Barrel foundation sinking system and control method

Abstract

The application discloses a bucket foundation structure sinking system, which is connected with at least one chamber of a bucket foundation structure and comprises: each underwater execution mechanism which is in one-to-one correspondence with each chamber of the bucket foundation structure and is used for water injection and water drainage respectively; and an overwater control mechanism which is used for measuring and adjusting the posture of the bucket foundation structure and controlling the action of the underwater execution mechanism. The application can solve the problems of positioning and posture adjustment during the installation of the bucket foundation structure by injecting and draining water, generating pressure difference between the inside and outside of the bucket, forcing the vertical movement of the bucket foundation structure and achieving the purposes of real-time monitoring, accurate positioning and efficient installation during the installation of the bucket foundation structure on the seabed.

Description

Technical Field

[0001] This invention relates to the field of settlement control technology for barrel foundation structures. Background Technology

[0002] Barrel foundation structures (especially concrete barrel foundation structures and steel barrel foundation structures for offshore installation and immersion control) are generally divided into above-water and underwater parts, used to support offshore structures such as coastal storage yards, wind turbine towers and offshore generators. Underwater foundation structures are divided into independent single-barrel (storage) structures and multi-barrel (storage) composite structures. Barrels (storages) are hereinafter referred to as barrels. Because each barrel experiences different resistance and friction at its end, the horizontal changes at various points on the working surface of the structure are not uniform. Furthermore, the adjustments of each barrel influence and interfere with each other, making horizontal adjustments of the components difficult. Factors such as uneven seabed strata, ocean currents and waves, and construction uncertainties may cause tilting during construction. If leveling measures are not taken in time, the tilt angle of the structure will gradually increase, eventually leading to the foundation structure failing to settle and installation failure. Therefore, it is necessary to monitor the barrel's attitude during construction and adjust it in real time. As a foundation structure, the barrel has high load-bearing capacity requirements. Insufficient load-bearing capacity can cause significant settlement and displacement of the foundation structure, affecting the deformation and displacement of the above-water structure. In severe cases, it can lead to serious structural overturning. Therefore, it is necessary to control the pressure difference inside the barrel.

[0003] In summary, it is necessary to develop a set of bucket foundation structure sinking system and design a precise control algorithm to accurately position the bucket foundation structure, adjust and control its posture in real time during installation, improve installation accuracy, and control the pressure difference inside and outside the bucket to meet the bearing capacity requirements of the bucket foundation structure. Summary of the Invention

[0004] The purpose of this invention is to provide a sinking system and control method for barrel foundation structures, so as to realize the positioning and attitude adjustment during the installation process of barrel foundation structures.

[0005] The technical solution to achieve the above objectives is: A barrel foundation sinking system, connecting a barrel foundation structure with at least one compartment, including: Each compartment of the barrel-shaped foundation structure corresponds to an underwater actuator for water injection and drainage. A surface control mechanism used to measure and adjust the attitude of a barrel-type foundation structure and to control the actions of the underwater actuators.

[0006] Preferably, the underwater actuator includes: a T-shaped barrel-type base structure interface, a drainage proportional regulating valve, an inlet proportional regulating valve, a first tee pipe, a second tee pipe, an inlet shut-off valve, a drainage shut-off valve, a deep-sea flow meter, a deep-sea submersible pump, a pressure sensor, and an underwater connector. The first end of the barrel-type foundation structure interface is connected to the chamber of the barrel-type foundation structure, and the second and third ends are respectively connected to the drain outlet of the water inlet proportional regulating valve and the water inlet of the water outlet proportional regulating valve. The first end of the first three-way pipe is connected to the outlet of the drainage proportional regulating valve, the second end is connected to the outlet of the inlet shut-off valve, and the third end is connected to the inlet of the deep-sea flow meter. The outlet of the deep-sea flow meter is connected to the inlet of the deep-sea submersible pump via a pipe; The first end of the second three-way pipe is connected to the outlet of the deep-sea submersible pump, the second end is connected to the inlet of the drain stop valve, and the third end is connected to the inlet of the water inlet proportional regulating valve. The inlet of the inlet shut-off valve and the outlet of the outlet shut-off valve are respectively connected to the outside. The pressure sensor is installed on the pipe at the interface of the barrel-type foundation structure to measure the pressure inside the pipe. The underwater connector electrically connects the drainage proportional regulating valve, the inlet proportional regulating valve, the inlet shut-off valve, the drainage shut-off valve, the deep-sea flow meter, the deep-sea submersible pump, and the pressure sensor.

[0007] Preferably, the water control mechanism includes a controller, an inclinometer, a control box connector, a water pressure sensor, and a penetration depth measuring instrument, all mounted on a barrel-shaped foundation structure. The control box connector is electrically connected to the underwater connector via an underwater composite cable; The controller is electrically connected to the control box connector; The inclinometer, water pressure sensor, and penetration depth measuring instrument are all electrically connected to the controller.

[0008] Preferably, the surface control mechanism includes an external power supply terminal, an AC adapter, and a deep-sea submersible pump current sensor. The power supply terminal, AC adapter, deep-sea submersible pump current sensor, and control box connector are connected in series. The controller is electrically connected to the AC device.

[0009] Preferably, the controller is connected to an external computer.

[0010] The control method based on the above-mentioned bucket foundation structure sinking system includes: The controller outputs signals to control the opening and closing of the drainage proportional regulating valve, the inlet proportional regulating valve, the inlet shut-off valve, the drainage shut-off valve, and the deep-sea submersible pump, to inject or drain water into the barrel foundation structure and achieve the sinking of the barrel foundation structure. During the sinking process, the above-water control mechanism measures the attitude of the barrel foundation structure. The controller outputs control quantities based on the measurement results to control the opening of the drainage ratio regulating valve and the water inlet ratio regulating valve, control the amount of water injection / drainage, and adjust the attitude and sinking speed of the barrel foundation structure. During the sinking process, the water control mechanism calculates the control pressure difference limit based on the sinking depth and compares it with the collected pressure difference inside and outside the barrel to determine whether to continue sinking.

[0011] Preferably, the above-water control mechanism measures the attitude of the bucket foundation structure, including: Establish a horizontal plane on the barrel foundation structure, and create a rectangular coordinate system with the origin at point O. The XOY plane coincides with the plane of the barrel foundation structure. Set the following: When the posture of the barrel structure changes, the XOY plane of the barrel foundation structure changes accordingly. O During the balancing process, it was considered to be concentric. shaft and The inclination angle of the axis is ; The angle between the axis and the Y-axis is The vertical coordinates of the support point in the coordinate system are: = ) = ; The displacement of the barrel foundation structure relative to the origin in the plane is calculated using the above formula. In the above formula, , It relates to the initial state of the system and the establishment of the coordinate system, and is treated as an initial condition. , The measurement is performed by installing the inclinometer, where N is the number of measurement points, and the number of compartments in the barrel-type foundation structure, etc. The controller outputs control quantities based on the measurement results to control the opening degree of the drainage proportional regulating valve and the inlet proportional regulating valve, including: Will Value Assignment ; As a control target value; set up: , Indicates a deviation signal; Through formula Calculations yielded This serves as the control variable for both the drainage proportional control valve and the inlet proportional control valve; among which... This is expressed as a proportionality coefficient. Integral coefficient, Differential component.

[0012] Preferably, the surface control mechanism calculates the control pressure difference limit based on the penetration depth and compares it with the collected pressure difference inside and outside the bucket to determine whether to continue penetration, including: The control pressure differential limit y is calculated using the following formula: x represents the penetration depth, which is measured by a penetration depth measuring instrument; The parameters are determined based on geological parameters and experience; The difference between the pressure values ​​collected by the pressure sensor and the water pressure sensor is used as the pressure difference between the inside and outside of the tank; When the pressure difference between the inside and outside of the tank exceeds the control pressure difference limit, the sedimentation process should be stopped.

[0013] Preferably, the controller outputs signals to control the opening and closing of the drainage proportional regulating valve, the inlet proportional regulating valve, the inlet shut-off valve, the drainage shut-off valve, and the deep-sea submersible pump, to inject or drain water into the barrel foundation structure, thereby achieving the sinking of the barrel foundation structure, including: Water injection mode: The drainage ratio regulating valve and drainage shut-off valve are in the shut-off state, the water inlet shut-off valve is in the open state, and the deep-sea submersible pump is in the working state. Drainage mode: The inlet proportional regulating valve and the inlet shut-off valve are in the shut-off state, the drain shut-off valve is in the open state, and the deep-sea submersible pump is in the working state.

[0014] The beneficial effects of this invention are: This invention controls the underwater actuator to fill and drain the barrel-shaped foundation structure, creating a pressure difference between the inside and outside of the barrel. The vertical force generated by the structure forces the barrel-shaped foundation structure to move vertically, solving problems such as positioning and attitude adjustment during the installation of the barrel-shaped foundation structure. This achieves the goal of real-time monitoring, precise positioning, and efficient installation of the barrel-shaped foundation structure on the seabed.

[0015] This invention designs an underwater proportional regulating valve with opening control and feedback functions, which can accurately control the seawater flow rate, achieve precise control of the pressure difference inside and outside the tank, realize precise adjustment of the structure's attitude, effectively control the sinking speed, and greatly reduce construction risks.

[0016] This invention achieves efficient, stable, and reliable operation of surface measurement, control, and underwater execution through a sinking control algorithm and precise control process, providing an effective means for the underwater installation and fixation of seabed barrel-shaped structures. Attached Figure Description

[0017] Figure 1 This is a structural diagram of the underwater actuator in this invention; Figure 2 This is a connection diagram of the underwater actuator and the surface control mechanism in this invention; Figure 3 This is a front view of the barrel-type foundation structure in this invention; Figure 4 This is a top view of the barrel-type foundation structure in this invention; Figure 5 This is a schematic diagram of the sinking process of the barrel-type foundation structure in this invention; Figure 6 This is a flowchart illustrating the control method in this invention; Figure 7 This is a schematic diagram of the control model of the PID control algorithm in this invention. Detailed Implementation

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] The barrel-type foundation sinking system of the present invention connects a barrel-type foundation structure with at least one compartment, and includes: underwater actuators corresponding one-to-one with each compartment of the barrel-type foundation structure, and surface control mechanisms.

[0020] The above-water control mechanism is used to measure and adjust the attitude of the barrel foundation structure, and to control the underwater actuators to fill and drain water into each compartment of the barrel foundation structure.

[0021] Please see Figure 3 and Figure 4 The barrel-type foundation structure consists of an upper barrel 301 and a lower barrel 302. The lower barrel 302 is required to be submerged into the seabed. In this embodiment, there are 4 compartments, and each compartment has a docking interface on its top for docking with the underwater actuator. The upper barrel plane 304 is above the sea surface and is used to house the various components in the surface control mechanism.

[0022] Please see Figure 1 The underwater actuator includes: a T-shaped barrel-type foundation structure interface 101, a drainage proportional regulating valve 102, an inlet proportional regulating valve 103, a first tee pipe 110, a second tee pipe 111, an inlet shut-off valve 104, a drainage shut-off valve 105, a deep-sea flow meter 106, a deep-sea submersible pump 107, a pressure sensor 113, and an underwater connector 201.

[0023] The barrel-type foundation structure interface 101 is a "T"-shaped connecting pipe. The first end connects to the compartment of the barrel-type foundation structure, that is, it connects to the inlet / outlet of the barrel-type foundation structure. The second and third ends of the barrel-type foundation structure interface 101 are respectively connected to the outlet of the inlet proportional regulating valve 103 and the inlet of the outlet proportional regulating valve 102.

[0024] The first end of the first three-way pipe 110 is connected to the outlet of the drainage proportional regulating valve 102, the second end is connected to the outlet of the inlet shut-off valve 104, and the third end is connected to the inlet of the deep-sea flow meter 106. The outlet of the deep-sea flow meter 106 is connected to the inlet of the deep-sea submersible pump 107 via a pipe. The first end of the second three-way pipe 111 is connected to the outlet of the deep-sea submersible pump 107, the second end is connected to the inlet of the drainage shut-off valve 105, and the third end is connected to the inlet of the inlet proportional regulating valve 103. The inlet of the inlet shut-off valve 104 and the outlet of the drainage shut-off valve 105 are connected to the outside, i.e., connected to the ocean.

[0025] Pressure sensor 113 is installed on the pipe of interface 101 in the barrel foundation structure to measure the pressure inside the pipe. Underwater connector 201 electrically connects to drain proportional regulating valve 102, inlet proportional regulating valve 103, inlet shut-off valve 104, drain shut-off valve 105, deep-sea flow meter 106, deep-sea submersible pump 107, and pressure sensor 113.

[0026] The above describes the configuration of underwater actuators for single-compartment barrel-type foundation structures, enabling independent operation. For multi-compartment barrel-type foundation structures, multiple underwater actuators are required, with coordinated control achieved through a control program. This embodiment uses a four-compartment barrel-type foundation structure to illustrate the working principle and control method.

[0027] The underwater actuator has two operating modes: water injection (injecting seawater into the chamber) and water drainage (draining the water in the chamber into the sea). In water injection mode: the drainage proportional control valve 102 and drainage shut-off valve 105 are in the closed state, and the water inlet shut-off valve 104 is in the open state. The deep-sea submersible pump 107 is operational, and seawater is injected into the chamber through the water inlet shut-off valve 104, the first three-way pipe 110, the deep-sea flow meter 106, the deep-sea submersible pump 107, the second three-way pipe 111, the water inlet proportional control valve 103, and the barrel-type base mechanism interface 101. In water drainage mode: the water inlet proportional control valve 103 and water inlet shut-off valve 104 are in the closed state, and the water drainage shut-off valve 105 is in the open state. With the deep-sea submersible pump 107 in operation, seawater is discharged from the tank into the sea through the barrel-type foundation structure interface 101, drainage proportional regulating valve 102, first three-way pipe 110, deep-sea flow meter 106, deep-sea submersible pump 107, second three-way pipe 111, and drainage shut-off valve 105.

[0028] like Figure 2 As shown, the water control mechanism includes a controller 210, an inclinometer 213, a control box connector 202, a water pressure sensor 216, and a penetration depth measuring instrument 214, all mounted on a barrel-shaped foundation structure. The control box connector 202 is electrically connected to the underwater connector 201 via an underwater composite cable 203. The controller 210 is electrically connected to the control box connector 202. The inclinometer 213, the water pressure sensor 216, and the penetration depth measuring instrument 214 are all electrically connected to the controller 210. Specifically, the controller 210 includes a CPU 209, an AQ (analog output) module 208, a DI (digital input) module 207, and an AI (analog input) module 206. The surface control mechanism also includes an external power supply terminal 212, an AC converter 205, and a deep-sea submersible pump current sensor 204. The power supply terminal 212, the AC converter 205, the deep-sea submersible pump current sensor 204, and the control box connector 202 are connected in series. The controller 210 is electrically connected to the AC converter 205.

[0029] Among them, the connectors W01, W02, W03, W04, W05, W06, W07, W08, and W09 of the control box connector 202 correspond to the connectors C01, C02, C03, C04, C05, C06, C07, C08, and C09 of the underwater connector 201, respectively; the control line and status feedback line of the underwater actuator, the drainage proportional regulating valve 102, are connected to the C01 and C02 connectors of the underwater connector 201, respectively, for water inlet proportional regulation. The control line and status feedback line of the throttle valve 103 are connected to the C03 and C04 connectors of the underwater connector 201, respectively. The drain shut-off valve 105 is connected to the C05 connector of the underwater connector 201. The inlet shut-off valve 104 is connected to the C06 connector of the underwater connector 201. The deep-sea flow meter 106 is connected to the C07 connector of the underwater connector 201. The pressure sensor 113 is connected to the C08 connector of the underwater connector 201. The deep-sea submersible pump 107 is connected to the C09 connector of the underwater connector 201. The water control mechanism has the following connections: control box connector W01 connects to channel CH1 of AQ module 208; control box connector W02 connects to channel CH1 of AI module 206; control box connector W03 connects to channel CH2 of AQ module 208; control box connector W04 connects to channel CH2 of AI module 206; control box connector W05 connects to channel CH1 of DI module 207; control box connector W06 connects to channel CH2 of DI module 207; control box connector W07 connects to channel CH3 of AI module 206; control box connector W08 connects to channel CH4 of AI module 206; deep-sea submersible pump current sensor 204 connects to channel CH5 of AI module 206; channel CH3 of DI module 207 connects to AC contactor 205; AC contactor 205 is connected to power supply terminal 212 via cable; computer 211 is connected to controller 210 and penetration depth measuring instrument 214 via network cable; and water pressure sensor 216 is connected to channel CH6 of AI module 206. Controller 210 connects to external computer 211.

[0030] The control method for the settling system of the barrel foundation structure of the present invention includes the following steps: 1. The controller 210 outputs signals to control the opening and closing of the drainage proportional regulating valve 102, the inlet proportional regulating valve 103, the inlet shut-off valve 104, the drainage shut-off valve 105, and the deep-sea submersible pump 107, thereby injecting or draining water into the barrel foundation structure to achieve the sinking of the barrel foundation structure. This refers to the water injection mode and drainage mode processes described above.

[0031] Second, during the sinking process, the above-water control mechanism measures the attitude of the bucket foundation structure. Based on the measurement results, the controller 210 outputs control signals to regulate the opening of the drainage proportional regulating valve 102 and the water inlet proportional regulating valve 103, controlling the amount of water injection / drainage and adjusting the attitude and sinking speed of the bucket foundation structure. Specifically, The above-water control system measures the attitude of the bucket foundation structure, including: A horizontal plane is established on the barrel foundation structure, and a rectangular coordinate system is established with the origin at point O. The XOY plane coincides with the plane of the barrel foundation structure. During the sinking process, the posture of the barrel structure changes, and the XOY plane of the barrel foundation structure changes to... O During the leveling process, it is assumed that the adjustment is concentric (the center of the coordinate circle remains unchanged before and after the adjustment). shaft and The inclination angle of the axis is ; The angle between the axis and the Y-axis is ;produce , Inclination angle, then transformation matrix Formula (1) During construction, control , The tilt angle should not exceed 3°, relatively speaking. , The smaller size further simplifies the transformation matrix: Formula (2) The position coordinates of the support point in the vertical direction (Z) are: = ) = Formula (3) The displacement of the barrel structure relative to the origin in the plane is calculated using formula (3). In the above formula , It relates to the initial state of the system and the establishment of the coordinate system, and is treated as an initial condition in the control system. , Measurements are taken using an inclinometer installed on the structural plane, where N represents the number of measurement points, corresponding to the number of compartments in the barrel-type foundation structure. Based on the above analysis, the foundation of the overall structure is broken down into point-by-point measurements, enabling real-time monitoring of the barrel's attitude.

[0032] The controller outputs control quantities based on the measurement results to control the opening degree of the drainage proportional regulating valve and the inlet proportional regulating valve, including: The displacement of the measuring point in the plane is measured using an inclinometer. The control objective is The PID control algorithm is adopted, and the control model is as follows: Figure 7 As shown: The control law of the PID controller is as follows: Formula (4) The PID transfer function is: Formula (5) in This is represented as a proportional coefficient; once a deviation signal is generated... The controller immediately generates a control action to reduce the error. When the deviation e=0, the control action is also 0, therefore proportional control is based on deviation control. The integral coefficient is used to remember the error and is mainly used to eliminate steady-state error and improve the accuracy of the system. The strength of the integral action depends on the integral time constant Ti. The larger Ti is, the weaker the integral action is, and vice versa. The differential element reflects the changing trend (rate of change) of the deviation signal and can introduce an effective early correction signal into the system before the deviation signal value becomes too large, thereby speeding up the system's response and reducing the settling time.

[0033] Will Value Assignment ; As a control target value; set up: , Through formula Calculated , which serves as the control quantity for the drainage proportional control valve and the inlet proportional control valve.

[0034] In this invention In the actual construction process, Install an inclinometer to measure the tilt of the structure's horizontal plane in real time. The value is then calculated using formula (3). ( In this invention Setting it to 0 is the target value for the controller; it only applies when... The component is in a horizontal position. The controller outputs a control quantity, and the opening of the proportional valve is adjusted according to the magnitude of the control quantity to control the amount of water injection / drainage, thereby achieving the purpose of attitude control and adjusting the sinking speed.

[0035] Third, during the sinking process, the water control mechanism calculates the control pressure difference limit based on the sinking depth and compares it with the collected pressure difference inside and outside the barrel to determine whether to continue sinking.

[0036] Based on soil mechanics analysis, the foundation structure cannot exceed the critical pressure difference and seepage failure pressure during settlement. Using engineering experience and geological data, and through linear fitting, the following method is employed to control the pressure difference between the inside and outside of the foundation. Formula (6) y represents the control differential pressure limit in kPa, and x represents the penetration depth in meters. The parameters are determined based on geological parameters and experience. When the pressure difference inside the barrel exceeds the y-value, the system will stop the penetration test and take corresponding measures. The difference between the pressure values ​​collected by pressure sensor 113 and water pressure sensor 216 is used as the pressure difference inside and outside the barrel; when the pressure difference inside and outside the barrel is greater than the control pressure difference limit, the penetration test will stop.

[0037] The invention will be illustrated below using an example of four compartments equipped with four independent underwater actuators: like Figure 4 Establish a rectangular coordinate system with O as the origin on the upper plane 303 of the barrel. The coordinate plane XOY coincides with the upper plane 303 of the barrel, with the X direction along the long side partition and the Y direction along the short side partition. Measurement points 1, 2, 3, and 4 are selected on the upper plane 304 of the barrel for barrel attitude monitoring; please refer to [link to relevant documentation]. Figure 5 Because the barrel sinks into the seabed at different times, a high-point leveling strategy is adopted, and the process of attitude adjustment is the process of penetration.

[0038] In summary, considering the tank structure, selecting tank attitude monitoring points, and determining a reasonable coordinate system, the changes in measurement points 1, 2, 3, and 4 correspond to the underwater actuators in tanks 1, 2, 3, and 4, respectively. These changes are used to control the opening of the proportional regulating valves of the underwater actuators, thereby altering the drainage flow rate and controlling the tank penetration speed and the rate of change of pressure difference within the tank. Please refer to [link / reference]. Figure 6 The control flowchart for the settling system and control method of the barrel foundation structure is shown below, with specific implementation steps as follows: Step S1 is executed. Step S1 mainly completes the initialization of the control program, sets the critical differential pressure curve and seepage differential pressure curve parameters a, b, and c values ​​for calculation in formula (6), assigns j=1, and starts the deep-sea submersible pumps 107 of the underwater actuators of chambers 1#, 2#, 3#, and 4#. The deep-sea submersible pumps 107 start running. Whether or not drainage is performed is controlled by the drainage proportional valve 102, which can be monitored in real time by the deep-sea flow meter 106. Then steps S2, S3, S4, and S5 are executed. Steps 2 to 5 are executed in parallel and run relatively independently, with data exchanged between them through variables.

[0039] For instructions on step S2, please refer to [link / reference]. Figure 3 , 4 In this invention, N=4 and the coordinates of measurement point 1 are: (6, 6, and formula (3)) The coordinates of measurement point No. 2 are: The coordinates of measurement point No. 3 are: The coordinates of measurement point No. 4 are: , based on Figure 4 Coordinate system set , ; , ; , ; , The above assigned data is the parameter setting of formula (3); read the tilt meter 213 (installed on the upper surface 303 of the barrel, using a 2-axis tilt sensor to measure the tilt of the upper surface of the barrel, with an accuracy of 0.002°, outputting the tilt angle in the X and Y directions, and outputting a 4-20mA current signal) along the X direction. Angle and along the Y direction Angle values; calculate the values ​​of the four measurement points using formula (3). , , , Values, and assign values ​​respectively. , , , ( (Refer to the controller model for the controller output value); Check if n=0 (n is the program running flag, set by the program). If n=1, the control program jumps to the step of reading the inclinometer angle value 213, and the program continues to loop according to the above control flow. If n=0, the program loop ends.

[0040] Step S3 is executed. The main function of step S3 is to control the real-time acquisition of angle values ​​output by the inclinometer installed on the platform. , , and The current tilt state of the upper plane 303 of the barrel is reflected in real time, and the value is calculated in real time using formula (3). Value and assign it to In this invention, r(t1), r(t2), r(t3), and r(t4) represent the control target values ​​for warehouses 1, 2, 3, and 4, respectively. During program execution, a value needs to be assigned to r(t1) = r(t2) = r(t3) = r(t3) = 0 (the upper plane 303 of the barrel is in a horizontal position). In this invention, y(t1), y(t2), y(t3), and y(t4) represent the height difference feedback values ​​for warehouses 1, 2, 3, and 4, respectively. The values ​​of U(t1), U(t2), U(t3), and U(t4) are calculated by calling formula (4) respectively. These correspond to the control quantities of the proportional regulating valves in compartments 1, 2, 3, and 4. The U(t) value is used to control the opening degree of the drainage proportional valve. Controlling the proportional valve opening degree from 0 to 100% corresponds to a control current of 4 to 20 mA. Refer to formula (4) and the control model. When U(t) = 0, the proportional control valve is in the closed state. Since this invention employs a high-point leveling strategy, At that time, the proportional control valve remains in the off state under program control.

[0041] Step S4 is executed. Step 4 involves real-time monitoring of the underwater actuator. When j=1, the deep-sea submersible pump 107 starts working. Since it takes time for a stable water flow to be established before the flow meter can measure the current flow, this control process is set to read the value of the deep-sea flow meter 106 after a 10-second delay to determine the current working status of the underwater actuator. When F>0 (F is the current flow rate, unit: ...), the flow rate is determined. The control program executes the next step to determine if j=1. If j=1 and the pump is running, the control program jumps to step F to read the flow meter value and performs a program loop. If j=0, it means there may be a problem with the system. The control program will switch to the alarm escalation step and execute it before looping again. Only when j=0 is the deep-sea submersible pump 107 in a stopped state and the control program exits the loop.

[0042] Step S5 is executed. Step S5 is the pressure difference inside the bucket. The pressure difference inside the bucket cannot be greater than the result calculated by formula (6). Otherwise, there is a possibility of puncture at the contact point between the bucket (bin) and the soil, which will affect the normal settlement of the bucket foundation structure. After reading the x value of the penetration depth measuring instrument 214, the formula (6) is called to calculate the current control limit value and compare it with the pressure difference outside the bin (pressure sensor 113-water pressure sensor 216). If the pressure difference outside the bin is greater than the y value, an alarm is raised. Then the control program loops to use formula (6) to perform real-time calculation and judgment, monitor the pressure difference inside and outside the bucket within the control range, and ensure normal construction. After the deep-sea submersible pump 107 stops, the loop is exited.

[0043] Step S6 is executed only after the loops in steps 2 and 3 have finished. Step 6 assigns a value of j=0, and the deep-sea submersible pumps in compartments 1#, 2#, 3#, and 4# stop. Since j=0, steps 4 and 5 also change the program loop direction, thus exiting the loop program. Finally, the control program completes control and stops program execution.

[0044] The above embodiments are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various changes or modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions should also fall within the scope of the invention and should be defined by the claims.

Claims

1. A control method for a bucket foundation structure settling system, characterized in that, A barrel foundation sinking system connects a barrel foundation structure with at least one compartment. The barrel foundation sinking system includes: Each compartment of the barrel-shaped foundation structure corresponds to an underwater actuator for water injection and drainage. A surface control mechanism used to measure and adjust the attitude of a barrel-type foundation structure and to control the action of the underwater actuator. The underwater actuator includes: a T-shaped barrel-type foundation structure interface, a drainage proportional regulating valve, an inlet proportional regulating valve, a first tee pipe, a second tee pipe, an inlet shut-off valve, a drainage shut-off valve, a deep-sea flow meter, a deep-sea submersible pump, a pressure sensor, and an underwater connector. The first end of the barrel-type foundation structure interface is connected to the chamber of the barrel-type foundation structure, and the second and third ends are respectively connected to the drain outlet of the water inlet proportional regulating valve and the water inlet of the water outlet proportional regulating valve. The first end of the first three-way pipe is connected to the outlet of the drainage proportional regulating valve, the second end is connected to the outlet of the inlet shut-off valve, and the third end is connected to the inlet of the deep-sea flow meter. The outlet of the deep-sea flow meter is connected to the inlet of the deep-sea submersible pump via a pipe; The first end of the second three-way pipe is connected to the outlet of the deep-sea submersible pump, the second end is connected to the inlet of the drain stop valve, and the third end is connected to the inlet of the water inlet proportional regulating valve. The inlet of the inlet shut-off valve and the outlet of the outlet shut-off valve are respectively connected to the outside. The pressure sensor is installed on the pipe at the interface of the barrel-type foundation structure to measure the pressure inside the pipe. The underwater connector electrically connects the drainage proportional regulating valve, the inlet proportional regulating valve, the inlet shut-off valve, the drainage shut-off valve, the deep-sea flow meter, the deep-sea submersible pump, and the pressure sensor. The above-water control mechanism includes a controller, an inclinometer, a control box connector, a water pressure sensor, and a penetration depth measuring instrument, all mounted on a barrel-shaped foundation structure. The control box connector is electrically connected to the underwater connector via an underwater composite cable; The controller is electrically connected to the control box connector; The inclinometer, water pressure sensor, and penetration depth measuring instrument are all electrically connected to the controller. Control methods include: The controller outputs signals to control the opening and closing of the drainage proportional regulating valve, the inlet proportional regulating valve, the inlet shut-off valve, the drainage shut-off valve, and the deep-sea submersible pump, to inject or drain water into the barrel foundation structure and achieve the sinking of the barrel foundation structure. During the sinking process, the above-water control mechanism measures the attitude of the barrel foundation structure. The controller outputs control quantities based on the measurement results to control the opening of the drainage ratio regulating valve and the water inlet ratio regulating valve, control the amount of water injection / drainage, and adjust the attitude and sinking speed of the barrel foundation structure. During the sinking process, the water control mechanism calculates the control pressure difference limit based on the sinking depth and compares it with the collected pressure difference inside and outside the barrel to determine whether to continue sinking. The above-water control system measures the attitude of the bucket foundation structure, including: Establish a horizontal plane on the barrel foundation structure, and create a rectangular coordinate system with the origin at point O. The XOY plane coincides with the plane of the barrel foundation structure. Set the following: When the posture of the barrel structure changes, the XOY plane of the barrel foundation structure changes accordingly. O During the balancing process, it was considered to be concentric. shaft and The inclination angle of the axis is ; The angle between the axis and the Y-axis is ; In the Cartesian coordinate system XOY, the value of the support point in the vertical direction is: = ） = ； The displacement of the barrel foundation structure relative to the origin in the plane is calculated using the above formula. In the above formula, , It relates to the initial state of the system and the establishment of the coordinate system, and is treated as an initial condition. , The measurement is performed using the inclinometer, where N is the number of measurement points, and the number of compartments in the barrel-type foundation structure is also present. , , The initial coordinates of the i-th support point are calibrated before it leaves the factory. The controller outputs control quantities based on the measurement results to control the opening degree of the drainage proportional regulating valve and the inlet proportional regulating valve, including: Will Value Assignment ; As a control target value; set up: , Indicates a deviation signal; Through formula Calculations yielded This serves as the control variable for both the drainage proportional control valve and the inlet proportional control valve; among which... This is expressed as a proportionality coefficient. Integral coefficient, is the differential coefficient.

2. The control method according to claim 1, characterized in that, The above-water control mechanism includes an external power supply terminal, an AC adapter, and a deep-sea submersible pump current sensor. The power supply terminal, AC adapter, deep-sea submersible pump current sensor, and control box connector are connected in series. The controller is electrically connected to the AC device.

3. The control method according to claim 1, characterized in that, The controller is connected to an external computer.

4. The control method according to claim 1, characterized in that, The surface control mechanism calculates the control pressure difference limit based on the penetration depth and compares it with the collected pressure difference inside and outside the bucket to determine whether to continue penetration, including: The control pressure differential limit y is calculated using the following formula: x represents the penetration depth, which is measured by a penetration depth measuring instrument; The parameters are determined based on geological parameters and experience; The difference between the pressure values ​​collected by the pressure sensor and the water pressure sensor is used as the pressure difference between the inside and outside of the tank; When the pressure difference between the inside and outside of the tank exceeds the control pressure difference limit, the sedimentation process should be stopped.

5. The control method according to claim 1, characterized in that, The controller outputs signals to control the opening and closing of the drainage proportional regulating valve, the inlet proportional regulating valve, the inlet shut-off valve, the drainage shut-off valve, and the deep-sea submersible pump, to inject or drain water into the barrel foundation structure, thereby achieving the settlement of the barrel foundation structure, including: Water injection mode: The drainage ratio regulating valve and drainage shut-off valve are in the shut-off state, the water inlet shut-off valve is in the open state, and the deep-sea submersible pump is in the working state. Drainage mode: The inlet proportional regulating valve and the inlet shut-off valve are in the shut-off state, the drain shut-off valve is in the open state, and the deep-sea submersible pump is in the working state.

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