinder. Simultaneously, the reversing valve is controlled according to the flow direction switching command to realize the automatic switching of the suction cylinder's sinking, pressure holding, or upward pulling conditions.

[0037] The system also includes abnormal state security protection logic:

[0038] Piping and breakdown protection: When a suction cylinder is in "positive pressure water injection mode", the system is based on the current penetration depth. Real-time calculation of the allowable ultimate positive pressure threshold inside the cylinder If the water injection pressure reaches this threshold The platform tilt angle error has not been effectively reduced. If so, the upper limit of the water injection pressure will be forcibly limited and an audible and visual alarm for preventing piping will be triggered;

[0039] Penetration difference over-limit protection: When the penetration depth of any suction cylinder is detected... The difference between the value and the value of the other cylinders exceeds the depth difference threshold. At this time, the system forcibly triggers the "Pause All" command and locks all valve positions;

[0040] Sensor anomaly protection: When any sensor data in the multi-source sensing module is lost, it automatically switches to the minimum safe power mode.

[0041] The central control module also includes a digital twin data engine:

[0042] Used to invert the effective soil penetration resistance in real time during installation. With penetration depth Spatial mapping is performed to generate a three-dimensional geological resistance distribution cloud map in real time; and after installation, a pressure-depth-resistance (DDR) map is generated. The as-built report with characteristic fingerprints serves as a benchmark database for basic health monitoring of wind turbines throughout their entire life cycle.

[0043] The present invention also provides a cooperative penetration control method using the above-described system, comprising:

[0044] S1. Self-weight penetration and attitude initialization: Open the exhaust valve at the top of each suction cylinder, and let it sink under its own weight until it reaches equilibrium. Record the initial attitude and the initial value of the seabed bearing capacity.

[0045] S2. Soft landing and sealing self-check: Start the bidirectional fluid control pump station to perform low-power suction, establish a slight negative pressure, and monitor the pressure maintenance to confirm the formation of the bottom seal; if it is not determined, troubleshoot the fault; if it is determined, proceed to step S3.

[0046] S3. Conventional negative pressure coordinated penetration:

[0047] Using a soft measurement unit for soil resistance based on pump inlet pressure difference With pipeline flow velocity Real-time inversion of effective soil penetration resistance for each tube ;

[0048] Dynamically allocate power to each pump station to match the penetration speed of each pump with the resistance it encounters, thus mitigating the platform tilt angle error. Keep within the allowable range;

[0049] Then, it is determined whether the correction conditions are met. If they are met, proceed to step S4; otherwise, the penetration depth of all suction cylinders is further determined. If the design requirements are not met, return to the loop and execute step S3; if they are met, proceed to step S5.

[0050] S4. Dynamic Active Correction: During the execution of step S3, when the tilt sensor detects a platform tilt angle error... When the correction conditions are met, the system disconnects the S3 conventional negative pressure collaborative penetration mode and automatically enters the active correction mode.

[0051] At this time, the pump station on the side with excessively rapid settlement is switched to positive pressure water injection mode, generating an upward lifting torque, which, together with the suction force of the other side, forms a strong corrective force couple; during the correction period, the anti-piping and breakdown protection logic described in claim 6 is executed simultaneously, and then it is judged again whether the correction conditions are met. If it has returned to normal, it returns to step S3; otherwise, it continues to execute step S4 in a loop.

[0052] S5. Bottom-out Lock and Data Saving: When the penetration depth of all suction cylinders... Once the design requirements are met, perform a pressure holding test and close all valves.

[0053] The present invention has the following beneficial effects:

[0054] This invention overcomes the limitations of the traditional single-descent mode by flexibly switching between multiple operating conditions and actively correcting deviations, through adjusting the frequency correction amount. and flow direction switching instructions It can adjust the effective differential pressure at the top of the cylinder and switch valve groups in real time. When extreme geological changes cause one side to suddenly sink, the system can instantly switch from the sinking condition to the local "lifting" condition, providing a strong active correction torque.

[0055] This invention employs a safe and reliable protection mechanism, combined with an anti-piping algorithm, to calculate the ultimate positive pressure threshold in real time based on the current penetration depth. This ensures that the soil at the bottom of the cylinder will not be breached during water injection or lifting operations, preventing catastrophic piping and guaranteeing absolute safety during installation.

[0056] This invention uses a soft measurement algorithm to invert the effective soil penetration resistance in real time. and resistance change rate This is equivalent to equipping blind underwater installations with "tactile nerves," breaking through the "invisible" black box state of underwater construction. This invention achieves highly intelligent full lifecycle management, applicable not only to fixed multi-cylinder jacket foundations but also to deep-sea floating anchorage foundations. Through a fuzzy PID algorithm, it achieves automatic closed-loop control of multi-dimensional parameters, reducing reliance on construction vessels and manual ROV intervention; simultaneously, through the geological resistance feature files generated by the digital twin engine during the installation and pressure holding stages, it preserves high-precision benchmark data for later operation and maintenance. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the overall control topology of the system of the present invention;

[0058] Figure 2 This is the logic diagram of the master-slave collaborative and adaptive fuzzy PID control of the present invention;

[0059] Figure 3 This is a flowchart of the soft measurement inversion algorithm for soil resistance in this invention;

[0060] Figure 4 This is a schematic diagram of the hydraulic / piping system of the bidirectional fluid control pump station of the present invention;

[0061] Figure 5 This is a flowchart of the collaborative penetration control method of the present invention. Detailed Implementation

[0062] The present invention will be further described in detail below with reference to specific embodiments. This embodiment takes the offshore installation process of a three-tube jacket foundation (which can be a fixed multi-tube jacket foundation or a floating suction anchor foundation) as an example.

[0063] Multi-source sensing modules are distributed at the platform center and on the three suction cylinders, continuously collecting attitude and fluid data. The three bidirectional fluid control pump stations in the distributed execution module are respectively installed on the top of the three cylinder covers, and their internal four-way reversing valves or bidirectional reversible variable frequency motors are controlled by the central control module. The following four specific embodiments illustrate the operating mechanism of the control system.

[0064] Example 1: Differentiated sinking conditions based on effective pressure difference (normal state) using fuzzy PID control

[0065] After the exhaust valve opens, gravity penetration is completed, and a seal is established, the negative pressure coordinated penetration stage begins. The central control module operates the master-slave coordinated control unit at a cycle of 100ms.

[0066] Suppose that at a certain moment, the attitude monitoring unit detects a platform tilt angle error of +0.6° on the base platform via the X / Y axes. (This indicates that the No. 1 cylinder sank slightly faster on one side, and the local soil is relatively soft.)

[0067] 1) Status Analysis: The system calculates the current platform tilt angle error. and its error change rate Meanwhile, the soil resistance soft measurement unit reads the pipeline flow velocity in real time. Pressure difference with pump inlet The effective soil penetration resistance of each cylinder is calculated. The results show the effective resistance of cylinder No. 1. Slightly smaller than tubes No. 2 and No. 3 , And the rate of change of resistance Stable with no sudden changes.

[0068] 2) Fuzzy reasoning and condition maintenance: The system will , and Input to the fuzzy PID controller. Determining the current state is normal tilt, the flow direction is switched. Maintain the "sinking operation mode" (i.e., suction mode) and output the frequency correction amount for each pumping station. .

[0069] 3) Differential pressure control: The system sends a negative frequency command to the No. 1 cylinder. The variable frequency pump speed was adjusted to linearly decrease from 50Hz to 30Hz, thereby reducing the effective pressure difference at the top of the cylinder; at the same time, positive frequency commands were sent to cylinders 2 and 3. The pump speed was fine-tuned to 55Hz to increase the effective pressure difference. As the effective pressure difference changed, the penetration speed of each cylinder automatically matched, and the platform tilt angle error was adjusted. Gradually approaching 0, maintaining the stable sinking of the basic platform.

[0070] Example 2: Automatic pull-up / lifting operation under extreme tilt and prevention of piping (emergency state)

[0071] If extreme geological conditions are encountered during the mid-penetration phase, such as the No. 1 casing suddenly penetrating the surface hard crust and sinking into the extremely soft, fluid silt at the bottom, the resistance rate will change dramatically due to the instantaneous loss of support from the bottom soil. A drastic negative change occurred. Simply reducing the variable frequency pump speed was no longer sufficient to stop the sinking, and the platform tilt angle error... It expanded to over 1.5° in a short period of time.

[0072] 1) Operating condition triggering and switching: The system detects a large error (such as...) )and A sudden negative change occurs, immediately interrupting the sinking operation. The central control unit outputs a reverse flow direction switching command. The system controls the reversing valve of pump station No. 1 to instantly switch pump station No. 1 from "sinking mode" to a local "lifting mode".

[0073] 2) Piping-proof ultimate positive pressure protection: After the reversing valve actuates, external seawater is pumped into cylinder No. 1. In this upward pulling condition, the most serious risk is excessive pressure causing penetration of the soft soil at the bottom of the cylinder. The system reads the penetration depth fed back by the depth sensor in real time. The maximum allowable positive pressure threshold at the current depth is calculated by combining soil parameters. (e.g., +60kPa).

[0074] 3) Active correction: Water injection creates a positive effective pressure difference inside cylinder No. 1. (For example, by controlling the rotational speed to maintain it at +50 kPa, which is strictly below the ultimate positive pressure threshold) Positive pressure acting on the cylinder cover generates an upward hydraulic pull / lifting force, forcibly "brakes" cylinder No. 1; simultaneously, cylinders No. 2 and No. 3 continue to operate under negative pressure suction while remaining submerged. This "push and pull" action creates a powerful corrective torque. Once the error returns to within the safe threshold, the system issues a flow direction switching command. Smoothly switch back to normal sinking conditions.

[0075] Example 3: Pressure Holding Conditions After Bottom-Out and Digital Twin Full Lifecycle Management

[0076] When the depth sensor detects the penetration depth of all suction cylinders Once all design target requirements are met, the system switches commands based on the flow direction. Automatically enters "pressure holding mode".

[0077] Under pressure holding conditions, the control system completely locks the electric regulating valve assembly and shuts down the pump station. During the set pressure holding test time (e.g., 2 hours), the system continuously monitors minute depth and pressure changes caused by the residual effective pressure difference to verify the final bearing capacity of the foundation.

[0078] Simultaneously, throughout the entire sinking, jacking, and pressure-holding process, the digital twin data engine spatially maps and combines the collected penetration depth, pump inlet pressure differential, and inverted effective soil penetration resistance to generate a data set containing... and The as-built report, featuring the curve characteristic fingerprint, will serve as a benchmark database for the wind turbine's basic health monitoring (SHM) over the next twenty years.

[0079] Example 4: Complete Process of Multi-condition Cooperative Penetration Control Method

[0080] This embodiment describes in detail the steps of performing the installation using the aforementioned system:

[0081] S1. Weight Penetration and Attitude Initialization: The control system is activated, and the multi-source sensing modules perform self-checks. The exhaust valve is opened, and the foundation, under its own weight, penetrates into the seabed, expelling seawater from the cylinder until the effective soil penetration resistance at the cylinder end is reached. Achieve static equilibrium with its own weight and buoyancy. Record the initial attitude angle and depth.

[0082] S2. Soft landing and sealing self-check: Close the vent valve. Output the flow direction switching command $Dir$ for the sinking condition, and start the pump station at a very low frequency (e.g., Perform a trial suction to establish a slight negative pressure. Monitor the pressure maintenance to confirm a reliable seal between the skirt and the mudline.

[0083] S3. Conventional Negative Pressure Coordinated Penetration: Formal penetration begins. Soft measurement unit continuous inversion. Master-slave control unit minimizes platform tilt angle error. With the goal of dynamically outputting the frequency correction amount of each cylinder through fuzzy PID calculation. Change the effective pressure difference at the top of each cylinder This ensures that each tube sinks evenly. The system then determines whether the current state meets the correction conditions. If it does, it jumps to S4; otherwise, it further determines the penetration depth. Does it meet the design requirements? If not, the system loops back to S3 to continue descending.

[0084] S4. Dynamic Active Correction: When a platform tilt angle error is detected... Meeting the correction conditions (such as exceeding the safety threshold and the rate of change of resistance in the cylinder due to excessively rapid settlement). In the event of a negative abrupt change, the system cuts off conventional regulation and enters active correction mode. This is achieved by outputting a reverse flow direction switching command. Control the reversing valve to switch the cylinder to positive pressure water injection mode to generate lifting force; at the same time, verify the penetration depth and limit it to not exceed the ultimate positive pressure threshold. The system performs a cyclical assessment during this phase. Once the attitude is restored, it automatically returns to S3 to continue descending; if the attitude is not restored, it performs corrections cyclically in S4.

[0085] S5. Bottom-out Locking and Data Sealing: When the penetration depth of all cylinders... Upon successful completion, the system outputs a flow direction switching command for the pressure-holding condition. Lock all valves. After performing the pressure holding test and verification, output the final installation completion report including geological resistance characteristics, and the collaborative control process ends.

[0086] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. An adaptive multidimensional correction and cooperative penetration control system for a suction-based base group, characterized in that, include: The multi-source sensing module is configured on the platform of the suction foundation group and each suction cylinder to collect the attitude data of the foundation platform, as well as the fluid state data and soil coupling data in each suction cylinder. The distributed execution module includes an exhaust valve, a bidirectional fluid control pump station, and an electric regulating valve group connected to the pipeline of each suction cylinder, all independently installed on the top of each suction cylinder. The bidirectional fluid control pump station includes a variable frequency drive motor and a flow direction switching unit, which can switch between "negative pressure suction mode" and "positive pressure water injection mode" in response to control commands. The central control module communicates with the multi-source sensing module and the distributed execution module via industrial fieldbus or industrial Ethernet, respectively. The central control module includes a master-slave collaborative control unit and a soil resistance soft measurement unit. The soil resistance soft measurement unit is configured to receive the pressure difference at the pump inlet of each suction cylinder. With pipeline flow velocity Data, based on a fluid dynamics coupling model to eliminate pipe friction and local resistance losses, is used to calculate in real time the effective soil penetration resistance at the bottom of each suction cylinder. ; The master-slave collaborative control unit is configured as follows: It establishes the overall levelness of the base platform and the target penetration speed as the main control targets, and the pressure inside each suction anchor and the penetration depth as the control targets. A cascaded control architecture for slave variables; When the soil resistance soft measurement unit monitors the effective soil penetration resistance at each cylinder end When the difference exceeds a preset threshold, causing the platform to tilt, the master-slave collaborative control unit generates differentiated control commands to control the high-resistance side pump station to increase its pumping power, while controlling the low-resistance side pump station to reduce its pumping power or reverse its operation to enter a positive pressure water injection mode, using the lifting torque generated by water injection to eliminate the tilt deviation.

2. The system according to claim 1, characterized in that, The specific configuration of the multi-source sensing module is as follows: Attitude monitoring unit: including a dual-axis tilt sensor and a three-axis gyroscope installed at the geometric center of the base platform, used to monitor the real-time tilt angle and angular velocity of the platform in the roll and pitch directions; The cylinder condition monitoring unit includes a liquid level sensor and a gas pressure sensor installed on the inside and outside of each suction cylinder, a contact earth pressure cell installed at the bottom of the cylinder, and a hydrostatic pressure depth sensor installed on the outside of the cylinder, used to obtain the penetration depth. ; Fluid dynamic monitoring unit: includes an electromagnetic flowmeter and a pump inlet pressure transmitter installed in the pipeline connecting the pump station, respectively used to acquire the flow velocity in the pipeline. and pump inlet pressure difference .

3. The system according to claim 1, characterized in that, The soil resistance soft measurement unit operates a resistance inversion algorithm, which includes the following steps: Step A: Synchronously collect the current penetration depth of each suction cylinder Pump outlet pressure difference and pipeline flow velocity ; Step B: Calculate the effective pressure difference acting on the cylinder cover based on the dynamic fluid equilibrium equation. : in, This is the friction coefficient. For the equivalent geometric parameters of the pipeline, This is the sum of local drag coefficients. For fluid density; Step C: Combining the self-weight and buoyancy of the cylinder, calculate the effective soil penetration resistance at each end of the cylinder in real time. : in, The area of ​​the suction cylinder top cover under stress. For the weight of the cylinder, For buoyancy; Step D: Based on the calculated effective soil penetration resistance The rate of change of resistance is derived from its derivative with respect to time. It is used to identify dynamic abrupt changes in soil properties.

4. The system according to claim 1, characterized in that, The flow direction switching unit of the bidirectional fluid control pump station adopts one of the following structures: Option 1: Use a four-way directional valve assembly. By changing the valve opening and closing combination, the direction of fluid inflow and outflow can be changed without changing the direction of pump rotation. Option 2: Use a bidirectional reversible variable frequency motor to directly drive the impeller, and reverse the direction of fluid suction and discharge by changing the phase sequence of the motor; When the system executes the "positive pressure water injection mode", it automatically opens the bypass water supply valve in the electric regulating valve group to introduce external seawater to apply positive pressure to the suction cylinder.

5. The system according to claim 1, characterized in that, The master-slave collaborative control algorithm adopts an adaptive fuzzy PID control strategy: The input variable for the fuzzy controller is set as: platform tilt angle error. Error change rate and the rate of change of resistance provided by the soil resistance soft measurement unit. ; The output variable of the fuzzy controller is set as: the frequency correction amount of the frequency converter of each pumping station. and flow direction switching instructions ; Establish a nonlinear fuzzy rule base: when the platform tilt angle error Maximum, rate of change of error The rate of change of suction cylinder resistance is positive and on the side with faster settling. When a negative abrupt change occurs, the overall output will switch the flow direction of the reverse water injection. and the corresponding frequency correction amount ; The frequency correction amount is output in real time through defuzzification and PID calculation. and flow direction switching instructions The speed of the variable frequency pump is adjusted according to the frequency correction amount to change the effective pressure difference at the top of the cylinder. Simultaneously, the reversing valve is controlled according to the flow direction switching command to realize the automatic switching of the suction cylinder's sinking, pressure holding, or upward pulling conditions.

6. The system according to claim 1, characterized in that, The system also includes abnormal state security protection logic: Piping and breakdown protection: When a suction cylinder is in "positive pressure water injection mode", the system is based on the current penetration depth. Real-time calculation of the allowable ultimate positive pressure threshold inside the cylinder If the water injection pressure reaches this threshold The platform tilt angle error has not been effectively reduced. If so, the upper limit of the water injection pressure will be forcibly limited and an audible and visual alarm for preventing piping will be triggered; Penetration difference over-limit protection: When the penetration depth of any suction cylinder is detected... The difference between the value and the value of the other cylinders exceeds the depth difference threshold. At this time, the system forcibly triggers the "Pause All" command and locks all valve positions; Sensor anomaly protection: When any sensor data in the multi-source sensing module is lost, it automatically switches to the minimum safe power mode.

7. The system according to claim 1, characterized in that, The central control module also includes a digital twin data engine: Used to invert the effective soil penetration resistance in real time during installation. With penetration depth Spatial mapping is performed to generate a three-dimensional geological resistance distribution cloud map in real time; and after installation, a pressure-depth-resistance (DDR) map is generated. The as-built report with characteristic fingerprints serves as a benchmark database for basic health monitoring of wind turbines throughout their entire life cycle.

8. A cooperative penetration control method using the system described in any one of claims 1-7, characterized in that, include: S1. Self-weight penetration and attitude initialization: Open the exhaust valve at the top of each suction cylinder, use self-weight to sink until balance is reached, and record the initial attitude and initial value of seabed bearing capacity. S2. Soft landing and sealing self-check: Start the bidirectional fluid control pump station to perform low-power suction, establish a slight negative pressure, and monitor the pressure maintenance to confirm the formation of a bottom seal; if not, troubleshoot the problem. If the determination is yes, proceed to step S3; S3. Conventional negative pressure coordinated penetration: Using a soft measurement unit for soil resistance based on pump inlet pressure difference With pipeline flow velocity Real-time inversion of effective soil penetration resistance for each tube ; Dynamically allocate power to each pump station to match the penetration speed of each pump with the resistance it encounters, thus mitigating the platform tilt angle error. Keep within the allowable range; Then, it is determined whether the correction conditions are met. If they are met, proceed to step S4; otherwise, the penetration depth of all suction cylinders is further determined. If the design requirements are not met, return to the loop and execute step S3; if they are met, proceed to step S5. S4. Dynamic Active Correction: During the execution of step S3, when the tilt sensor detects a platform tilt angle error... When the correction conditions are met, the system disconnects the S3 conventional negative pressure collaborative penetration mode and automatically enters the active correction mode. At this time, the pump station on the side with excessively rapid settlement is switched to positive pressure water injection mode, generating an upward lifting torque, which, together with the suction force of the other side, forms a strong corrective force couple; during the correction period, the anti-piping and breakdown protection logic described in claim 6 is executed simultaneously, and then it is judged again whether the correction conditions are met. If it has returned to normal, it returns to step S3; otherwise, it continues to execute step S4 in a loop. S5. Bottom-out Lock and Data Saving: When the penetration depth of all suction cylinders... Once the design requirements are met, perform a pressure holding test and close all valves.

Images