Joint simulation method and device for active heave compensation system and medium

Abstract

The invention discloses a joint simulation method and device for an active heave compensation system and a medium, and relates to the technical field of ocean engineering.The method comprises the steps that a mechanical execution system of the active heave compensation system is constructed through OrcaFlex so as to simulate the heave compensation dynamics process of a controlled load under the complex sea condition; a hydraulic driving system of the active heave compensation system is constructed through AMESim so as to simulate dynamic response, hydraulic flow and pressure changes of a real nonlinear hydraulic driving system under different working conditions; a control system of the active heave compensation system is constructed through a Simulink module of the Matlab; and the connection between the Matlab and the AMESim and the connection between the Matlab and the OrcaFlex are constructed through an AMESim joint simulation interface of the Matlab and an Matlab Engine API (Application Program Interface) oriented to the Python environment, so that joint simulation is executed. With the adoption of the method, OrcaFlex, Python, Matlab and AMESim can be combined to construct a mechanical-electrical-hydraulic research system which is closer to engineering practice, so that a more accurate and reliable simulation analysis result is obtained.

Description

Technical Field

[0001] The present invention relates to the field of marine engineering technology, and in particular to a joint simulation method, device and medium for an active heave compensation system. Background Art

[0002] In actual marine ship engineering operations, such as offshore material supply and transportation, offshore oil and gas development, seabed mineral exploration and mining, and manned submersible deployment and recovery, the operating ship will inevitably be affected by the combined influence of external environments such as wind, waves, and currents, resulting in complex six-degree-of-freedom motion, namely: sway, sway, heave, pitch, roll, and pitch. In order to reduce or eliminate horizontal interference, the operating ship is usually equipped with a dynamic positioning system to effectively suppress sway, sway, and pitch motion to ensure that the ship is stably maintained in the designated working position. However, the continuous heave motion of the ship caused by roll, pitch, and heave significantly shortens the effective window of offshore operations and seriously affects the positioning accuracy of the suspended load. This can easily lead to overload damage to equipment such as cranes and A-frames, fatigue fracture of winch cables, and engineering accidents such as instantaneous impact or secondary suspension between the transferred materials and the deck, thereby bringing huge safety hazards and causing serious economic losses. Therefore, the development and application of heave compensation equipment to achieve decoupling of the coupled motion between the load and the supporting platform is crucial to improving the safety, efficiency and reliability of ship operations in complex sea conditions.

[0003] In actual engineering operations, according to different application scenarios of the heave compensation device, its core working conditions can be roughly divided into three types: load suspension, crossing the splash zone, and deep underwater. Due to the high cost and long period of sea trials and scaled-down tests, software simulation analysis methods are generally used at home and abroad to carry out research on active heave compensation control algorithms. Among them, the heave compensation system is usually described by an ideal linearized transfer function or state space expression, which to a certain extent ignores the nonlinearity and constraints of the heave compensation device itself. At the same time, it is difficult to accurately obtain the real six-degree-of-freedom motion of the controlled load under the action of cable tension and hydrodynamics, resulting in the simulation results deviating from the actual system and low credibility.

[0004] Therefore, it is necessary to establish a joint simulation method for active heave compensation systems applicable to all working conditions, which can be used for the real simulation of offshore operations such as material transfer and manned submersible deployment and recovery under complex sea conditions, and to achieve real-time monitoring of system status, cable tension and heave compensation accuracy during heave compensation, and then analyze and optimize the control strategy and algorithm configuration of the active heave compensation system, providing an efficient research method for system engineers and researchers to design, analyze and improve the performance of active heave compensation devices. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a joint simulation method, device and medium for an active heave compensation system, which can combine OrcaFlex, Python, Matlab and AMESim to build a mechanical-electrical-hydraulic research system that is closer to engineering practice, thereby obtaining more accurate and reliable simulation analysis results.

[0006] In order to solve the above technical problems, the present invention provides a joint simulation method for an active heave compensation system, comprising: constructing a mechanical execution system of the active heave compensation system through OrcaFlex to simulate the heave compensation dynamics process of a controlled load under complex sea conditions; constructing a hydraulic drive system of the active heave compensation system through AMESim to simulate the dynamic response, hydraulic flow and pressure changes of a real nonlinear hydraulic drive system under different working conditions; constructing a control system of the active heave compensation system through a Simulink module of Matlab; constructing a connection between Matlab, AMESim and OrcaFlex through the AMESim joint simulation interface of Matlab and the Matlab Engine API for Python environment; and performing joint simulation.

[0007] As an improvement of the above-mentioned scheme, the step of executing joint simulation includes: the mechanical execution system monitors the execution status in real time and feeds back the execution status to the control system, the hydraulic drive system monitors the hydraulic status in real time and feeds back the hydraulic status to the control system, and the control system calculates and outputs a control signal to the mechanical execution system according to the execution status and the hydraulic status, so as to drive the mechanical execution system to perform heave compensation.

[0008] As an improvement of the above solution, the execution state includes the mechanical system state, cable tension and the ship heave motion sequence.

[0009] As an improvement of the above scheme, the steps of constructing a mechanical execution system of an active heave compensation system through OrcaFlex include: constructing operating vessel and environmental parameters to simulate the irregular six-degree-of-freedom response of the operating vessel under complex sea conditions; connecting a folding arm crane to the operating vessel through a fixed pair so that the folding arm crane rises and falls with the operating vessel; fixing a hydraulic winch on the folding arm crane, and arranging the cable of the hydraulic winch along the main arm and the folding arm structure direction of the folding arm crane to simulate the rope-retracting and releasing action of the hydraulic winch during the heave compensation process; connecting an additional cable to the hydraulic winch to consider the influence of the additional cable on the heave compensation process; connecting a suspended load to the hydraulic winch or an additional cable unit according to different working conditions to simulate the rotation of the hydraulic winch to drive the suspended load to rise and lower.

[0010] As an improvement of the above scheme, the steps of constructing a hydraulic drive system of an active heave compensation system through AMESim to simulate the dynamic response, hydraulic flow and pressure changes of a real nonlinear hydraulic drive system under different working conditions include: constructing a high-pressure constant pressure source to provide pressure to the hydraulic drive system; constructing a control mechanism to simulate the nonlinear characteristics and actual physical constraints of the hydraulic drive system; feedback the valve core displacement of the valve core mechanism through a displacement sensor to drive the control mechanism; converting the piston displacement of the control mechanism into a swash plate inclination signal; and adjusting the displacement of the variable hydraulic motor according to the swash plate inclination signal to output a driving torque to the hydraulic winch under constant pressure conditions.

[0011] As an improvement of the above solution, when constructing the control system of the active heave compensation system through the Simulink module of Matlab, a nonlinear prediction theoretical model of the control system is established from the mechanism level for the mechanical execution system and the hydraulic drive system.

[0012] As an improvement of the above solution, the versions of OrcaFlex, Python, Matlab and AMESim are compatible with each other.

[0013] Correspondingly, the present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of the above-mentioned joint simulation method for an active heave compensation system when executing the computer program.

[0014] Accordingly, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the above-mentioned joint simulation method for an active heave compensation system are implemented.

[0015] The implementation of the present invention has the following beneficial effects:

[0016] The OrcaFlex / Python / Matlab / AMESim joint simulation method adopted in the present invention can build a mechanical-electrical-hydraulic research system closer to engineering practice under the conditions of considering model nonlinearity, state and control constraints, and even the influence of hydrodynamics and external environmental factors, thereby obtaining more accurate and reliable simulation analysis results;

[0017] The present invention indirectly realizes the joint simulation of OrcaFlex and professional hydraulic drive system modeling and simulation software AMESim through the OrcaFlex embedded Python and the joint simulation interface provided by Matlab / Simulink, so that the OrcaFlex software is not limited to executing the linear winch elements of simple winch speed / tension control, but can also consider the influence of nonlinear hydraulic system on winch control in actual marine engineering operations, thereby further improving the authenticity, accuracy and credibility of OrcaFlex simulation results. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a flow chart of an embodiment of a joint simulation method for an active heave compensation system according to the present invention;

[0019] Figure 2 is a schematic diagram of an embodiment of a mechanical execution system in the present invention;

[0020] Figure 3 It is a schematic diagram of an embodiment of the hydraulic drive system in the present invention. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0022] See also Figure 1 , Figure 1 The flowchart of an embodiment of the joint simulation method for an active heave compensation system of the present invention is shown, which includes:

[0023] S101, builds the mechanical actuation system of the active heave compensation system through OrcaFlex to simulate the heave compensation dynamics of controlled loads in complex sea conditions;

[0024] like Figure 2 As shown, OrcaFlex software is used to construct the mechanical execution system of the active heave compensation system, simulate and analyze the heave compensation dynamics of the controlled load under the action of cable tension and hydrodynamic force in complex sea conditions, and monitor and feedback the execution status in real time, which includes the mechanical system status, cable tension and ship heave motion sequence.

[0025] Specifically, the steps to build the mechanical actuation system of the active heave compensation system through OrcaFlex include:

[0026] (1) Construct the operating ship and environmental parameters to simulate the irregular six-degree-of-freedom response of the operating ship under complex sea conditions;

[0027] By setting the basic ship type parameters and RAO coefficients in the ship unit, the operating ship 1 is preliminarily defined, and the environmental parameters such as wind, waves, and currents of the target sea conditions are set in the environment tab, so as to simulate the irregular six-degree-of-freedom response of the operating ship under complex sea conditions;

[0028] (2) Connecting the folding arm crane to the operating vessel through a fixed pair so that the folding arm crane rises and falls with the operating vessel;

[0029] The rotary winch type folding arm crane 2 constructs a rigid structure frame through shape units, and is fixedly connected to the working vessel 1 through a fixed pair, and rises and falls with the working vessel 1;

[0030] (3) The hydraulic winch is fixed on the folding arm crane, and the cable of the hydraulic winch is arranged along the main arm and the folding arm structure of the folding arm crane to simulate the action of retracting and releasing the rope of the hydraulic winch during the heave compensation process;

[0031] The hydraulic winch 3 is created and fixed on the folding arm crane through the winch unit. The cable of the hydraulic winch 3 is arranged along the direction of the crane main arm and the folding arm structure. The winch unit is set to a specified speed mode to simulate the rope retracting and releasing action of the hydraulic winch 3 during the heave compensation process;

[0032] (4) Connect additional cables to the hydraulic winch to take into account the effect of the additional cables on the heave compensation process;

[0033] For deep underwater operation conditions where the weight of the cable cannot be ignored, an additional cable unit 4 needs to be connected to the hydraulic winch 3 to actually consider the influence of the cable's own weight and its buoyancy on the heave compensation process;

[0034] (5) Connect the suspended load to the hydraulic winch or additional cable unit according to different working conditions to simulate the rotation of the hydraulic winch to drive the suspended load up and down.

[0035] The suspended load 5 is created by a three-degree-of-freedom or six-degree-of-freedom floating unit and is fixedly connected to the hydraulic winch 3 or an additional cable unit 4 according to different working conditions, so as to simulate the rotation of the hydraulic winch to drive the load up and down, thereby realizing the active heave compensation function.

[0036] S102, construct the hydraulic drive system of the active heave compensation system through AMESim to simulate the dynamic response, hydraulic flow and pressure changes of the real nonlinear hydraulic drive system under different working conditions;

[0037] like Figure 3As shown in the figure, AMESim software is used to establish the hydraulic drive system of the active heave compensation system. With its rich hydraulic component library and hydraulic component design (HCD) library, hydraulic drive systems that meet the requirements of different drive forms can be selected and configured to simulate the dynamic response, hydraulic flow and pressure changes of the real nonlinear hydraulic drive system under different working conditions, and monitor and feedback the hydraulic system status in real time, thereby driving the mechanical actuator to complete the heave compensation action.

[0038] Specifically, the steps of constructing the hydraulic drive system of the active heave compensation system through AMESim include:

[0039] (1) The high-pressure constant-pressure source 6 is composed of a constant-pressure variable pump, an accumulator, a relief valve, etc., and is responsible for providing a stable pressure supply to each component of the hydraulic system;

[0040] (2) The electro-hydraulic servo valve 8 and the axial piston cylinder 9 constitute the core control mechanism of the secondary control hydraulic system;

[0041] (3) Use the HCD library to fine-tune the modeling and set the mechanism stoppers to simulate the nonlinear behavior of the system while considering the actual physical constraints;

[0042] (4) The valve core mechanism 7 is equipped with a displacement sensor for feedback of the displacement of the valve core, thereby driving the electro-hydraulic servo valve to switch direction and adjust the output load flow;

[0043] (5) The pressure difference between the two chambers of the axial piston cylinder is caused by the change in load flow, which causes the piston to move left and right. The displacement signal of the piston is converted into the inclination angle signal of the secondary element swash plate through the processing function;

[0044] (6) After receiving the swash plate inclination angle signal, the variable hydraulic motor / pump adjusts its own displacement and outputs a driving torque under a constant pressure condition to overcome the load torque caused by the cable tension fed back by the OrcaFlex software, thereby accurately calculating the rotational dynamics of the hydraulic winch 10.

[0045] S103, constructing the control system of the active heave compensation system through Matlab's Simulink module;

[0046] Matlab / Simulink is mainly used to build NMPC controllers and construct control systems for active heave compensation systems. Among them, the design of NMPC controllers needs to establish a nonlinear prediction theoretical model of the control system from the mechanism level for the mechanical execution system and the hydraulic drive system.

[0047] During the joint simulation process, AMESim and OrcaFlex software feed back the valve core displacement, plunger cylinder load pressure, piston displacement and speed, hydraulic winch angle and speed, controlled load displacement and speed in vector form to the Nonlinear MPC module to predict and solve nonlinear optimization problems and generate the optimal control signal of the active heave compensation system at the current moment. This control signal is used to control the secondary adjustment hydraulic system to output the driving torque, drive the winch to rotate forward and reverse to complete the compensation action, and repeat this cycle to offset external interference and finally realize the heave compensation function.

[0048] S104, building connections between Matlab, AMESim and OrcaFlex through Matlab's AMESim co-simulation interface and Matlab Engine API for Python environment;

[0049] Through the AMESim co-simulation interface provided by Matlab and the Matlab EngineAPI for the Python environment, information interaction between Matlab and AMESim and OrcaFlex software can be achieved, and the state variables fed back by the mechanical execution system and the hydraulic drive system can be received and processed, thereby calculating and outputting control signals.

[0050] It should be noted that the versions of OrcaFlex, Python, Matlab and AMESim must be compatible with each other.

[0051] Therefore, after the mechanical, hydraulic, and control system modules are set up, the OrcaFlex / Python / Matlab / AMESim joint simulation can be started by connecting the system lines and running the OrcaFlex model file.

[0052] S105, execute joint simulation to enable the mechanical execution system to monitor the execution status in real time and feed back the execution status to the control system, and the hydraulic drive system to monitor the hydraulic status in real time and feed back the hydraulic status to the control system. The control system calculates and outputs a control signal to the mechanical execution system according to the execution status and the hydraulic status, and drives the mechanical execution system to perform heave compensation.

[0053] As can be seen from the above, the present invention has the following beneficial effects:

[0054] 1. The present invention combines a number of authoritative software in the fields of dynamic analysis, hydraulic drive and control simulation, and gives full play to the simulation advantages of each software through the joint simulation interface provided by Matlab; compared with the traditional active heave compensation system research method, the OrcaFlex / Python / Matlab / AMESim joint simulation method can build a mechanical-electrical-hydraulic research system that is closer to engineering practice under the conditions of considering model nonlinearity, state and control constraints, and even the influence of hydrodynamics and external environmental factors, thereby obtaining more accurate and reliable simulation analysis results;

[0055] 2. The present invention can realistically simulate key working conditions during offshore operations, such as material transfer, deployment and recovery of manned submersibles, etc. It has a wide range of application scenarios, including but not limited to complex working conditions such as load suspension, crossing splash zone, and deep underwater. By writing and implementing a variety of control algorithms through Matlab / Simulink, it can effectively analyze and optimize the parameter configuration and control strategy of the active heave compensation system, providing an efficient research method for system engineers and researchers to design, analyze and improve the performance and function of the active heave compensation system.

[0056] 3. The present invention makes up for the application defects of OrcaFlex, a dynamic simulation software for marine engineering operation systems. Through OrcaFlex embedded Python and the joint simulation interface provided by Matlab / Simulink, the joint simulation of OrcaFlex and AMESim, a professional hydraulic drive system modeling and simulation software, is indirectly realized. This makes the OrcaFlex software not only limited to linear winch elements that perform simple winch speed / tension control, but also able to consider the impact of nonlinear hydraulic systems on winch control in actual marine engineering operations, thereby further improving the authenticity, accuracy and credibility of OrcaFlex simulation results.

[0057] 4. The design and integration of the control algorithm in the present invention are more flexible and rich. In the OrcaFlex / Python / Matlab / AMESim joint simulation system, Matlab / Simulink and OrcaFlex embedded Python can be used as the core of controller design; when designing traditional controllers (such as PID, MPC, NMPC), the professional packaging modules provided by Matlab / Simulink can be used for efficient design and rapid debugging; and when developing heave compensation algorithms that integrate artificial intelligence, the powerful deep learning framework provided by Python's rich third-party libraries (such as Pytorch and TensorFlow) becomes a better choice.

[0058] Correspondingly, the present invention also discloses a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of the above-mentioned joint simulation method for an active heave compensation system when executing the computer program.

[0059] At the same time, the present invention also discloses a computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the above-mentioned joint simulation method for an active heave compensation system are implemented.

[0060] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A joint simulation method for an active heave compensation system, characterized in that: include: Building a mechanical actuator system for an active heave compensation system using OrcaFlex to simulate the heave compensation dynamics of a controlled load in complex sea conditions; The hydraulic drive system of the active heave compensation system is constructed through AMESim to simulate the dynamic response, hydraulic flow and pressure changes of the real nonlinear hydraulic drive system under different working conditions; The control system of the active heave compensation system is constructed through Matlab's Simulink module; Building a connection between Matlab, AMESim and OrcaFlex through the AMESim co-simulation interface of Matlab and the Matlab Engine API for Python environment; Perform co-simulation.

2. The joint simulation method for an active heave compensation system according to claim 1, characterized in that: The steps of performing joint simulation include: The mechanical execution system monitors the execution status in real time and feeds back the execution status to the control system; The hydraulic drive system monitors the hydraulic status in real time and feeds back the hydraulic status to the control system; The control system calculates and outputs a control signal to the mechanical execution system according to the execution state and the hydraulic state, and drives the mechanical execution system to perform heave compensation.

3. The joint simulation method for an active heave compensation system according to claim 2, characterized in that: The execution state includes the state of the mechanical system, the tension of the cable, and the heave motion sequence of the vessel.

4. The joint simulation method for an active heave compensation system according to claim 1, characterized in that: The steps of constructing a mechanical actuation system of an active heave compensation system by using OrcaFlex include: Constructing operating vessel and environmental parameters to simulate irregular six-degree-of-freedom response of the operating vessel under complex sea conditions; Connecting the folding arm crane to the working vessel through a fixed pair so that the folding arm crane rises and falls with the working vessel; Fixing the hydraulic winch on the folding arm crane, and arranging the cable of the hydraulic winch along the main arm and the folding arm structure of the folding arm crane, so as to simulate the action of retracting and releasing the rope of the hydraulic winch during the heave compensation process; Connecting an additional cable to the hydraulic winch to take into account the effect of the additional cable on the heave compensation process; The suspended load is connected to the hydraulic winch or an additional cable unit according to different working conditions to simulate the rotation of the hydraulic winch to drive the suspended load to rise or lower.

5. The joint simulation method for an active heave compensation system according to claim 1, characterized in that: The steps of constructing the hydraulic drive system of the active heave compensation system through AMESim to simulate the dynamic response, hydraulic flow and pressure changes of the real nonlinear hydraulic drive system under different working conditions include: Construct a high-pressure constant-pressure source to provide pressure to the hydraulic drive system; Construct a control mechanism to simulate the nonlinear characteristics and actual physical constraints of the hydraulic drive system; Feedback of the valve core displacement of the valve core mechanism through a displacement sensor to drive the regulating mechanism; Converting the piston displacement of the control mechanism into a swash plate inclination angle signal; The displacement of the variable hydraulic motor is adjusted according to the swash plate inclination angle signal to output a driving torque to the hydraulic winch under a constant pressure condition.

6. The joint simulation method for an active heave compensation system according to claim 1, characterized in that: When constructing the control system of the active heave compensation system through the Simulink module of Matlab, a nonlinear prediction theoretical model of the control system is established from the mechanism level for the mechanical execution system and the hydraulic drive system.

7. The joint simulation method for an active heave compensation system according to claim 1, characterized in that: The versions of OrcaFlex, Python, Matlab and AMESim are compatible with each other.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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