Active vibration damping control device and control method for the upper module of offshore substation

Abstract

An active vibration damping control device for the upper module of an offshore substation is disclosed. It comprises ship-mounted support piles fixedly installed on the deck of a transport ship. Each support pile is equipped with a servo-valve-controlled hydraulic jack. A load cell is located above the servo-valve-controlled hydraulic jack, and a displacement sensor is located on the side of the push rod of the servo-valve-controlled hydraulic jack. The push rod of the servo-valve-controlled hydraulic jack supports the upper module of the offshore substation, which is placed on the transport ship. A dual-axis tilt sensor is installed on the horizontal plane at the geometric center point of the upper module. A pre-equalization controller, a vibration damping state decision-maker, and a flexible displacement adjustment actuator are all installed on the transport ship. This invention utilizes an innovative combination of multifunctional components such as mechanical, electrical, hydraulic, sensor, and controller components to design an active vibration damping control device. The active, orderly, coordinated, and flexible telescopic movement of a set of support push rods, based on geometric spatial decoupling, reduces the yaw and pitch amplitude of the upper module of the offshore substation during sea transport, making the sea transport process more stable.

Description

Technical Field

[0001] This invention belongs to the field of marine technology for offshore substations, and specifically relates to an active vibration damping control device and control method for the upper module of an offshore substation. Background Technology

[0002] The overall structure of an offshore substation consists of two parts: the superstructure and the lower support structure. The lower support structure mainly comprises jackets and steel piles, while the superstructure is a multi-layered structure containing precision electrical components such as the main transformer, gas-insulated switchgear, medium-voltage switchgear, diesel generator, and secondary switchgear. The superstructure of an offshore substation is typically constructed and commissioned onshore, then transported by sea to the designated area of ​​the wind farm for installation. The offshore substation is a critical piece of equipment for the operation of an offshore wind farm. A malfunction in the superstructure can disrupt power transmission, affecting the overall power generation efficiency and safe operation of the offshore wind farm. Therefore, to ensure the health and safety of the offshore substation and avoid potential hazards, strict requirements are placed on the tilt of the superstructure during sea transport. However, sea transport involves numerous uncertainties, such as waves, wind speed, course, and the captain's decisions, all of which can cause excessive vibration of the substation during transport, leading to deviations in tilt.

[0003] Currently, the maritime transport of superstructure modules for offshore substations mainly relies on manual methods such as strengthening the lashing and securing to the deck and striving for smooth navigation to passively ensure the stability of the superstructure modules on the transport ship, in order to minimize vibration amplitude and reduce tilt. For example, in the "Securing Fixture for the Maritime Transport of Superstructure Modules of Offshore Substations" proposed by Tian Xiaosong et al. in patent 202221397211.X, four sets of main lashing components and ten sets of auxiliary lashing components are used to fix the superstructure modules of the offshore substation to the transport ship. In the "Loading Device for Offshore Substations" proposed by Yang Jie in patent 202011520750.3, eight clamping plates on the deck of the transport ship are used to squeeze and clamp the offshore substation. However, the maritime transport method that relies on strengthening the lashing and securing to the deck and striving for smooth navigation has low reliability, few control methods, weak repeatability, and difficulty in high-precision control when encountering unpredictable factors such as changes in sea conditions. Therefore, replacing manual operation with electromechanical control automation technology, and actively controlling the tilt angle through the design of reasonable vibration damping devices to reduce the lateral and longitudinal vibrations throughout the entire maritime transport process, is a scientific, reliable, and practically significant approach. Summary of the Invention

[0004] Purpose of the Invention: To overcome the above shortcomings, the purpose of this invention is to provide an active vibration damping control device for the marine transport of the upper module of an offshore substation. Utilizing an innovative combination of multifunctional components such as mechanical, electrical, hydraulic, sensor, and controller components, an active vibration damping electromechanical control device is designed. Through the active, orderly, coordinated, and flexible telescopic movement of multiple shipborne support push rods based on geometric spatial decoupling, the device aims to reduce the yaw and pitch amplitudes of the upper module during marine transport, ensuring a stable marine transport process.

[0005] Technical Solution: To achieve the above objectives, this invention provides a marine active vibration damping control device for the upper module of an offshore substation, comprising:

[0006] The system includes a set of ship-mounted support piles, a set of servo valve-controlled hydraulic jacks, a set of weighing sensors, a set of displacement sensors, a set of dual-axis tilt sensors, a pre-equalizing pressure adjustment controller, a vibration reduction state decision-maker, and a flexible displacement adjustment actuator. The ship-mounted support piles are fixedly installed on the deck of the transport ship. Each ship-mounted support pile is equipped with a servo valve-controlled hydraulic jack. The weighing sensors are located above the servo valve-controlled hydraulic jacks. The displacement sensors are located on the side of the push rods of the servo valve-controlled hydraulic jacks. The push rods of the servo valve-controlled hydraulic jacks support the upper module of the offshore booster station, which is placed stably on the transport ship. The dual-axis tilt sensors are installed on the horizontal plane at the geometric center point of the upper module of the offshore booster station. The pre-equalizing pressure adjustment controller, the vibration reduction state decision-maker, and the flexible displacement adjustment actuator are all installed on the transport ship.

[0007] The control method of the active vibration damping control device for the upper module of the offshore substation described in this invention defines the plane of the water at the geometric center point of the upper module of the offshore substation as an XY dual-axis coordinate system, wherein the longitudinal direction of the transport ship is the positive Y-axis direction, and the lateral direction of the transport ship is the X-axis direction; the horizontal plane is defined as the positive angle along the transverse and longitudinal axes towards the sea level, and the transverse and longitudinal axis offset angles are α and β, respectively, and α and β are measured by a dual-axis tilt sensor.

[0008] The control method for the active vibration damping control device for the upper module of the offshore substation described in this invention is as follows:

[0009] S1: First, acquire the output signals from the load cell, a set of displacement sensors, a set of dual-axis tilt sensors, and the received signal from the pre-equalizing pressure adjustment controller, i.e., the load signal F corresponding to the load cell output. i (i = 1, 2, 3, 4); the displacement sensor outputs the displacement signal z corresponding to the extension and retraction length of the hydraulic push rod of the servo valve-controlled hydraulic jack. i The dual-axis tilt sensor outputs attitude tilt angle signals (α, β) in both the horizontal and vertical directions of the booster station; the pre-equalization adjustment controller receives various load signals F. i ;

[0010] S2: Based on the signal obtained in step S1, adjust the extension and retraction length of the corresponding servo valve controlled hydraulic push rod to make the four servo valve controlled hydraulic push rods bear weight evenly.

[0011] S3: Vibration reduction state decision-maker receives each displacement signal z i Based on the attitude tilt angle signals (α, β), a dynamic process function p for vibration reduction quality is constructed. i (z i ,α,β), used to characterize the intensity of lateral and longitudinal rolling vibrations during the sea transport process of the booster station;

[0012] S4: Flexible displacement adjustment actuator receives the dynamic process function p of vibration reduction quality. i (z i Calculate the output control quantity u based on the signals from each sensor (α, β) and the signals from each sensor. i This drives four servo valve-controlled hydraulic jacks to achieve regular vibration-damping telescopic movement of the push rod, ultimately ensuring a smooth maritime transport process for the offshore booster station.

[0013] The control method for the active vibration damping control device for the upper module of the offshore substation described in this invention, wherein the adjustment method for the extension and retraction length of the servo valve-controlled hydraulic push rod in step S2 is as follows:

[0014] First, each pre-equalizing pressure adjustment controller sequentially acquires the output signal F from the four weighing sensors. i Then, the output signals F of each weighing sensor are... i Compared with the theoretical preset value F respectively i0 Compare;

[0015] If the hydraulic jack support force F of the i-th servo valve is... i Lower than the theoretical preset value F i0 Then, the push rod of the i-th servo valve-controlled hydraulic jack is raised in one direction until F... i >F i0 Then stop;

[0016] When the output signal F of the four weighing sensors i All are not lower than the theoretical preset value F i0 Subsequently, set the pre-equalizing logic state signal S=1, otherwise S=0, and simultaneously record the current extension / retraction displacement signal z of the four servo valve-controlled hydraulic push rods. i0 .

[0017] The active vibration damping control device for the upper module of the offshore substation described in this invention includes a vibration damping state decision unit that receives various displacement signals z in step S3. i Based on the attitude tilt angle signals (α, β), a dynamic process function p for vibration reduction quality is constructed. i (z iThe parameters (α, β) are used to characterize the intensity of lateral and longitudinal rolling vibrations during the sea transport process of the substation. The specific process is as follows:

[0018] S301: with f h The sampling frequency is used to read the output of the dual-axis tilt sensor to obtain the real-time attitude tilt angle signals (α, β) of the offshore substation in the horizontal and vertical directions, and then... s The attitude tilt angle signal (α, β) is low-pass filtered using the cutoff frequency to extract the low-frequency signal (α). s ,β s );

[0019] S302: Calculate the relative height deviation of the top of the four servo valve-controlled hydraulic push rods from the horizontal plane during the sea transport of the upper module of the offshore substation under lateral and longitudinal rolling conditions.

[0020] Δz1=mβ s -nα s ,Δz2=mβ s +nα s ,Δz3=-mβ s +nα s ,Δz4=-mβ s -nα s ;

[0021] In the formula, m is half the distance between the two longitudinal support piles of the offshore substation, and n is half the distance between the two transverse support piles of the offshore substation.

[0022] S303: Acquire the real-time displacement signal z of the hydraulic push rod extension / retraction length output by the displacement sensor. i Calculate the displacement deviation of the extension / retraction length of each servo valve-controlled hydraulic push rod relative to the horizontal plane: e i =z i -z i0 -Δz i ;

[0023] S304: Calculate the dynamic process function of vibration reduction quality during maritime transport for offshore substations.

[0024]

[0025] In the formula, and e i The first and second derivatives of c. i0 c i1 and c i2 It is a positive number;

[0026] S305: Real-time value p of the dynamic process function of vibration reduction quality i First derivative The absolute value is compared with the preset value dp0 of the theoretically permissible vibration. If | Then set the logical state variable R. i =1, otherwise R i =0.

[0027] The active vibration damping control device for the upper module of the offshore substation described in this invention calculates and outputs the control quantity u in step S4. i The specific process is as follows:

[0028] S01: Receives the logic state signal S from the pre-equalizing voltage adjustment controller and the logic state signal R from the vibration reduction state decision unit. i If S = 1 and R i =1, then obtain the output signal F of the i-th weighing sensor. i And calculate its first derivative.

[0029] S402: Receives the real-time value of the dynamic process function of vibration reduction quality. If p i If the value is greater than 0, then the drive control signal u of the i-th servo valve-controlled hydraulic jack is calculated according to the following formula. i

[0030]

[0031] If p i If the value is less than 0, then the drive control signal u of the i-th servo valve-controlled hydraulic jack is calculated according to the following formula. i

[0032]

[0033] In the formula, d i0 d i1 d i2 d i3 d i4 and j i These are constants related to the electrical parameters of the i-th servo valve-controlled hydraulic jack; k i0 and k i1 These are positive constants, where 0.5 <k i0 <1;

[0034] S403: with f k The update frequency intermittently updates the real-time calculated drive control signal u. i Connect to the control input terminal of the i-th servo valve-controlled hydraulic jack to realize the regular vibration-damping telescopic movement of the i-th push rod.

[0035] The active vibration damping control device for the upper module of the offshore substation described in this invention, wherein the sampling frequency f h Cutoff frequency f sand update frequency f k The numerical relationship between the three satisfies f h >f s ≥f k And they take values ​​around the hundreds, tens, and units place values, respectively.

[0036] The active vibration damping control device for the upper module of the offshore substation described in this invention, wherein the normal data c i0 c i1 and c i2 The numerical relationship between the three satisfies c i1 c i2 >c i0 .

[0037] As can be seen from the above technical solution, the present invention has the following beneficial effects:

[0038] 1. The active vibration damping control device for the upper module of an offshore substation, as described in this invention, utilizes an innovative combination of multifunctional components including mechanical, electrical, hydraulic, sensor, and controller elements. This allows the horizontal and lateral roll amplitudes of the substation's geometric center point to be actively controlled within a defined range under the rhythmic vibration-damping extension and retraction of a servo-valve-controlled hydraulic jacking rod. This reduces manual intervention, offers high automation, functional reliability, and adaptability, effectively ensuring that the vibration and tilt of the offshore substation during sea transport meet transportation requirements.

[0039] 2. In this invention, the pre-equalizing pressure adjustment controller compares the output signals of each weighing sensor with the theoretical preset value, and then actively adjusts the extension and retraction length of the corresponding servo valve-controlled hydraulic jacking rod. This ensures that all four support piles can effectively bear the load and that the support forces are balanced, further improving the support stability throughout the entire sea transport process.

[0040] 3. The present invention calculates the relative height deviation Δz of the four push rods on the horizontal plane dynamically using real-time attitude tilt angle signals. i This method achieves geometric spatial decoupling of the vibration damping telescopic motion of the four push rods, enabling active, rapid, coordinated, and orderly adjustment of the telescopic motion of the four push rods, thereby improving the vibration damping capacity and effect.

[0041] 4. Dynamic process function p of vibration reduction quality i Due to displacement deviation e i The system consists of four weighted state variables: the first derivative representing the convergence velocity of the displacement deviation, the second derivative representing the convergence acceleration of the displacement deviation, and the integral representing the cumulative value of the displacement deviation. This system can effectively reflect the static and dynamic processes of vibration at offshore substations, as well as the trajectory distance from the horizontal equilibrium state, and is beneficial for comprehensively characterizing the lateral and longitudinal rolling vibration intensity of the substation during maritime transport.

[0042] 5. Sampling frequency f of the dual-axis tilt sensor hCutoff frequency f s The update frequency f of the flexible displacement adjustment actuator k The numerical relationships and ranges of these three factors are optimized based on the natural frequencies of the ocean wave frequency and the rotational inertia of the offshore substation, thereby improving the engineering adaptability, scientific nature, and vibration damping flexibility of the push rod extension and retraction adjustment control.

[0043] 6. Drive control signal u of servo valve controlled hydraulic jack i Using the magnitude of the displacement deviation |e i |and the value e i The speed of convergence of displacement deviation and acceleration Vibration reduction quality dynamic process function p i The weighted combination of feedback signals ensures that the control process exhibits multi-state coordination and that the convergence process is fast and efficient; especially the coefficient term F i |e i | reflects the control quantity u i It adaptively adjusts proportionally according to the magnitude of the support force, and features nonlinear and gentle control characteristics such as large control quantity for large deviations and small control quantity for small deviations. Attached Figure Description

[0044] Figure 1 This is a side view of the marine installation location structure of the upper module of an offshore booster station according to an embodiment of the present invention;

[0045] Figure 2 A schematic diagram defining the horizontal plane coordinates of the geometric center point of an offshore substation.

[0046] Figure 3 A schematic diagram of the layout structure of four servo valve-controlled hydraulic jacks in a horizontal coordinate system;

[0047] Figure 4 A diagram showing the signal transmission flow relationship of various sensor signals and status variables;

[0048] In the diagram: 1 Shipborne support pile, 2 Servo valve-controlled hydraulic jack, 3 Weighing sensor, 4 Displacement sensor, 5 Dual-axis tilt sensor, 6 Pre-equalizing pressure adjustment controller, 7 Vibration reduction state decision-maker, 8 Flexible displacement adjustment actuator, 9 Transport ship, 10 Upper module of offshore booster station. Detailed Implementation

[0049] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0050] Example

[0051] like Figure 1 The offshore booster station superstructure active vibration damping control device shown includes:

[0052] The system includes a set of ship-mounted support piles 1, a set of servo valve-controlled hydraulic jacks 2, a set of weighing sensors 3, a set of displacement sensors 4, a set of dual-axis tilt sensors 5, a pre-equalizing pressure adjustment controller 6, a vibration reduction state decision-maker 7, and a flexible displacement adjustment actuator 8. The ship-mounted support piles 1 are fixedly installed on the deck of the transport ship 9. Each ship-mounted support pile 1 is equipped with a servo valve-controlled hydraulic jack 2. The weighing sensors 3 are located above the servo valve-controlled hydraulic jacks 2. The displacement sensors 4 are located on the side of the push rod of the servo valve-controlled hydraulic jacks 2. The push rod of the servo valve-controlled hydraulic jacks 2 supports the upper module 10 of the offshore booster station, which is placed stably on the transport ship. The dual-axis tilt sensors 5 are installed on the horizontal plane of the geometric center point of the upper module 10 of the offshore booster station. The pre-equalizing pressure adjustment controller 6, the vibration reduction state decision-maker 7, and the flexible displacement adjustment actuator 8 are all installed on the transport ship 9. This embodiment describes an active vibration damping control device for the upper module of an offshore substation. Through an innovative combination of multifunctional components including mechanical, electrical, hydraulic, sensor, and controller components, the device actively controls the lateral and longitudinal roll amplitudes within a limited range under the regular vibration-damping extension and retraction motion of the servo-valve-controlled hydraulic push rod at the geometric center point of the offshore substation. This reduces manual intervention, and features a high degree of automation, functional reliability, and adaptability, effectively ensuring that the vibration and tilt of the offshore substation during sea transport meet transportation requirements.

[0053] like Figure 2 The plane of the water at the geometric center of the upper module 10 of the offshore booster station is defined as an XY dual-axis coordinate system, in which the longitudinal direction of the transport ship 9 is the positive Y-axis and the transverse direction of the transport ship 9 is the X-axis. The horizontal plane is defined as offset from the sea level along the transverse and longitudinal axes as positive angles, and the transverse and longitudinal axis offset angles are α and β, respectively. α and β are measured by the dual-axis tilt sensor 5.

[0054] The control method for the active vibration damping control device for the upper module of the offshore substation described in this embodiment is as follows:

[0055] S1: First, acquire the output signals of the weighing sensor 3, a set of displacement sensors 4, a set of dual-axis tilt sensors 5, and the received signal of the pre-equalizing pressure adjustment controller 6, that is, the load signal F output by the weighing sensor 3. i , i = 1, 2, 3, 4; the displacement sensor 4 outputs the displacement signal z corresponding to the extension and retraction length of the hydraulic push rod of the servo valve controlled hydraulic jack 2. i The dual-axis tilt sensor 5 outputs attitude tilt angle signals (α, β) in both the horizontal and vertical directions of the booster station; the pre-equalization adjustment controller 6 receives each load signal F. i ;

[0056] S2: Based on the signal obtained in step S1, adjust the extension and retraction length of the corresponding servo valve controlled hydraulic push rod to make the four servo valve controlled hydraulic push rods bear weight evenly.

[0057] S3: Vibration reduction state decision-maker 7 receives various displacement signals z i Based on the attitude tilt angle signals (α, β), a dynamic process function p for vibration reduction quality is constructed. i (z i ,α,β), used to characterize the intensity of lateral and longitudinal rolling vibrations during the sea transport process of the booster station;

[0058] S4: Flexible displacement adjustment actuator 8 receives the dynamic process function p of vibration reduction quality. i (z i Calculate the output control quantity u based on the signals from each sensor (α, β) and the signals from each sensor. i This drives four servo valve-controlled hydraulic jacks to achieve regular vibration-damping telescopic movement of the push rod, ultimately ensuring a smooth maritime transport process for the offshore booster station.

[0059] The control method for the active vibration damping control device for the upper module of the offshore substation described in this embodiment, wherein the adjustment method for the extension and retraction length of the servo valve-controlled hydraulic push rod in step S2 is as follows:

[0060] First, each pre-equalizing pressure adjustment controller 6 sequentially acquires the output signal F from the four weighing sensors 3. i Then, the output signals F of each weighing sensor 3 i Compared with the theoretical preset value F respectively i0 Compare;

[0061] If the i-th servo valve-controlled hydraulic jack has a support force F i Lower than the theoretical preset value F i0 Then, the push rod of the i-th servo valve-controlled hydraulic jack is raised in one direction until F... i >F i0 Then stop;

[0062] When the output signal F of the four weighing sensors i All are not lower than the theoretical preset value F i0 Subsequently, set the pre-equalizing logic state signal S=1, otherwise S=0, and simultaneously record the current extension / retraction displacement signal z of the four servo valve-controlled hydraulic push rods. i0 .

[0063] It should be noted that the theoretical preset value Fi0 can be obtained during the theoretical design of the upper module 10 of the offshore booster station.

[0064] In this embodiment, the active vibration damping control device for the upper module of the offshore substation, in step S3, the vibration damping state decision-maker 7 receives each displacement signal z. iBased on the attitude tilt angle signals (α, β), a dynamic process function p for vibration reduction quality is constructed. i (z i The parameters (α, β) are used to characterize the intensity of lateral and longitudinal rolling vibrations during the sea transport process of the substation. The specific process is as follows:

[0065] S301: By sampling frequency f h The output of the dual-axis tilt sensor 5 is read to obtain the real-time attitude tilt angle signals (α, β) of the offshore substation in both the horizontal and vertical directions, and then... s The attitude tilt angle signal (α, β) is low-pass filtered using the cutoff frequency to extract the low-frequency signal (α). s ,β s );

[0066] S302: Calculate the relative height deviation of the top of the four servo valve-controlled hydraulic push rods from the horizontal plane during the sea transport of the upper module 10 of the offshore substation under lateral and longitudinal rolling conditions.

[0067] Δz1=mβ s -nα s ,Δz2=mβ s +nα s ,Δz3=-mβ s +nα s ,Δz4=-mβ s -nα s ;

[0068] In the formula, m is half the distance between the two longitudinal support piles of the offshore substation, and n is half the distance between the two transverse support piles of the offshore substation.

[0069] S303: Acquire the real-time displacement signal z of the hydraulic push rod extension / retraction length output by displacement sensor 4. i Calculate the displacement deviation of the extension / retraction length of each servo valve-controlled hydraulic push rod relative to the horizontal plane: e i =z i -z i0 -Δz i ;

[0070] S304: Calculate the dynamic process function of vibration reduction quality during maritime transport for offshore substations.

[0071]

[0072] In the formula, and e i The first and second derivatives of c. i0 c i1 and c i2 It is a positive number;

[0073] S305: Real-time value p of the dynamic process function of vibration reduction quality i First derivative The absolute value is compared with the preset value dp0 of the theoretically permissible vibration. If | Then set the logical state variable R. i =1, otherwise R i =0.

[0074] In this embodiment, the active vibration damping control device for the upper module of the offshore substation is described. In step S4, the output control quantity u is calculated. i The specific process is as follows:

[0075] S01: Receives the logic state signal S from the pre-equalizing voltage adjustment controller 6 and the logic state signal R from the vibration reduction state decision unit 7. i If S = 1 and R i =1, then obtain the output signal F of the i-th weighing sensor. i And calculate its first derivative.

[0076] S402: Receives the real-time value of the dynamic process function of vibration reduction quality. If p i If the value is greater than 0, then the drive control signal u of the i-th servo valve-controlled hydraulic jack is calculated according to the following formula. i

[0077]

[0078] If p i If the value is less than 0, then the drive control signal u of the i-th servo valve-controlled hydraulic jack is calculated according to the following formula. i

[0079]

[0080] In the formula, d i0 d i1 d i2 d i3 d i4 and j i These are constants related to the electrical parameters of the i-th servo valve-controlled hydraulic jack; k i0 and k i1 These are positive constants, where 0.5 <k i0 <1;

[0081] S403: with f k The update frequency intermittently updates the real-time calculated drive control signal u. i Connect to the control input terminal of the i-th servo valve-controlled hydraulic jack 2 to realize the regular vibration-damping telescopic movement of the i-th push rod.

[0082] The active vibration damping control device for the upper module of the offshore substation described in this embodiment, with a sampling frequency f... h Cutoff frequency f s and update frequency f k The numerical relationship between the three satisfies f h >f s ≥f k And they take values ​​around the hundreds, tens, and units place values, respectively.

[0083] The active vibration damping control device for the upper module of the offshore substation described in this embodiment, the normal number c i0 c i1 and c i2 The numerical relationship between the three satisfies c i1 c i2 >c i0 .

[0084] Example 2

[0085] The structure and control method of the active vibration damping control device for the upper module of the offshore booster station described in this embodiment are the same as those in Embodiment 1. It should be noted that the ship-mounted support pile (1) described in this embodiment has four piles, which together support the weight of the upper module 10 of the offshore booster station. Therefore, there are four ship-mounted support piles 1, servo valve-controlled hydraulic jacks 2, weighing sensors 3, displacement sensors 4, and dual-axis tilt sensors 5.

[0086] like Figure 3 The four servo-controlled hydraulic jacks 2 shown are regularly arranged on the deck of the transport ship 9, around the geometric center point of the upper module 10 of the offshore booster station. Among them, the longitudinal servo-controlled hydraulic jacks are spaced 2m apart (21-22) and (23-24), and the transverse servo-controlled hydraulic jacks are spaced 2n apart (21-24) and (22-23).

[0087] like Figure 4 As shown, the input and output signals and their transmission flow relationships among the three components—the pre-equalizing pressure adjustment controller 6, the vibration reduction state decision-maker 7, and the flexible displacement adjustment driver 8—are presented.

[0088] After the upper module 10 of the offshore booster station is stably and centrally placed on the four servo valve-controlled hydraulic jacks 2 (21, 22, 23, 24), the pre-equalizing pressure adjustment controller 6 first sequentially acquires the load signals F from the four weighing sensors 3. i (i = 1, 2, 3, 4), then the output signals F of each weighing sensor are... i Compared with the theoretical preset value F respectively i0 Comparison, if the hydraulic jack support force F of the i-th servo valve is... i Lower than the theoretical preset value F i0Then, the push rod of the i-th servo valve-controlled hydraulic jack is raised in one direction until F... i >F i0 Then stop.

[0089] It should be noted that the theoretical preset value F i0 It can be obtained during the theoretical design of the upper module 10 of the offshore booster station.

[0090] If the geometric center and the center of mass of the upper module 10 of the offshore substation overlap, then theoretically it can be assumed that the total mass of the upper module 10 of the offshore substation is evenly distributed among the four servo-controlled hydraulic jacks 2. Therefore, the preset value F i0 It can be set to 0.25 to 0.2 of the total mass of the upper module 10 of the offshore booster station.

[0091] After the pre-equalizing pressure adjustment controller 6 has adjusted each push rod, i.e., the output signals F of the four weighing sensors 3 are... i All are not lower than the theoretical preset value F i0 Subsequently, if the load-bearing capacity of the four servo-valve-controlled hydraulic jacks is balanced, the pre-equalizing logic state signal S = 1; otherwise, S = 0. Simultaneously, the current extension / retraction displacement signal z of the four servo-valve-controlled hydraulic jack rods is recorded. i0 .

[0092] During maritime transport, the vibration reduction state decision unit 7 is used to calculate the lateral and longitudinal rolling vibration intensity of the upper module 10 of the booster station during maritime transport, in order to decide whether to perform extension and retraction adjustment of the servo valve-controlled hydraulic jacking rod. The steps include:

[0093] f h The sampling frequency is used to read the output of the dual-axis tilt sensor 5 to obtain the real-time attitude tilt angle signals (α, β) of the offshore booster station in the horizontal and vertical directions, and then... s The attitude tilt angle signal (α, β) is low-pass filtered using the cutoff frequency to eliminate high-frequency noise interference and extract the low-frequency signal (α) of the attitude tilt angle signal. s ,β s );

[0094] During the sea transport of the upper module 10 of the offshore substation, the dynamic deviation of the top of the four servo valve-controlled hydraulic jacks 2 push rods from the horizontal plane under lateral and longitudinal rolling conditions is calculated as follows: Δz1=mβ s -nα s ,Δz2=mβ s +nα s ,Δz3=-mβ s +nα s ,Δz4=-mβ s -nα s ;

[0095] In the formula, m is half the distance between the two longitudinal support piles of the offshore substation, and n is half the distance between the two transverse support piles of the offshore substation.

[0096] The displacement signal z of the hydraulic push rod extension length, which is obtained in real time from the displacement sensor 4, is obtained. i Calculate the displacement deviation of the extension / retraction length of each servo valve-controlled hydraulic push rod relative to the horizontal plane: e i =z i -z i0 -Δz i ;

[0097] Calculate the dynamic process function of vibration reduction quality during the maritime transport process of an offshore booster station.

[0098]

[0099] In the formula, and e i The first and second derivatives represent the convergence velocity and acceleration of the displacement deviation, respectively. i0 c i1 and c i2 It is a positive number.

[0100] The real-time value p of the dynamic process function of vibration reduction quality i First derivative The absolute value is compared with the preset value dp0 of the theoretically permissible vibration. If | Then set the logical state variable R. i =1, otherwise R i =0.

[0101] The flexible displacement adjustment actuator 8 receives the logic state signal S from the pre-equalizing pressure adjustment controller and the logic state signal R from the vibration reduction state decision unit. i If S = 1 and R i =1, then obtain the output signal F of the i-th weighing sensor. i And calculate its first derivative.

[0102] Then receive the real-time value of the dynamic process function of the vibration reduction quality, if p i If the value is greater than 0, then the drive control signal u of the i-th servo valve-controlled hydraulic jack is calculated according to the following formula. i

[0103]

[0104] If p i If the value is less than 0, then the drive control signal u of the i-th servo valve-controlled hydraulic jack is calculated according to the following formula. i

[0105]

[0106] In the formula, d i0 d i1 d i2 d i3 d i4 and j i These are constants related to the electrical parameters of the i-th servo valve-controlled hydraulic jack; k i0 and k i1 These are positive constants, where 0.5 <k i0 <1,k i0 and k i1 Generally, the larger the selected value, the faster the response speed, but the greater the required hydraulic jacking power.

[0107] Taking a specific servo valve-controlled hydraulic jack parameter as an example, if the effective working area of ​​the rod chamber of the hydraulic cylinder is A, and the bulk modulus of the hydraulic fluid is δ... e The equivalent volume of the hydraulic cylinder is V t The viscous damping coefficient of the hydraulic cylinder is B. p The total mass borne by the hydraulic cylinder push rod is M. t The hydraulic cylinder pressure-flow coefficient is K. ce The hydraulic cylinder flow gain coefficient is K. q The load spring stiffness is K, and the servo valve control gain coefficient is K. sv ,but

[0108]

[0109]

[0110] f k The update frequency intermittently updates the real-time calculated drive control signal u. i Connect to the control input terminal of the i-th servo valve-controlled hydraulic jack 2 to realize the regular vibration-damping telescopic movement of the i-th push rod.

[0111] Wherein, the sampling frequency f h Cutoff frequency f s and update frequency f k The numerical relationship between the three satisfies f h >f s ≥f k And each value takes a value near the hundreds, tens, and units place. The positive constant c i0 c i1 and c i2 The numerical relationship between the three satisfies c i1 c i2 >c i0 .

[0112] Based on this working principle, in the specific implementation of this invention, the optimal frequency f can be selected according to the specific sea wave frequency and the natural frequency of the rotational inertia of the specific offshore substation. h f s f k The optimal k is selected based on the response speed required for specific vibration reduction operation and the power of the specific servo valve-controlled hydraulic jack. i0 and k i1 This is to improve the engineering adaptability, scientific nature, and vibration reduction flexibility of the push rod extension and retraction adjustment control, and to ensure that the vibration of the offshore booster station during sea transport meets the transportation requirements.

[0113] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be considered within the scope of protection of the present invention.

Claims

1. A marine active shock mitigation control device for topside modules of offshore booster stations, characterized by: The application relates to a marine offshore booster station upper block active damping control device, which comprises a set of ship-mounted supporting piles (1), a set of servo valve controlled hydraulic jacks (2), a set of weighing sensors (3), a set of displacement sensors (4), a set of double-axis inclination sensors (5), a pre-pressure equalization adjustment controller (6), a damping state decision maker (7) and a flexible displacement adjustment driver (8), the ship-mounted supporting piles (1) are fixedly installed on the deck of a transport ship (9), each ship-mounted supporting pile (1) is provided with a servo valve controlled hydraulic jack (2), the weighing sensor (3) is arranged above the servo valve controlled hydraulic jack (2), the displacement sensor (4) is arranged on the push rod side of the servo valve controlled hydraulic jack (2), the push rod of the servo valve controlled hydraulic jack (2) supports the marine offshore booster station upper block (10) to be stably placed on the transport ship, the double-axis inclination sensor (5) is installed on the horizontal plane of the geometric center point of the marine offshore booster station upper block (10), the pre-pressure equalization adjustment controller (6), the damping state decision maker (7) and the flexible displacement adjustment driver (8) are all installed on the transport ship (9), the horizontal plane of the geometric center point of the marine offshore booster station upper block (10) is defined as an X-Y double-axis coordinate system, wherein the longitudinal forward direction of the transport ship (9) is the positive direction of the Y axis, and the transverse direction of the transport ship (9) is the direction of the X axis; the horizontal plane is defined as a positive angle along the transverse and longitudinal axis offset to the sea level direction, and the transverse and longitudinal axis offset angles are alpha and beta respectively, and alpha and beta are measured by the double-axis inclination sensor (5). The control method of the marine offshore booster station upper block active damping control device is as follows: S2: according to the signal obtained in step S1, the extension and retraction length of the push rod of the corresponding servo valve controlled hydraulic jack is adjusted, so that the load bearing of the four servo valve controlled hydraulic jacks (2) is balanced. S1: First, the output signals of the weighing sensor (3), a set of displacement sensors (4), a set of dual-axis tilt sensors (5), and the pre-uniform pressure adjustment controller (6) are received, that is, the weighing sensor (3) outputs the corresponding bearing signal F i , (i = 1, 2, 3, 4); the displacement sensor (4) outputs the displacement signal z i of the hydraulic jack rod extension length of the corresponding servo valve controlled hydraulic jack (2); the dual-axis tilt sensor (5) outputs the attitude tilt angle signal (α, β) in the horizontal and vertical two perpendicular directions of the booster station; and the pre-uniform pressure adjustment controller (6) receives each bearing signal F i ; The adjustment mode of the extension and retraction length of the push rod of the servo valve controlled hydraulic jack in step S2 is as follows: S3: a damping state decider (7) receives each displacement signal z i and attitude inclination signals (a, b), constructs a damping quality dynamic process function p i (z i , a, b) for representing the roll and pitch vibration intensity of the sea transportation process of the booster station. S4: The flexible displacement adjustment driver (8) receives the damping quality dynamic process function p i (z i , α, β) and each sensor signal, calculates the output control quantity u i to drive the four servo valve controlled hydraulic jacks to realize the regular damping extension and contraction movement of the push rod, and finally ensure the smoothness of the offshore booster station during sea transportation.

2. Marine active seismic control of topside modules of offshore booster stations according to claim 1, characterized in that: S302: the horizontal plane dynamic deviation of the top end of the push rod of the four servo valve controlled hydraulic jacks in the transverse and longitudinal rocking state during the marine process of the marine offshore booster station upper block (10) is calculated. First, each pre-equalization adjustment controller (6) sequentially acquires the output signals F of the four load cells (3) i Then, the output signals F of each load cell (3) are compared with the theoretical preset values F i respectively i0 ​ If the i-th servo valve-controlled hydraulic jack (2) support force F i is lower than the theoretical preset value F i0 , then the push rod of the i-th servo valve-controlled hydraulic jack is lifted in one direction until F i >F i0 and then stopped. When the output signals F i of the four load sensors are not lower than the theoretical preset value F i0 , the pre-equalization logic state quantity signal S = 1 is set, otherwise S = 0, and the current extension length displacement signal z i0 of the four servo valve controlled hydraulic push rods is recorded.

3. Marine active shock mitigation control of topside modules of offshore booster stations according to claim 2, characterized in that: The step S3 of the damping state decision maker (7) receives each displacement signal z i and the attitude inclination angle signal (α,β), and constructs a damping quality dynamic process function p i (z i ,α,β) for representing the roll and pitch vibration intensity of the sea transportation process of the booster station, and the specific process is as follows: S301: read the output of the two-axis tilt sensor (5) at a sampling frequency of f h , to obtain real-time attitude tilt angle signals (α, β) in the horizontal and vertical directions of the offshore booster station, and then low-pass filter the attitude tilt angle signals (α, β) at a cutoff frequency of f s , to extract low-frequency signals (α s , β s ) of the attitude tilt angle signals. In the formula, m is the half length of the distance between the two supporting piles of the marine offshore booster station in the longitudinal direction, and n is the half length of the distance between the two supporting piles of the marine offshore booster station in the transverse direction. Δz1 = mβ s - nα s , Δz2 = mβ s + nα s , Δz3 = -mβ s + nα s , Δz4 = -mβ s - nα s ; S304: the damping quality dynamic process function of the marine process of the marine offshore booster station is calculated. S303: Obtain the hydraulic push rod telescopic length displacement signal z output by the displacement sensor (4) in real time i , and calculate the displacement deviation e of the dynamic deviation of each servo valve controlled hydraulic push rod telescopic length relative to the horizontal plane i = z i - z i0 - Δz i ; ​ wherein and are the first and second derivatives of e i , respectively, and c i0 , c i1 and c i2 are normal numbers; S305: the real-time value p of the damping quality dynamic process function is compared with the preset value dp0 of the absolute value of the first derivative i of the theoretical permitted vibration , if p > dp0, the logic state quantity R is set to 1, otherwise R = 0. i i ​​​ 4. Marine active shock mitigation control of topside modules of offshore booster stations according to claim 3, characterized in that: The step S4 of calculating the output control variable u i The specific process is as follows: S401: receive the logic state quantity signal S of the pre-equalization adjustment controller (6) and the logic state quantity signal R of the damping state decider (7) i , if S = 1 and R i = 1, obtain the output signal F i of the i-th load cell and calculate the first order derivative S402: receive the real-time value of the vibration quality dynamic process function, if p i >0, then calculate the driving control signal u of the i-th servo valve-controlled hydraulic jack according to the following formula i If p i <0, then the drive control signal u of the ith servo valve-controlled hydraulic jack is calculated according to the following formula i where d i0 , d i1 , d i2 , d i3 , d i4 , and j i are constants associated with the i-th servo valve-controlled hydraulic cylinder motor parameter; k i0 and k i1 are positive numbers, where 0.5 < k i0 < 1. S403: intermittently update the driving control signal u k with the update frequency f i accesses the control input end of the i-th servo valve-controlled hydraulic jack (2) to realize regular damping extension and retraction movement of the i-th push rod.

5. Marine active shock mitigation control of topside modules of offshore booster stations according to claim 4, characterized in that: The sampling frequency f h The numerical relationship among the cut-off frequency f s The update frequency f k satisfies f h >f s ≥f k , and respectively takes values near the hundreds, tens, and units of magnitude.

6. Marine topside module active seismic control apparatus for offshore booster station according to claim 5, characterized in that: The normal number c i0 , c i1 and c i2 satisfy the numerical relationship c i1 c i2 > c i0 .

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