Multi-hydraulic-cylinder cooperative fixed transportation method for FPSO thin and high upper module

Abstract

The method comprises the following steps: firstly, mounting a multi-hydraulic-cylinder collaborative fixed transportation device which mainly comprises an axis vehicle, an information detection device and a plurality of clamping devices, hoisting and fixing the module on a loading surface, recording relevant information of the module into a computer, and carrying out multi-hydraulic-cylinder collaborative fixed transportation on the module; such as the height from the center of mass of the module to the loading surface; during movement, detection is carried out once every t, and the clamping force of the n clamping devices at the front end and the rear end is obtained based on the force balance equation and the moment balance equation according to the accelerated speed and the angle; and the computer outputs a control signal to the clamping device according to the calculated adjusting quantity of the clamping force of the clamping device to adjust the clamping force output by the clamping device, and the steps are repeated until the transportation process is finished. The output force of each clamping device is adjusted in real time through acceleration, road gradient and the like at different moments in the transportation process, the stability in various transportation scenes is achieved, and the module transportation efficiency is improved.

Description

Technical Field

[0001] The invention relates to a method for transporting an upper module of an FPSO, and in particular to a method for transporting a thin and tall upper module of an FPSO in a coordinated manner with multiple hydraulic cylinders. Background Art

[0002] The slender upper module of a floating liquefied natural gas facility (FPSO) is the core component of the FPSO. At present, the commonly used method of transporting FPSO slender upper modules is to transport them by SPMT (self-propelled module transporter) and tie them up with ropes. However, due to the diverse structural forms of FPSO slender upper modules, as well as the characteristics of large mass and uneven distribution. During the transportation of slender modules, it is easier to cause the module position to move due to speed changes, rugged roads, uphill and downhill, etc. The traditional bundling and fixing method greatly limits the transportation speed of SPMT (self-propelled module transporter), which not only leads to poor transportation efficiency, but also poor stability of slender modules during transportation, and safety cannot be guaranteed. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a method for the coordinated fixed transportation of multiple hydraulic cylinders for FPSO thin and tall upper modules, which enables the transport object to remain stable in various transportation scenarios and improves the transportation efficiency of thin and tall modules.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A method for the coordinated fixed transportation of multiple hydraulic cylinders for a slender and tall upper module of an FPSO according to the present invention comprises the following steps:

[0006] Step 1, installing a multi-hydraulic cylinder coordinated fixed transport device, which includes an axis car, an information detection device is arranged on the loading surface of the axis car, the information detection device can detect the acceleration of the axis car and the angle between the loading surface and the horizontal plane, a fixed baffle is relatively fixed at the front end and the rear end of the loading surface of the axis car, at least one clamping device is connected to each fixed baffle through a guide rail slider structure, the clamping device can slide up and down in the vertical direction on the fixed baffle through the guide rail slider structure and be fixed to the fixed baffle at a set position through a fixed structure, the clamping device includes a self-locking hydraulic cylinder, a V-shaped clamping plate is welded and fixed on the top surface of the piston rod of the self-locking hydraulic cylinder, and a FPSO thin and tall upper module to be clamped is placed on the loading surface of the axis car between the relatively arranged V-shaped clamping plates;

[0007] Step 2: hoist the FPSO upper module to be transported onto the loading surface between the V-shaped clamping plates. According to the position of the center of mass O of the FPSO upper module to be transported obtained in the 3D modeling software, record the weight M of the FPSO upper module and the height H from the center of mass O of the FPSO upper module to be transported to the loading surface. The distances between the center of mass O and the front and rear ends of the bottom of the FPSO upper module along the length direction of the axis vehicle are recorded as L. 前 , L 后 ; Then, according to the mass M of the slender FPSO upper module to be transported, the maximum acceleration during transportation, and the maximum slope that may be encountered, 2n clamping devices are selected, and n of the clamping devices are installed on the front fixed baffle. The height from the center axis of each clamping device to the loading surface is recorded as h 前1 、h 前2 、h 前3 ·····h 前n , install the other n clamping devices on the fixed baffle at the rear end, and record the height from the center axis of each clamping device to the loading surface as h 后1 、h 后2 、h 后3 ·····h 后n ,h 前n With h 后n One-to-one correspondence is equal; adjust the clamping plate to contact the FPSO's thin and tall upper module and make all the front and rear clamping devices maintain a certain initial clamping force F 初 , query the static friction coefficient ρ between the FPSO's slender upper module and the loading surface, and finally, calculate the height from the center axis of each clamping device to the loading surface, the initial clamping force F 初 , static friction coefficient ρ, gravitational acceleration g information is input and saved in the computer;

[0008] The information detection device arranged on the loading surface is connected to the computer via a wireless network, and can detect the acceleration a of the axle vehicle and the angle θ between the loading surface and the horizontal plane in real time during the transportation process, and can transmit this information to the computer in real time via the wireless network;

[0009] Step 3: The axle vehicle is started. During the transportation process, the information detection device performs information detection every time interval t, and transmits the detected axle vehicle acceleration a and the angle θ between the loading surface and the horizontal plane to the computer in real time through the wireless network. The computer performs the following process: the computer first determines the state of the axle vehicle according to the axle vehicle acceleration a, the angle θ between the loading surface and the horizontal plane, and the static friction coefficient ρ, and then obtains the clamping force F of the front end n clamping devices according to the corresponding force balance equation and torque balance equation 前1 、F 前2 、F 前3 ······F 前n; Clamping force F of the rear n clamping devices 后1 、F 后2 、F 后3 ······F followed by n;

[0010] Step 4: According to the obtained clamping force F of the n clamping devices at the front end 前1 、F 前2 、F 前3 ······F 前n ; Clamping force F of the rear n clamping devices 后1 、F 后2 、F 后3 ······F 后n ; The adjustment amount of the clamping force of the 2n clamping devices is further obtained through difference processing, as shown in the following formula;

[0011] Where i and j are both [1,n]

[0012] Where: ΔF 前i is the adjustment amount of the clamping force of the i-th clamping device at the front end; ΔF 后j is the adjustment amount of the clamping force of the jth clamping device at the rear end; f 前i and f 后j They are the clamping force of the front clamping device and the rear clamping device before adjustment, and the initial value is the initial clamping force F 初 ;

[0013] Step 5: The computer outputs a control signal to the clamping device according to the calculated adjustment amount of the clamping force of the clamping device to adjust the clamping force output by the clamping device. If the adjustment amount is zero, the clamping device does not adjust; if the adjustment amount is not zero, the clamping force of the clamping device is adjusted under the control of the computer, and F is set to 前i and F 后j As the latest data to replace the clamping force f of the front clamping device 前i and f 后j Save to computer;

[0014] Step 6. Repeat steps 3, 4, and 5 until the transportation process is completed.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention obtains information such as the acceleration and road slope of the SPMT at different times during the transportation process, and then adjusts the output force of each clamping device in real time according to the force balance equation and the torque balance equation, thereby achieving the stability of the transport object in various transportation scenarios, such as uphill and downhill, acceleration and deceleration, etc., and improving the module transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of a multi-hydraulic cylinder coordinated fixing and transporting device for a method for coordinated fixing and transporting a slender and tall upper module of a FPSO according to the present invention;

[0018] Figure 2 This is a schematic diagram of initial information of a method for cooperatively fixing and transporting a slender and tall upper module of a FPSO using multiple hydraulic cylinders according to the present invention;

[0019] Figure 3 A schematic diagram of the state of the axle vehicle transportation process of a method for cooperative fixed transportation of multiple hydraulic cylinders for FPSO thin and tall upper modules according to the present invention;

[0020] Figure 4 The present invention is a flow chart of a method for the coordinated fixed transportation of multiple hydraulic cylinders for FPSO slender and tall upper modules. DETAILED DESCRIPTION

[0021] The present invention is described in detail below in conjunction with the accompanying drawings:

[0022] The method of the invention is suitable for real-time adjustment and coordinated fixing of multiple hydraulic cylinders during transportation of a slender and tall upper module SPMT of a FPSO.

[0023] A method for the coordinated fixed transportation of multiple hydraulic cylinders for a slender and tall upper module of an FPSO according to the present invention comprises the following steps:

[0024] Step 1: Install a multi-hydraulic cylinder coordinated fixed transport device, such as Figure 1 As shown, the multi-hydraulic cylinder coordinated fixed transport device includes an axis vehicle 1, an information detection device 2 is arranged on the loading surface of the axis vehicle 1, and the information detection device 2 can detect the acceleration of the axis vehicle 1 and the angle between the loading surface and the horizontal plane. A fixed baffle 3 is relatively fixed at the front and rear ends of the loading surface of the axis vehicle 1, and at least one clamping device 4 is connected to each fixed baffle 3 through a guide rail slider structure. The clamping device 4 can slide up and down in the vertical direction on the fixed baffle 2 through the guide rail slider structure and is fixed to the fixed baffle 3 at a set position through a fixed structure. The clamping device 4 includes a self-locking hydraulic cylinder, and a V-shaped clamping plate is welded and fixed on the top surface of the piston rod of the self-locking hydraulic cylinder. The FPSO thin and tall upper module to be clamped is placed on the loading surface of the axis vehicle 1 between the relatively arranged V-shaped clamping plates.

[0025] Step 2: Figure 1As shown, the FPSO thin and tall upper module to be transported is hoisted onto the loading surface between the V-shaped clamping plates. According to the position of the mass center O of the FPSO thin and tall upper module to be transported obtained in the three-dimensional modeling software, the weight M of the FPSO thin and tall upper module and the height H from the mass center O of the FPSO thin and tall upper module to be transported to the loading surface are recorded. The distances between the mass center O and the front and rear ends of the bottom of the FPSO thin and tall upper module along the length direction of the axis vehicle are recorded as L respectively. 前 , L 后 ; Then, according to the mass M of the slender FPSO upper module to be transported, the maximum acceleration during transportation, and the maximum slope that may be encountered, 2n clamping devices are selected, and n of the clamping devices are installed on the front fixed baffle. The height from the center axis of each clamping device to the loading surface is recorded as h 前1 、h 前2 、h 前3 ·····h 前n , install the other n clamping devices on the fixed baffle at the rear end, and record the height from the center axis of each clamping device to the loading surface as h 后1 、h 后2 、h 后3 ·····h 后n ,h 前n With h 后n One-to-one correspondence is equal; adjust the clamping plate to contact the FPSO's thin and tall upper module and make all the front and rear clamping devices maintain a certain initial clamping force F 初 , query the static friction coefficient ρ between the FPSO thin and high upper module and the loading surface (the material query Mechanical Design Manual, 6th edition, Chemical Industry Press, 2016, the friction coefficient table between common materials is obtained), and finally, the height from the center axis of each clamping device to the loading surface, the initial clamping force F 初 , static friction coefficient ρ, and gravitational acceleration g are input and saved in the computer.

[0026] The information detection device set on the loading surface is connected to the computer via a wireless network. During the transportation process, it can detect the acceleration a of the axle vehicle and the angle θ between the loading surface and the horizontal plane in real time, and can transmit this information to the computer in real time via the wireless network.

[0027] Step 3: The axle vehicle is started. During the transportation process, the information detection device performs information detection every time interval t, and transmits the detected axle vehicle acceleration a and the angle θ between the loading surface and the horizontal plane to the computer in real time through the wireless network. The computer performs the following process: the computer first determines the state of the axle vehicle according to the axle vehicle acceleration a, the angle θ between the loading surface and the horizontal plane, and the static friction coefficient ρ, and then obtains the clamping force F of the front end n clamping devices according to the corresponding force balance equation and torque balance equation 前1 、F 前2 、F前3 ······F 前n ; Clamping force F of the rear n clamping devices 后1 、F 后2 、F 后3 ······F followed by n;

[0028] Step 4: According to the obtained clamping force F of the n clamping devices at the front end 前1 、F 前2 、F 前3 ······F 前n ; Clamping force F of the rear n clamping devices 后1 、F 后2 、F 后3 ······F 后n ; The adjustment amount of the clamping force of the 2n clamping devices is further obtained through difference processing, as shown in the following formula.

[0029] Where i and j are both [1,n]

[0030] Where: ΔF 前i is the adjustment amount of the clamping force of the i-th clamping device at the front end; ΔF 后j is the adjustment amount of the clamping force of the jth clamping device at the rear end; f 前i and f 后j They are the clamping force of the front clamping device and the rear clamping device before adjustment, and the initial value is the initial clamping force F 初 .

[0031] Step 5: The computer outputs a control signal to the clamping device according to the calculated adjustment amount of the clamping force of the clamping device to adjust the clamping force output by the clamping device. If the adjustment amount is zero, the clamping device does not adjust; if the adjustment amount is not zero, the clamping force of the clamping device is adjusted under the control of the computer, and F is set to 前i and F 后j As the latest data to replace the clamping force f of the front clamping device 前i and f 后j Save to your computer.

[0032] Step 6. Repeat steps 3, 4, and 5 until the transportation process is completed.

[0033] As an embodiment of the present invention, the clamping force F of the front end n clamping devices is obtained according to the corresponding force balance equation and the moment balance equation in step 3. 前1 、F 前2 、F 前3 ······F 前n ; Clamping force F of the rear n clamping devices 后1 、F 后2 、F后3 ······F 后n The specific process is as follows:

[0034] First, the road condition during the axle truck transportation process is determined based on the angle θ between the loading surface and the horizontal plane. The specific determination is as follows:

[0035] If the angle θ between the loading surface and the horizontal plane is greater than 0, the axle vehicle is in a downhill state, and the process goes to step 30;

[0036] If the angle θ between the loading surface and the horizontal plane is 0, the axle vehicle is in a non-ramp state, and the process goes to step 40;

[0037] If the angle θ between the loading surface and the horizontal plane is less than 0, the axle vehicle is in a downhill state and the process goes to step 50 .

[0038] Step 30: In a downhill state where the angle θ between the loading surface of the axle vehicle and the horizontal plane is greater than 0, the driving state of the axle vehicle is determined as follows according to the acceleration a:

[0039] When the axis vehicle acceleration a>0, the axis vehicle is in a downhill acceleration state, and the process goes to step 301;

[0040] When the axis vehicle acceleration a=0, the axis vehicle is in a downhill uniform speed state, and the process goes to step 302;

[0041] When the axis vehicle acceleration a<0, the axis vehicle is in a downhill deceleration state, and enters step 303.

[0042] Step 301: When the axle vehicle is in a downhill acceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows:

[0043] Step 1: Judge according to gsinθ+gcosθρ≥a and gsinθ-gcosθρ≤a. If not, proceed to step 2. If true, then judge according to L 前 After judging the relationship with Htanθ, the following control is performed:

[0044] The first one, L 前 ≥Htanθ, the clamping forces of the front clamping device and the rear clamping device are maintained at the initial clamping force Finitial unchanged.

[0045] The second type, L 前 When <Htanθ,gsinθ≤a, it is known that there are 2n clamping devices at the front and rear ends. To simplify the calculation, the clamping force of the n front clamping devices needs to be adjusted with the reference value F of the front clamping force. 前 Indicates that the clamping force of n rear-end clamping devices is adjusted by the clamping force of the rear end reference value F 后 The formula is as follows:

[0046] Where i and j are both [1,n]

[0047] F 前 The reference value for the front clamping force adjustment; F 后 Adjust the reference value for the clamping force at the rear end.

[0048] After that, adjust the reference value F with the clamping force 前 and F 后 Substitute the 2n clamping forces represented by the equation into the force balance equation and the moment balance equation to solve for the clamping force adjustment reference value F 前 and F 后 .

[0049] Force balance equation:

[0050]

[0051] Torque balance equation:

[0052]

[0053] Finally, adjust the reference value F according to the clamping force 前 and F 后 Inversely solve the clamping force of each clamping device, that is, F 前 and F 后 Substitute into the following formula.

[0054] Where i and j are both [1,n]

[0055] The third type, L 前 When <tanθ,gsinθ>a, the clamping force of the front clamping device and the rear clamping device is:

[0056] Where i and j are both [1,n]

[0057] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0058] Force balance equation:

[0059]

[0060] Torque balance equation:

[0061]

[0062] Step 2: Make a judgment based on gsinθ+gcosθρ<a. If it does not hold, proceed to step 3. If it holds, let the clamping force of the front clamping device and the rear clamping device be:

[0063] Where i and j are both [1,n]

[0064] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0065] Force balance equation:

[0066]

[0067] Torque balance equation:

[0068]

[0069] Step 3: When gsinθ-gcosθρ>a, the clamping force of the front clamping device and the rear clamping device is:

[0070] Where i and j are both [1,n]

[0071] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0072] Force balance equation:

[0073]

[0074] Torque balance equation:

[0075]

[0076] Step 302: When the axle vehicle is in a downhill uniform speed state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows:

[0077] The first step is to judge according to ρ≥tanθ. If it does not hold, proceed to the second step; if it holds, then judge according to L 前 After determining the magnitude relationship with Htanθ, the following control is performed.

[0078] The first type: L 前 ≥Htanθ, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant.

[0079] The second type: L 前When <Htanθ, the clamping force of the front clamping device and the rear clamping device is:

[0080] Where i and j are both [1,n]

[0081] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0082] Force balance equation:

[0083]

[0084] Torque balance equation:

[0085]

[0086] Step 2: When ρ<tanθ, the clamping force of the front clamping device and the rear clamping device is:

[0087] Where i and j are both [1,n]

[0088] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0089] Force balance equation:

[0090]

[0091] Torque balance equation:

[0092]

[0093] 303. When the axle vehicle is in a downhill deceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows:

[0094] Step 1: Judge according to gcosθρ-gsinθ+a≥0. If it does not hold, proceed to step 2. If it holds, then judge according to L 前 After determining the magnitude relationship with Htanθ, the following control is performed.

[0095] The first type: L 前 ≥Htanθ, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant.

[0096] The second type: L 前 When <Htanθ, the clamping force of the front clamping device and the rear clamping device is:

[0097] Where i and j are both [1,n]

[0098] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0099] Force balance equation:

[0100]

[0101] Torque balance equation:

[0102]

[0103] Step 2: When gcosθρ-gsinθ+a<0, the clamping force of the front clamping device and the rear clamping device is:

[0104] Where i and j are both [1,n]

[0105] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0106] Force balance equation:

[0107]

[0108] Torque balance equation:

[0109]

[0110] Step 40: In a non-slope state where the angle θ between the axle vehicle loading surface and the horizontal plane is 0, the driving state of the axle vehicle is further determined as follows based on the axle vehicle acceleration a:

[0111] When the axis vehicle acceleration a>0, the axis vehicle is in a non-slope acceleration state, and the process goes to step 401;

[0112] When the axis vehicle acceleration a=0, the axis vehicle is in a non-slope uniform speed state, and the process goes to step 402;

[0113] When the axis vehicle acceleration a<0, the axis vehicle is in a non-slope deceleration state and enters step 403.

[0114] Step 401: When the axle vehicle is in a non-slope acceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows:

[0115] Step 1: Judge according to gcosθρ≥a. If it is not true, proceed to step 2. If it is true, maintain the clamping force of the front clamping device and the rear clamping device at the initial clamping force F. 初 constant.

[0116] Step 2: When gcosθρ<a is satisfied, the clamping force of the front clamping device and the rear clamping device is:

[0117] Where i and j are both [1,n]

[0118] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0119] Force balance equation:

[0120]

[0121] Torque balance equation:

[0122]

[0123] Step 402: When the axle vehicle is in a non-slope uniform speed state, the clamping force of all clamping devices at the front and rear ends is maintained at the initial clamping force F 初 constant.

[0124] Step 403: When the axle vehicle is in a non-slope deceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows:

[0125] Step 1: Judge according to gcosθρ+a≥0. If not, proceed to step 2. If true, maintain the clamping force of the front clamping device and the rear clamping device at the initial clamping force F. 初 constant.

[0126] Step 2: When gcosθρ+a<0, the clamping force of the front clamping device and the rear clamping device is:

[0127] Where i and j are both [1,n]

[0128] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0129] Force balance equation:

[0130]

[0131] Torque balance equation:

[0132]

[0133] Step 50: In the uphill state where the angle θ between the loading surface of the axle vehicle and the horizontal plane is less than 0, the driving state of the axle vehicle is further judged according to the acceleration a of the axle vehicle. The specific judgment is as follows:

[0134] When the axis vehicle acceleration a>0, the axis vehicle is in an uphill acceleration state, and the process goes to step 501;

[0135] When the axis vehicle acceleration a=0, the axis vehicle is in an uphill uniform speed state, and the process goes to step 502;

[0136] When the axis vehicle acceleration a<0, the axis vehicle is in an uphill deceleration state and enters step 503.

[0137] Step 501: When the axle vehicle is in an uphill acceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows:

[0138] Step 1: Judge according to gcosθρ+gsinθ≥a. If it does not hold, proceed to step 2. If it holds, then judge according to L 后 The relationship between Htanθ and the magnitude of Htanθ can be determined and solved as follows.

[0139] The first type: L 后 +Htanθ≥0, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant.

[0140] The second type: L 后 When +Htanθ<0, the clamping force of the front clamping device and the rear clamping device is:

[0141] Where i and j are both [1,n]

[0142] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0143] Force balance equation:

[0144]

[0145] Torque balance equation:

[0146]

[0147] Step 2: When gcosθρ+gsinθ<a is satisfied, the clamping force of the front clamping device and the rear clamping device is:

[0148] Where i and j are both [1,n]

[0149] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0150] Force balance equation:

[0151]

[0152] Torque balance equation:

[0153]

[0154] Step 502: When the axle vehicle is in an uphill uniform speed state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows:

[0155] Step 1: Judge according to ρ+tanθ≥0. If it does not hold, proceed to step 2. If it holds, then judge according to L 后 Judge and solve the problem based on the relationship between the value and Htanθ.

[0156] The first type: L 后 +Htanθ≥0, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant.

[0157] The second type: L 后 When +Htanθ<0, the clamping force of the front clamping device and the rear clamping device is:

[0158] Where i and j are both [1,n]

[0159] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0160] Force balance equation:

[0161]

[0162] Torque balance equation:

[0163]

[0164] Step 3: When ρ+tanθ<0, the clamping force of the front clamping device and the rear clamping device is:

[0165] Where i and j are both [1,n]

[0166] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0167] Force balance equation:

[0168]

[0169] Torque balance equation:

[0170]

[0171] Step 503: When the axle vehicle is in an uphill deceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows:

[0172] Step 1: Judge according to gcosθρ-gsinθ+a≥0 and a-gcosθρ-gsinθ≤0. If not, proceed to step 2. If yes, then judge according to L 后 Judge and solve the problem based on the relationship between the value and Htanθ.

[0173] The first type: L 后 +Htanθ≥0, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant.

[0174] The second type: L 后 When +Htanθ<0 and a≥gsinθ, the clamping force of the front clamping device and the rear clamping device is:

[0175] Where i and j are both [1,n]

[0176] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0177] Force balance equation:

[0178]

[0179] Torque balance equation:

[0180]

[0181] The third type: L 后 When +Htanθ<0 and a<gsinθ, the clamping force of the front clamping device and the rear clamping device is:

[0182] Where i and j are both [1,n]

[0183] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0184] Force balance equation:

[0185]

[0186] Torque balance equation:

[0187]

[0188] Step 2: Make a judgment based on gcosθρ-gsinθ+a<0. If it does not hold, proceed to step 3. If it holds, the clamping force of the front clamping device and the rear clamping device is:

[0189] Where i and j are both [1,n]

[0190] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to inversely solve the clamping force of each clamping device.

[0191] Force balance equation:

[0192]

[0193] Torque balance equation:

[0194]

[0195] Step 3: When a-gcosθρ-gsinθ>0, the clamping force of the front clamping device and the rear clamping device is:

[0196] Where i and j are both [1,n]

[0197] Similarly, two clamping force reference values ​​are solved by listing the force balance equation and the moment balance equation, and the results are substituted into the above formula to solve the clamping force of each clamping device. Force balance equation:

[0198]

[0199] Torque balance equation:

[0200]

[0201] The above-described embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A method for the coordinated fixing and transportation of multiple hydraulic cylinders for FPSO thin and tall upper modules, characterized in that The following steps are involved: Step 1, installing a multi-hydraulic cylinder coordinated fixed transport device, the multi-hydraulic cylinder coordinated fixed transport device comprising an axis vehicle (1), an information detection device (2) is arranged on the loading surface of the axis vehicle, the information detection device can detect the acceleration of the axis vehicle and the angle between the loading surface and the horizontal plane, a fixed baffle (3) is relatively fixed at the front and rear ends of the loading surface of the axis vehicle, at least one clamping device (4) is connected to each fixed baffle through a guide rail slider structure, the clamping device can slide up and down in the vertical direction on the fixed baffle through the guide rail slider structure and be fixed to the fixed baffle at a set position through a fixed structure, the clamping device comprises a self-locking hydraulic cylinder, a V-shaped clamping plate is welded and fixed on the top surface of the piston rod of the self-locking hydraulic cylinder, and a FPSO thin and tall upper module to be clamped is placed on the loading surface of the axis vehicle between the relatively arranged V-shaped clamping plates; Step 2: hoist the FPSO upper module to be transported onto the loading surface between the V-shaped clamping plates. According to the position of the center of mass O of the FPSO upper module to be transported obtained in the 3D modeling software, record the weight M of the FPSO upper module and the height H from the center of mass O of the FPSO upper module to be transported to the loading surface. The distances between the center of mass O and the front and rear ends of the bottom of the FPSO upper module along the length direction of the axis vehicle are recorded as L. 前 , L 后 ; Then, according to the mass M of the slender FPSO upper module to be transported, the maximum acceleration during transportation, and the maximum slope that may be encountered, 2n clamping devices are selected, and n of the clamping devices are installed on the front fixed baffle. The height from the center axis of each clamping device to the loading surface is recorded as h 前1 、h 前2 、h 前3 ·····h 前n , install the other n clamping devices on the fixed baffle at the rear end, and record the height from the center axis of each clamping device to the loading surface as h 后1 、h 后2 、h 后3 ·····h 后n ,h 前n With h 后n One-to-one correspondence is equal; adjust the clamping plate to contact the FPSO's thin and tall upper module and make all the front and rear clamping devices maintain a certain initial clamping force F 初 , query the static friction coefficient ρ between the FPSO's slender upper module and the loading surface, and finally, calculate the height from the center axis of each clamping device to the loading surface, the initial clamping force F 初 , static friction coefficient ρ, gravitational acceleration g information is input and saved in the computer; The information detection device arranged on the loading surface is connected to the computer via a wireless network, and can detect the acceleration a of the axle vehicle and the angle θ between the loading surface and the horizontal plane in real time during the transportation process, and can transmit this information to the computer in real time via the wireless network; Step 3: The axle vehicle is started. During the transportation process, the information detection device performs information detection every time interval t, and transmits the detected axle vehicle acceleration a and the angle θ between the loading surface and the horizontal plane to the computer in real time through the wireless network. The computer performs the following process: the computer first determines the state of the axle vehicle according to the axle vehicle acceleration a, the angle θ between the loading surface and the horizontal plane, and the static friction coefficient ρ, and then obtains the clamping force F of the front end n clamping devices according to the corresponding force balance equation and torque balance equation 前1 、F 前2 、F 前3 ······F 前n ; Clamping force F of the rear n clamping devices 后1 、F 后2 、F 后3 ······F 后n ; Step 4: According to the obtained clamping force F of the n clamping devices at the front end 前1 、F 前2 、F 前3 ······F 前n ; Clamping force F of the rear n clamping devices 后1 、F 后2 、F 后3 ······F 后n ; The adjustment amount of the clamping force of the 2n clamping devices is further obtained through difference processing, as shown in the following formula; Where i and j are both [1,n] Where: ΔF 前i is the adjustment amount of the clamping force of the i-th clamping device at the front end; ΔF 后j f is the adjustment amount of the clamping force of the jth clamping device at the rear end; 前i and f 后j They are the clamping force of the front clamping device and the rear clamping device before adjustment, and the initial value is the initial clamping force F 初 ; Step 5: The computer outputs a control signal to the clamping device according to the calculated adjustment amount of the clamping force of the clamping device to adjust the clamping force output by the clamping device. If the adjustment amount is zero, the clamping device does not adjust; if the adjustment amount is not zero, the clamping force of the clamping device is adjusted under the control of the computer, and F is set to 前i and F 后j As the latest data to replace the clamping force f of the front clamping device 前i and f 后j Save to computer; Step 6. Repeat steps 3, 4, and 5 until the transportation process is completed.

2. The method for multi-hydraulic cylinder coordinated fixed transportation of FPSO slender upper modules according to claim 1, characterized in that: In the step 3, the clamping force F of the n clamping devices at the front end is obtained according to the corresponding force balance equation and the moment balance equation. 前1 、F 前2 、F 前3 ······F 前n ; Clamping force F of the rear n clamping devices 后1 、F 后2 、F 后3 ······F 后n The specific process is as follows: First, the road condition during the axle truck transportation process is determined based on the angle θ between the loading surface and the horizontal plane. The specific determination is as follows: If the angle θ between the loading surface and the horizontal plane is greater than 0, the axle vehicle is in a downhill state, and the process goes to step 30; If the angle θ between the loading surface and the horizontal plane is 0, the axle vehicle is in a non-ramp state, and the process goes to step 40; If the angle θ between the loading surface and the horizontal plane is less than 0, the axle vehicle is in a downhill state, and the process goes to step 50; Step 30: In a downhill state where the angle θ between the loading surface of the axle vehicle and the horizontal plane is greater than 0, the driving state of the axle vehicle is determined as follows according to the acceleration a: When the axis vehicle acceleration a>0, the axis vehicle is in a downhill acceleration state, and the process goes to step 301; When the axis vehicle acceleration a=0, the axis vehicle is in a downhill uniform speed state, and the process goes to step 302; When the axis vehicle acceleration a<0, the axis vehicle is in a downhill deceleration state, and the process goes to step 303; Step 301: When the axle vehicle is in a downhill acceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows: Step 1: Judge according to gsinθ+gcosθρ≥a and gsinθ-gcosθρ≤a. If not, proceed to step 2. If true, then judge according to L 前 After judging the relationship with Htanθ, the following control is performed: The first one, L 前 ≥Htanθ, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant; The second type, L 前 When <Htanθ,gsinθ≤a, it is known that there are 2n clamping devices at the front and rear ends; Where i and j are both [1,n] F 前 The reference value for the front clamping force adjustment; F 后 Adjust the reference value for the clamping force at the rear end; Force balance equation: Torque balance equation: The third type, L 前 When <tanθ,gsinθ>a, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 2: Make a judgment based on gsinθ+gcosθρ<a. If it does not hold, proceed to step 3. If it holds, let the clamping force of the front clamping device and the rear clamping device be: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 3: When gsinθ-gcosθρ>a, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 302: When the axle vehicle is in a downhill uniform speed state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows: The first step is to judge according to ρ≥tanθ. If it does not hold, proceed to the second step; if it holds, then judge according to L 前 After judging the relationship with Htanθ, the following control is performed; The first type: L 前 ≥Htanθ, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant; The second type: L 前 When <Htanθ, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 2: When ρ<tanθ, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation:

303. When the axle vehicle is in a downhill deceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows: Step 1: Judge according to gcosθρ-gsinθ+a≥0. If it does not hold, proceed to step 2. If it holds, then judge according to L 前 After judging the relationship with Htanθ, the following control is performed; The first type: L 前 ≥Htanθ, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant; The second type: L 前 When <Htanθ, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 2: When gcosθρ-gsinθ+a<0, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 40: In a non-slope state where the angle θ between the axle vehicle loading surface and the horizontal plane is 0, the driving state of the axle vehicle is further determined as follows based on the axle vehicle acceleration a: When the axis vehicle acceleration a>0, the axis vehicle is in a non-slope acceleration state, and the process goes to step 401; When the axis vehicle acceleration a=0, the axis vehicle is in a non-slope uniform speed state, and the process goes to step 402; When the axis vehicle acceleration a<0, the axis vehicle is in a non-slope deceleration state, and the process goes to step 403; Step 401: When the axle vehicle is in a non-slope acceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows: Step 1: Judge according to gcosθρ≥a. If it is not true, proceed to step 2. If it is true, maintain the clamping force of the front clamping device and the rear clamping device at the initial clamping force F. 初 constant; Step 2: When gcosθρ<a is satisfied, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 402: When the axle vehicle is in a non-slope uniform speed state, the clamping force of all clamping devices at the front and rear ends is maintained at the initial clamping force F 初 constant; Step 403: When the axle vehicle is in a non-slope deceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows: Step 1: Judge according to gcosθρ+a≥0. If not, proceed to step 2. If true, maintain the clamping force of the front clamping device and the rear clamping device at the initial clamping force F. 初 constant; Step 2: When gcosθρ+a<0, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 50: In the uphill state where the angle θ between the loading surface of the axle vehicle and the horizontal plane is less than 0, the driving state of the axle vehicle is further judged according to the acceleration a of the axle vehicle. The specific judgment is as follows: When the axis vehicle acceleration a>0, the axis vehicle is in an uphill acceleration state, and the process goes to step 501; When the axis vehicle acceleration a=0, the axis vehicle is in an uphill uniform speed state, and the process goes to step 502; When the axis vehicle acceleration a<0, the axis vehicle is in an uphill deceleration state, and the process goes to step 503; Step 501: When the axle vehicle is in an uphill acceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows: Step 1: Judge according to gcosθρ+gsinθ≥a. If it does not hold, proceed to step 2. If it holds, then judge according to L 后 The relationship between the magnitude of Htanθ is determined as follows: The first type: L 后 +Htanθ≥0, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant; The second type: L 后 When +Htanθ<0, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 2: When gcosθρ+gsinθ<a is satisfied, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 502: When the axle vehicle is in an uphill uniform speed state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows: Step 1: Judge according to ρ+tanθ≥0. If it does not hold, proceed to step 2. If it holds, then judge according to L 后 Judge and solve the relationship with Htanθ; The first type: L 后 +Htanθ≥0, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant; The second type: L 后 When +Htanθ<0, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 3: When ρ+tanθ<0, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 503: When the axle vehicle is in an uphill deceleration state, the steps for calculating the clamping force of the front clamping device and the rear clamping device are as follows: Step 1: Judge according to gcosθρ-gsinθ+a≥0 and a-gcosθρ-gsinθ≤0. If not, proceed to step 2. If yes, then judge according to L 后 Judge and solve the relationship with Htanθ; The first type: L 后 +Htanθ≥0, the clamping force of the front clamping device and the rear clamping device are maintained at the initial clamping force F 初 constant; The second type: L 后 When +Htanθ<0 and a≥gsinθ, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: The third type: L 后 When +Htanθ<0 and a<gsinθ, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 2: Make a judgment based on gcosθρ-gsinθ+a<0. If it does not hold, proceed to step 3. If it holds, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Force balance equation: Torque balance equation: Step 3: When a-gcosθρ-gsinθ>0, the clamping force of the front clamping device and the rear clamping device is: Where i and j are both [1,n] Torque balance equation:

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