A trestle motion compensation testing system and method

Abstract

The application discloses a trestle motion compensation test system and method, which comprises a mounting base for carrying one end of a trestle, a six-degree-of-freedom test platform for carrying the other end of the trestle and simulating the response motion of a ship under sea conditions, a posture sensor arranged on the six-degree-of-freedom test platform for collecting the motion posture of the six-degree-of-freedom test platform in real time, a GPS positioning receiver arranged on the trestle and located at the end close to the posture sensor for collecting the coordinate position information output by the GPS in real time and converting the XYZ coordinate data of the end of the trestle, and a test system controller for acquiring the XYZ coordinate data converted by the GPS positioning receiver, comparing the XYZ coordinate data with expected coordinate values and verifying the control system of the trestle under test. The application can realize the test of trestles of various types such as active motion compensation and passive motion compensation.

Description

Technical Field

[0001] This invention relates to testing technology for personnel safety transport trestle bridges in the field of marine engineering, and more specifically, to a trestle bridge motion compensation testing system and method. Background Technology

[0002] Personnel transfer in offshore projects such as offshore platforms and wind power operation and maintenance mostly relies on jetty connections. Due to the influence of wind and waves, jetties must be able to compensate for the movement caused by the movement of ships to ensure the safe transport of personnel. Offshore jetties should possess passive compensation (the ability of the jetty to adjust relative movement between ships and offshore facilities, between offshore facilities, or between ships without the use of any external systems or equipment) or active-passive motion compensation (actively reducing or eliminating the impact of relative movement between ships and offshore facilities, between offshore facilities, or between ships on the jetty structure using system equipment).

[0003] Motion compensation trestles have been used relatively early in Europe, where there is considerable experience in testing their functionality. However, since these tests are core technologies, they are developed and controlled by the trestle manufacturers and are not publicly disclosed. The design and application of motion compensation trestles in my country are still in their infancy, and testing systems for the motion compensation function and capabilities of trestles are currently lacking. Summary of the Invention

[0004] In view of the above-mentioned defects in the existing technology, the purpose of this invention is to provide a trestle motion compensation testing system and method, which can realize the testing of various types of trestles with active motion compensation and passive motion compensation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The first aspect of this invention provides a trestle motion compensation testing system and method, comprising:

[0007] Mounting base for supporting one end of the trestle;

[0008] A six-degree-of-freedom test platform is used to mount the other end of the trestle and simulate the ship's response motion under sea conditions;

[0009] An attitude sensor is installed on the six-degree-of-freedom test platform to collect the motion attitude of the six-degree-of-freedom test platform in real time.

[0010] A GPS positioning receiver is installed on the trestle and located at the end near the attitude sensor to collect the coordinate position information output by the GPS in real time and convert it into XYZ coordinate data at the end of the trestle.

[0011] The test system controller acquires the XYZ coordinate data converted by the GPS positioning receiver and compares it with the expected coordinate values, thereby verifying the control system of the test trestle.

[0012] Preferably, it also includes an adjustable mounting base for mounting the six-degree-of-freedom test platform.

[0013] Preferably, the attitude sensor is an MRU series attitude sensor.

[0014] Preferably, the present invention can perform both direct and indirect testing of the trestle motion compensation system.

[0015] The direct test specifically includes:

[0016] The six-degree-of-freedom test platform is used to simulate the response motion of a ship under sea conditions, and the trestle is tested for its connection performance by following the motion of the six-degree-of-freedom test platform.

[0017] Preferably, the indirect test specifically includes:

[0018] By inputting a set of ship motion data into the mounting base, the movement of the trestle is controlled. The GPS positioning receiver collects the coordinate position information output by GPS and converts it into XYZ coordinate data at the end of the trestle. The computer compares the XYZ coordinate data converted by the GPS positioning receiver with the expected coordinate value, thereby verifying the control system of the trestle.

[0019] Preferably, the coordinate location information includes longitude, latitude, and elevation.

[0020] The trestle motion compensation testing system and method provided by this invention have the following beneficial effects:

[0021] 1) Adopt a combination of direct and indirect testing to reduce hardware investment costs;

[0022] 2) It can perform tests on various types of trestle bridges, including those with active motion compensation and those with passive motion compensation;

[0023] 3) Testing can be completed in the factory, reducing the safety risks that previously required testing after loading onto a ship. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the layout of the trestle motion compensation test system of the present invention;

[0025] Figure 2 yes Figure 1 An enlarged view of position A in the middle. Detailed Implementation

[0026] To better understand the above-mentioned technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0027] Combination Figure 1 and Figure 2 As shown, the present invention provides a trestle motion compensation testing system, comprising:

[0028] Mounting base 1 is used to support one end of the trestle 2;

[0029] The six-degree-of-freedom test platform 3 is used to carry the other end of the trestle 2 and simulate the response motion of the ship under sea conditions;

[0030] Attitude sensor 4 is installed on the six-degree-of-freedom test platform 3 to collect the motion attitude of the six-degree-of-freedom test platform 3 in real time, and invert the attitude as the input of the bridge 2.

[0031] GPS positioning receiver 5 is installed on the trestle 2 and located at the end close to the attitude sensor 4. It is used to collect the coordinate position information (longitude, latitude and elevation) output by GPS in real time and convert it into XYZ coordinate data at the end of the trestle 2.

[0032] The test system controller acquires the XYZ coordinate data converted from the GPS positioning receiver and compares it with the expected coordinate values ​​to verify the control system of test bridge 2.

[0033] The trestle motion compensation test system of the present invention also includes an installation height adjustment base 6 for mounting the six-degree-of-freedom test platform 3.

[0034] Attitude sensor 4 uses the MRU series attitude sensor.

[0035] This invention enables both direct and indirect testing of a trestle motion compensation testing system. Due to limitations in testing site and cost, the trestle motion compensation testing system of this invention employs a combination of direct and indirect testing methods.

[0036] Direct testing specifically includes:

[0037] A six-degree-of-freedom (6DOF) test platform 3 is used to simulate the motion of a ship under waves without covering all extreme sea states of the test pier. The end of the pier 2 is connected to the six-DOF test platform 3. During the test, given sea state parameters, the motion response of the target ship under the sea state is calculated through simulation and used as the input parameters of the six-DOF test platform 3 to drive the six-DOF test platform 3 to move. Attitude sensor 4 is installed on the six-DOF test platform 3 to collect the motion attitude of the six-DOF test platform 3 in real time and use it as the input (inverted) of the test pier 2. The pier 2 tests the connection performance by following the motion of the six-DOF test platform 3, and tests the algorithm and compensation function of the pier 2.

[0038] Direct testing is easy to perform, but it places high demands on the size and load capacity of the six-degree-of-freedom platform 3 (large six-degree-of-freedom platforms 3 are extremely expensive). Therefore, indirect testing is used to complete the compensation performance test in accordance with the testing requirements.

[0039] Indirect testing specifically includes:

[0040] By inputting a set of ship motion data measured by attitude sensors 4 (which can be obtained through Bopu simulation) into the mounting base 1, and by installing a GPS positioning receiver 5 at the end of the test pier 2, coordinate position information (longitude, latitude, and elevation) is collected in real time and converted into XYZ coordinate data of the end of the test pier 2. This data is then compared with the designed expected coordinate values ​​to verify the control system of the test pier 2. Using a GPS receiver installed in a fixed position as an RTK transmitting base station, and the GPS positioning receiver 5 at the end of the test pier 2 as an RTK floating station, the position and velocity of the end of the test pier 2 are recorded. The expected motion trajectory of the test pier 2 is compared with the recorded trajectory to test whether its motion meets the requirements.

[0041] Example

[0042] Direct experiment: Certain specific sea states were selected. The sea state data included significant wave height, spectral peak period, and wave direction. The significant wave height was selected as 0.5m, and the wave directions included 0 degrees, 15 degrees, 30 degrees, 150 degrees, and 165 degrees. The selection of sea state data for the direct experiment is shown in Table 1.

[0043] Table 1 Sea state data from direct experiments

[0044] 1 0.5 10.5 0 2 0.5 7 15 3 0.5 8 30 4 0.5 9 150 5 0.5 10 165

[0045] Indirect Experiment: The indirect experiment was used to test the control performance of the pier motion compensation control algorithm under normal and extreme sea states. The sea state data for the indirect experiment were selected based on the hydrological data of the target work site, as shown in Table 2.

[0046] Table 2 Sea state data from indirect experiments

[0047]

[0048] The test report obtained through the test method in this embodiment is shown in Table 3.

[0049] Table 3 Test Report

[0050]

[0051]

[0052] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any variations or modifications to the above embodiments that are within the spirit and essence of the present invention will fall within the scope of the claims of the present invention.

Claims

1. A trestle motion compensation testing system, characterized in that, include: Mounting base for supporting one end of the trestle; A six-degree-of-freedom test platform is used to mount the other end of the trestle and simulate the ship's response motion under sea conditions; An attitude sensor is installed on the six-degree-of-freedom test platform to collect the motion attitude of the six-degree-of-freedom test platform in real time. A GPS positioning receiver is installed on the trestle and located at the end near the attitude sensor to collect the coordinate position information output by the GPS in real time and convert it into XYZ coordinate data at the end of the trestle. The test system controller acquires the XYZ coordinate data converted by the GPS positioning receiver and compares it with the expected coordinate values, thereby verifying the control system of the test trestle. The aforementioned trestle motion compensation testing system enables both direct and indirect testing of the trestle. The direct test specifically includes: The six-degree-of-freedom test platform is used to simulate the response motion of a ship under sea conditions. The trestle is tested for its connection performance by following the motion of the six-degree-of-freedom test platform. The indirect tests specifically include: By inputting a set of ship motion data into the mounting base, the movement of the trestle is controlled. The GPS positioning receiver collects the coordinate position information output by GPS and converts it into XYZ coordinate data at the end of the trestle. The test system controller compares the XYZ coordinate data converted by the GPS positioning receiver with the expected coordinate value, thereby verifying the control system of the trestle.

2. The trestle motion compensation testing system according to claim 1, characterized in that: It also includes an adjustable mounting base for mounting the six-degree-of-freedom test platform.

3. The trestle motion compensation testing system according to claim 1, characterized in that: The attitude sensor used is an MRU series attitude sensor.

4. A method for testing the motion compensation of a trestle bridge, characterized in that: The trestle motion compensation testing system as described in any one of claims 1-3 is used to perform direct and indirect testing of the trestle. The direct test specifically includes: The six-degree-of-freedom test platform is used to simulate the response motion of a ship under sea conditions. The trestle is tested for its connection performance by following the motion of the six-degree-of-freedom test platform. The indirect tests specifically include: By inputting a set of ship motion data into the mounting base, the movement of the trestle is controlled. The GPS positioning receiver collects the coordinate position information output by GPS and converts it into XYZ coordinate data at the end of the trestle. The test system controller compares the XYZ coordinate data converted by the GPS positioning receiver with the expected coordinate value, thereby verifying the control system of the trestle.

5. The test method for trestle motion compensation according to claim 4, characterized in that: The coordinate location information includes longitude, latitude, and elevation.

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