Highly redundant system of active wave compensation offshore channel

Abstract

The invention provides a highly redundant system for active wave compensation of an offshore channel, and relates to the technical field of ships and maritime engineering, the highly redundant system comprises a hydraulic control unit, a motion control unit and a system control unit, the hydraulic control unit comprises a hydraulic unit distributed module I and a hydraulic unit distributed module II; the motion control unit comprises a first motion control unit distributed module, a second motion control unit distributed module, a first motion control CPU and a second motion control CPU. The system control unit comprises a first system control unit distributed module, a second system control unit distributed module, a first system control CPU and a second system control CPU. The first system control CPU and the second system control CPU are in control connection with the first motion control CPU and the second motion control CPU through a looped network formed by sequential closed-loop connection of a third switch, a fourth switch, a fifth switch and a sixth switch. The first system control CPU and the second system control CPU are connected with the first server and the second server through double links formed by connecting the first switch and the second switch.

Description

Technical Field

[0001] The invention relates to the field of ship and marine engineering technology, and in particular to a highly redundant system for an active wave compensation offshore channel. Background Art

[0002] During the operation and maintenance of offshore wind power, the mother ship needs to frequently travel back and forth between the wind power facilities. However, the fluctuation of wind and waves at sea will cause the position of the mother ship channel to change, which brings many unstable factors to the operation and maintenance operations. Although active wave compensation is currently commonly used to solve the impact of wind and wave fluctuations on the position change of the mother ship channel, there are still the following problems in actual use: (1) The non-highly redundant system only relies on a single wave compensation unit. Once the unit fails or fails, the entire system will not work properly. This single point failure risk increases the unreliability and stability of the system. (2) The non-highly redundant system cannot provide a backup compensation unit. Therefore, when a failure occurs, it is impossible to automatically switch to the backup unit. This means that when the wave compensation unit fails, the operation and maintenance operations need to be stopped to repair or replace the unit, resulting in operation interruptions and delays. (3) Non-highly redundant systems usually lack intelligent monitoring and fault diagnosis devices, and cannot monitor and alarm the status of each unit in real time, which makes it difficult to detect and locate faults and increases the maintenance and repair costs of the system.

[0003] In summary, the current active wave compensation offshore channels do not have a highly redundant system, which leads to single point failure risks, lack of backup mechanisms, and difficulty in fault diagnosis during the actual control process, making it impossible to ensure the stable operation and efficient maintenance of offshore wind power facilities. Summary of the invention

[0004] The purpose of the present invention is to provide a highly redundant system for active wave compensation offshore channels. By integrating motion sensor technology, control mechanisms and intelligent monitoring devices, a control system with unique design and high redundancy is built, which greatly improves the safety and reliability of offshore wind power operation and maintenance, greatly reduces risk factors, and makes positive contributions to the development of the offshore wind power industry.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] A highly redundant system for active wave compensation offshore channel, comprising a hydraulic control unit, a motion control unit, and a system control unit, wherein the hydraulic control unit is used to control the hydraulic system of a trestle, the motion control unit controls the position and speed of the trestle movement, and the system control unit obtains system parameters to perform control data analysis and processing, and calculates compensation values ​​to realize active wave compensation;

[0007] The hydraulic control unit includes a hydraulic unit distributed module 1 and a hydraulic unit distributed module 2 which are mutually standby; the motion control unit includes a motion control unit distributed module 1 and a motion control unit distributed module 2 which are mutually standby, and the motion control unit distributed module 1 and the motion control unit distributed module 2 are respectively connected to a motion control CPU 1 and a motion control CPU 2 which are mutually standby; the system control unit includes a system control unit distributed module 1 and a system control unit distributed module 2 which are mutually standby, and the system control unit distributed module 1 and the system control unit distributed module 2 are respectively connected to a system control CPU 1 and a system control CPU 2 which are mutually standby;

[0008] The motion control CPU 1, the motion control CPU 2, the system control CPU 1, and the system control CPU 2 are respectively connected to the switch 3, the switch 4, the switch 5, and the switch 6 in a one-to-one correspondence, the switch 3 and the switch 4 are mutually standby, and the switch 5 and the switch 6 are mutually standby; the switch 3, the switch 4, the switch 5, and the switch 6 are sequentially connected in a closed loop to form a ring network, and the system control CPU 1 and the system control CPU 2 are controlled and connected with the motion control CPU 1 and the motion control CPU 2 through the formed ring network, and the system control CPU 1 and the system control CPU 2 are synchronously connected;

[0009] The system control CPU 1 and the system control CPU 2 are controlled and connected with the system control unit distributed module 1, the system control unit distributed module 2, the hydraulic unit distributed module 1 and the hydraulic unit distributed module 2 through the switch 5 and the switch 6, and the system control unit distributed module 1 is connected with the switch 5 and the switch 6 respectively, and the system control unit distributed module 1, the system control unit distributed module 2, the hydraulic unit distributed module 1 and the hydraulic unit distributed module 2 are sequentially connected through the interface dual link transmission and the hardware interface redundancy connection;

[0010] The system control CPU 1 and the system control CPU 2 are also respectively connected to the switch 1 and the switch 2 which serve as backup for each other, and the switch 1 and the switch 2 are respectively connected to the server 1 and the server 2 which serve as backup for each other, and the switch 1 and the switch 2 are connected to form a dual-link redundant connection, and the system control CPU 1 and the system control CPU 2 are feedback connected to the server 1 and the server 2 through a dual-link network.

[0011] Further, the hydraulic control unit includes motor group 1, motor group 2, valve group 1, valve group 2, sensor group 1, sensor group 2, lifting hydraulic motor 1, lifting hydraulic motor 2, rotating hydraulic motor 1, rotating hydraulic motor 2, telescopic hydraulic motor 1, telescopic hydraulic motor 2, luffing hydraulic cylinder 1, luffing hydraulic cylinder 2, which are mutually standby in pairs;

[0012] The motor group 1, valve group 1, sensor group 1, lifting hydraulic motor 1, rotating hydraulic motor 1, telescopic hydraulic motor 1, luffing hydraulic cylinder 1 and hydraulic unit distributed module 1 are connected, and the motor group 2, valve group 2, sensor group 2, lifting hydraulic motor 2, rotating hydraulic motor 2, telescopic hydraulic motor 2, luffing hydraulic cylinder 2 and hydraulic unit distributed module 2 are connected;

[0013] The lifting hydraulic motor 1 and the lifting hydraulic motor 2 are connected to the lifting mechanism, the rotating hydraulic motor 1 and the rotating hydraulic motor 2 are connected to the rotating mechanism, the telescopic hydraulic motor 1 and the telescopic hydraulic motor 2 are connected to the telescopic mechanism, and the amplitude-changing hydraulic cylinder 1 and the amplitude-changing hydraulic cylinder 2 are connected to the amplitude-changing mechanism;

[0014] The lifting hydraulic motor 1, rotating hydraulic motor 1, telescopic hydraulic motor 1 and luffing hydraulic cylinder 1 are arranged on the same side of the trestle, and the lifting hydraulic motor 2, rotating hydraulic motor 2, telescopic hydraulic motor 2 and luffing hydraulic cylinder 2 are symmetrically arranged on the other side of the trestle.

[0015] Further, the motion control unit includes a lifting pressure sensor, a lifting encoder, a lifting servo proportional valve, a rotary pressure sensor, a rotary encoder, a rotary servo proportional valve, a telescopic force sensor, a telescopic pressure sensor, a telescopic encoder, a telescopic servo proportional valve, a variable amplitude position sensor, a variable amplitude force sensor, a variable amplitude pressure sensor, a variable amplitude encoder, and a variable amplitude servo proportional valve, which are connected to a distributed module of the motion control unit;

[0016] The motion control unit also includes a lifting pressure sensor 2, a lifting encoder 2, a lifting servo proportional valve 2, a rotary pressure sensor 2, a rotary encoder 2, a rotary servo proportional valve 2, a telescopic force sensor 2, a telescopic pressure sensor 2, a telescopic encoder 2, a telescopic servo proportional valve 2, a variable amplitude position sensor 2, a variable amplitude force sensor 2, a variable amplitude pressure sensor 2, a variable amplitude encoder 2, and a variable amplitude servo proportional valve 2, which are connected to the distributed module 2 of the motion control unit;

[0017] The lifting encoder 1 and the lifting encoder 2 are connected to the lifting hydraulic motor 1 and the lifting hydraulic motor 2 respectively, the rotary encoder 1 and the rotary encoder 2 are connected to the rotary hydraulic motor 1 and the rotary hydraulic motor 2 respectively, the telescopic encoder 1 and the telescopic encoder 2 are respectively arranged on both sides of the middle of the trestle, the amplitude variation encoder 1 and the amplitude variation encoder 2 are respectively connected to the amplitude variation hydraulic cylinder 1 and the amplitude variation hydraulic cylinder 2, the amplitude variation position sensor 1 and the amplitude variation position sensor 2 are respectively arranged inside the oil chamber of the amplitude variation hydraulic cylinder 1 and the amplitude variation hydraulic cylinder 2; the telescopic force sensor 1, the amplitude variation force sensor 1, the telescopic force sensor 2 and the amplitude variation force sensor 2 are arranged at the ends of the trestle and are symmetrically located on both sides of the trestle.

[0018] Furthermore, the system control unit includes MRU 1, MRU 2, compass 1, compass 2, DGPS 1, DGPS 2, dynamic positioning 1, and dynamic positioning 2, which are backup for each other in pairs. The MRU 1, compass 1, DGPS 1, dynamic positioning 1 are connected to a distributed module 1 of the system control unit, and the MRU 2, compass 2, DGPS 2, dynamic positioning 2 are connected to a distributed module 2 of the system control unit.

[0019] Furthermore, the system control unit also includes a laser radar 1, a laser radar 2, a camera 1 and a camera 3 arranged at the protruding end of the pier, the laser radar 1 and the camera 1 are located on the same side, and the laser radar 2 and the camera 3 are symmetrically arranged on the other side; it also includes a camera 2 arranged at the other end of the pier and a camera 4 arranged in the middle of the pier, the laser radar 1, the camera 1 and the camera 2 are a group, the laser radar 2, the camera 3 and the camera 4 are a group, the two groups are backup for each other and are connected to a ring network formed by a closed-loop connection of switch 3, switch 4, switch 5 and switch 6 in sequence.

[0020] Furthermore, the system control unit also includes a wired joystick and a wireless joystick. The wired joystick is connected to the distributed module 1 of the system control unit, and the wireless joystick is connected to the ring network wireless communication formed by the closed-loop connection of switch 3, switch 4, switch 5, and switch 6 in sequence.

[0021] Furthermore, the switch 1 is connected to thin client 1, the switch 2 is connected to thin client 2, the switch 5 is connected to thin client 4, the switch 6 is connected to thin client 3, and the thin client 1, thin client 2, thin client 3, and thin client 4 are respectively connected to display 1, display 2, display 3, and display 4, the server 1 is connected to display 5, and the server 2 is connected to display 6.

[0022] Furthermore, the server 1, server 2, thin client 1, thin client 2, display 1, display 2, display 5 and display 6 are all arranged in the control room, the thin client 3 and display 3 are arranged in the cab of the offshore channel, and the thin client 4 and display 4 are arranged in the hydraulic room.

[0023] In summary, the present invention has the following beneficial effects:

[0024] 1. In the present invention, each component module in the hydraulic control unit, the motion control unit and the system control unit is set up in two groups for mutual backup, and a ring network is constructed through a switch. Redundant design and automatic switching are realized by optimizing the connection between each component and the ring network. The high redundancy requirements of the pipe fittings of the active wave compensation offshore channel control system are realized from network redundancy, hardware redundancy and system redundancy, which greatly improves the reliability and stability of the entire redundant system. When a component fails, the spare component can automatically take over the work to ensure the continuous operation and safety of the offshore channel trestle;

[0025] 2. The present invention integrates a hydraulic control unit, a motion control unit and a system control unit to realize the coordinated work of the hydraulic control unit and the motion control unit, accurately controls the up and down movement, rotation, extension and luffing of the trestle, realizes the comprehensive control and management of the offshore channel trestle, and improves work efficiency and safety;

[0026] 3. The present invention obtains the ship's sway, surge, heave, roll, pitch and bow motion in real time through the system control unit, and calculates the corresponding compensation value through data analysis and processing, thereby reducing the impact of waves on the pier and improving the stability and safety of the offshore channel pier. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of a highly redundant system for active wave compensation in offshore passages;

[0028] Figure 2 A schematic diagram of the structure of a pier in a highly redundant system of active wave compensation offshore channels Figure 1 ;

[0029] Figure 3 A schematic diagram of the structure of a pier in a highly redundant system of active wave compensation offshore channels Figure 2 ;

[0030] Figure 4 A schematic diagram of the structure of a pier in a highly redundant system of active wave compensation offshore channels Figure 3 .

[0031] In the figure, 01, central control room; 02, motion control unit; 03, system control unit; 04, hydraulic control unit; 1, display 1; 2, display 2; 3, display 3; 4, display 4; 5, display 5; 6, display 6; 7, thin client 1; 8, thin client 2; 9, thin client 3; 10, thin client 4; 11, server 1; 12, server 2; 13, switch 1; 14, switch 2; 15, switch 3; 16, switch 4; 17, switch 5; 18, switch 6; 19, motion control CPU 1; 20, motion control CPU 2; 21, motion control unit distributed module 1; 22, lifting servo proportional valve 1; 2 3. Rotary servo proportional valve 1; 24. Telescopic servo proportional valve 1; 25. Variable amplitude servo proportional valve 1; 26. Lifting encoder 1; 27. Rotary encoder 1; 28. Telescopic encoder 1; 29. ​​Variable amplitude encoder 1; 30. Lifting pressure sensor 1; 31. Rotary pressure sensor 1; 32. Telescopic pressure sensor 1; 33. Variable amplitude pressure sensor 1; 34. Variable amplitude position sensor 1; 35. Telescopic force sensor 1; 36. Variable amplitude force sensor 1; 37. Motion control unit distributed module 2; 38. Lifting encoder 2; 39. Rotary encoder 2; 40. Telescopic encoder 2; 41. Variable amplitude encoder 2; 42. Lifting servo proportional valve 2; 43. Rotary servo Proportional valve 2; 44, telescopic servo proportional valve 2; 45, variable amplitude servo proportional valve 2; 46, lifting pressure sensor 2; 47, rotation pressure sensor 2; 48, telescopic pressure sensor 2; 49, variable amplitude pressure sensor 2; 50, variable amplitude position sensor 2; 51, telescopic force sensor 2; 52, variable amplitude force sensor 2; 53, system control CPU 1; 54, system control CPU 2; 55, laser radar 1; 56, camera 1; 57, camera 2; 58, laser radar 2; 59, camera 3; 60, camera 4; 61, wireless joystick; 62, system control unit distributed module 1; 63, system control unit distributed module 2; 64, wired joystick ;65. MRU one;66. Compass one;67. DGPS one;68. Dynamic positioning one;69. MRU two;70. Compass two;71. DGPS two;72. Dynamic positioning two;73. Hydraulic unit distributed module one;74. Hydraulic unit distributed module two;75. Motor group one;76. Valve group one;77. Sensor group one;78. Lifting hydraulic motor one;79. Rotating hydraulic motor one;80. Telescopic hydraulic motor one;81. Booming hydraulic cylinder one;82. Motor group two;83. Valve group two;84. Sensor group two;85. Lifting hydraulic motor two;86. Rotating hydraulic motor two;87. Telescopic hydraulic motor two;88. Booming hydraulic cylinder two. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] A highly redundant system for active heave compensation offshore channels, such as Figure 1 As shown, it includes a hydraulic control unit 04, a motion control unit 02, and a system control unit 03. The hydraulic control unit 04 is used to control the monitoring, early warning and alarm of the hydraulic system valve group of the pier. The motion control unit 02 is used to control the movement of the pier to achieve control of the position and speed of the pier. The system control unit 03 obtains the parameters required by the system, performs control data analysis and processing according to the feedback signal, and achieves the active wave compensation effect through the attitude solution algorithm and prediction module algorithm of the existing technology.

[0034] like Figure 1 As shown, the trestle hydraulic control unit 04 includes components such as pressure sensors, flow sensors, hydraulic valves, etc., specifically including motor group 1 75, motor group 2 82, valve group 1 76, valve group 2 83, sensor group 1 77, sensor group 2 84, lifting hydraulic motor 1 78, lifting hydraulic motor 2 85, rotating hydraulic motor 1 79, rotating hydraulic motor 2 86, telescopic hydraulic motor 1 80, telescopic hydraulic motor 2 87, boom hydraulic cylinder 1 81, boom hydraulic cylinder 2 88, and also includes hydraulic unit distributed module 1 73 and hydraulic unit distributed module 2 74, which are backup for each other.

[0035] like Figure 1 As shown, the motor group 1 75, the valve group 1 76, the sensor group 1 77, the lifting hydraulic motor 1 78, the rotating hydraulic motor 1 79, the telescopic hydraulic motor 1 80, and the luffing hydraulic cylinder 1 81 are the main control group, which are connected to the hydraulic unit distributed module 1 73. The motor group 2 82, the valve group 2 83, the sensor group 2 84, the lifting hydraulic motor 2 85, the rotating hydraulic motor 2 86, the telescopic hydraulic motor 2 87, and the luffing hydraulic cylinder 2 88 are the standby group, which are connected to the hydraulic unit distributed module 2 74.

[0036] like Figure 2 and Figure 3 As shown, the lifting hydraulic motor 1 78 and the lifting hydraulic motor 2 85 are connected to the lifting mechanism, the rotating hydraulic motor 1 79 and the rotating hydraulic motor 2 86 are connected to the rotating mechanism, the telescopic hydraulic motor 1 80 and the telescopic hydraulic motor 2 87 are connected to the telescopic mechanism, the boom hydraulic cylinder 1 81 and the boom hydraulic cylinder 2 88 are connected to the boom mechanism, and the lifting hydraulic motor 1 78, the rotating hydraulic motor 1 79, the telescopic hydraulic motor 1 80 and the boom hydraulic cylinder 1 81 are arranged on the same side of the trestle, and the lifting hydraulic motor 2 85, the rotating hydraulic motor 2 86, the telescopic hydraulic motor 2 87 and the boom hydraulic cylinder 2 88 are symmetrically arranged on the other side of the trestle.

[0037] like Figure 1 As shown, the motion control unit 02 includes components such as sensors, encoders, and servo proportional valves, specifically including a motion control unit distributed module 121 and a motion control unit distributed module 237, which are standby for each other. The motion control unit distributed module 121 and the motion control unit distributed module 237 are respectively connected to a motion control CPU 19 and a motion control CPU 20, which are standby for each other. The motion control unit 02 also includes a lifting pressure sensor 130, a lifting encoder 126, a lifting servo proportional valve 122, a rotary pressure sensor 131, a rotary encoder 127, a rotary servo proportional valve 123, a telescopic force sensor 135, a telescopic pressure sensor 132, a telescopic encoder 128, a telescopic servo proportional valve 124, a variable amplitude position sensor 134, a variable amplitude force sensor 136, a variable amplitude pressure sensor 133, a variable amplitude encoder 129, and a variable amplitude servo proportional valve 125, which are connected to the motion control unit distributed module 121. The above components are a group of main controls.

[0038] like Figure 1 As shown, the motion control unit 02 also includes a lifting pressure sensor 2 46, a lifting encoder 2 38, a lifting servo proportional valve 2 42, a rotary pressure sensor 2 47, a rotary encoder 2 39, a rotary servo proportional valve 2 43, a telescopic force sensor 2 51, a telescopic pressure sensor 2 48, a telescopic encoder 2 40, a telescopic servo proportional valve 2 44, a variable amplitude position sensor 2 50, a variable amplitude force sensor 2 52, a variable amplitude pressure sensor 2 49, a variable amplitude encoder 2 41, and a variable amplitude servo proportional valve 2 45, which are connected to the motion control unit distributed module 2 37. The above components are a spare set.

[0039] Among them, such as 2 to Figure 4 As shown, lifting encoder 26 and lifting encoder 2 38 are connected to lifting hydraulic motor 1 78 and lifting hydraulic motor 2 85 respectively, rotary encoder 1 27 and rotary encoder 2 39 are connected to rotary hydraulic motor 1 79 and rotary hydraulic motor 2 86 respectively, telescopic encoder 1 28 and telescopic encoder 2 40 are respectively arranged on both sides of the middle part of the trestle, amplitude variation encoder 1 29 and amplitude variation encoder 2 41 are respectively connected to amplitude variation hydraulic cylinder 1 81 and amplitude variation hydraulic cylinder 2 88, amplitude variation position sensor 1 34 and amplitude variation position sensor 2 50 are respectively arranged inside the oil chamber of amplitude variation hydraulic cylinder 1 81 and amplitude variation hydraulic cylinder 2 88; telescopic force sensor 1 35, amplitude variation force sensor 1 36, telescopic force sensor 2 51, amplitude variation force sensor 2 52 are arranged at the ends of the trestle and are symmetrically located on both sides of the trestle.

[0040] like Figure 1As shown, the motor group, valve group and sensor group in the hydraulic control unit 04 and the pressure sensor in the motion control unit 02 participate in the open-loop control of the hydraulic system, and the position sensor, servo proportional valve and rotary encoder in the motion control unit 02 participate in the closed-loop control of the hydraulic system to ensure control accuracy.

[0041] like Figure 1 As shown, the system control unit 03 includes components such as a motion reference unit, a control calculation unit, and an actuator, and specifically includes a system control unit distributed module 1 62 and a system control unit distributed module 2 63, which are mutually standby. The system control unit distributed module 1 62 and the system control unit distributed module 2 63 are respectively connected to a system control CPU 1 53 and a system control CPU 2 54, which are mutually standby. The system control unit 03 also includes MRU 1 65 and MRU 2 69 for obtaining the ship's sway, sway and heave, roll, pitch and bow motion information, compass 1 66 and compass 2 70 for accurate navigation, DGPS 1 67 and DGPS 2 71 for precise positioning, and dynamic positioning 1 68 and dynamic positioning 2 72 for maintaining the ship's position and heading, wherein MRU 1 65, compass 1 66, DGPS 1 67, and dynamic positioning 1 68 are a main control group connected to the system control unit distributed module 1 62, and MRU 2 69, compass 2 70, DGPS 2 71, and dynamic positioning 2 72 are a standby group connected to the system control unit distributed module 2 63. The system control CPU 1 53 and the system control CPU 2 54 are used to perform attitude calculation on the data fed back by the MRU 1 65 / MRU 2 69 and calculate the compensation value of the active heave compensation.

[0042] like Figure 1 As shown, the system control unit 03 also includes a laser radar 1 55 and a laser radar 2 58 for acquiring point cloud data, and a camera 1 56, a camera 2 57, a camera 3 59 and a camera 4 60 for monitoring the situation of the sea channel and improving the accuracy of the laser radar point cloud data, wherein the laser radar 1 55, the camera 1 56 and the camera 2 57 form a group, and the laser radar 2 58, the camera 3 59 and the camera 4 60 form a group, and the two groups serve as backup for each other. Figure 2 and Figure 3 As shown, laser radar 1 55, laser radar 2 58, camera 1 56 and camera 3 59 are arranged at the extended end of the pier, and laser radar 1 55 and camera 1 56 are located on the same side, and laser radar 2 58 and camera 3 59 are symmetrically arranged on the other side. Camera 2 57 is arranged at the end of the pier away from camera 1 56, and camera 4 60 is arranged in the middle of the pier. In addition, as shown in FIG. Figure 1 As shown, the system control unit 03 also includes a wired joystick 64 and a wireless joystick 61 , and local motion control is performed through the wired joystick 64 , and long-distance motion control is performed through the wireless joystick 61 .

[0043] like Figure 1 As shown, the hydraulic control unit 04, the motion control unit 02, and the system control unit 03 are all provided with a main control group and a standby group. To realize the automatic switching between the main control group and the standby group, the motion control CPU 19, the motion control CPU 20, the system control CPU 153, and the system control CPU 254 are respectively connected with the switch 3 15, the switch 4 16, the switch 5 17, and the switch 6 18 in a one-to-one correspondence. The switch 3 15 and the switch 4 16 are standby for each other, and the switch 5 17 and the switch 6 18 are standby for each other. The switch 3 15, the switch 4 16, the switch 5 17, and the switch 6 18 are connected in a closed loop in sequence to form a ring network. The system control CPU 1 53 and the system control CPU 2 54 are connected to the motion control CPU 19 and the motion control CPU 2 20 through the formed ring network, and the system control CPU 1 53 and the system control CPU 2 54 are synchronously connected.

[0044] like Figure 1 As shown, the system control CPU 1 53 and the system control CPU 2 54 are controlled and connected with the system control unit distributed module 1 62, the system control unit distributed module 2 63, the hydraulic unit distributed module 1 73 and the hydraulic unit distributed module 2 74 through the switch 5 17 and the switch 6 18, and the system control unit distributed module 1 62 is connected with the switch 5 17 and the switch 6 18 respectively, the system control unit distributed module 1 62, the system control unit distributed module 2 63, the hydraulic unit distributed module 1 73 and the hydraulic unit distributed module 2 74 are connected in turn through the interface dual-link transmission and the hardware interface redundant connection, and several distributed modules are used for signal transmission to avoid insufficient data interfaces of the switch 5 17 and the switch 6 18.

[0045] like Figure 1 As shown, the main control group consisting of laser radar 1 55, camera 1 56 and camera 2 57 and the standby group consisting of laser radar 2 58, camera 3 59 and camera 4 60 are connected to the ring network formed by the closed-loop connection of switch 3 15, switch 4 16, switch 5 17 and switch 6 18 in sequence. The wired joystick 64 is connected to the distributed module 1 62 of the system control unit, and the wireless joystick 61 is also connected to the ring network wireless communication formed by the closed-loop connection of switch 3 15, switch 4 16, switch 5 17 and switch 6 18 in sequence, and the wireless joystick 61 and the wireless joystick 64 are redundant with each other.

[0046] like Figure 1As shown, the system control CPU 1 53 and the system control CPU 2 54 are also connected to the switch 1 13 and the switch 2 14, which are standby for each other, respectively. The switch 1 13 and the switch 2 14 are connected to the server 1 11 and the server 2 12, which are standby for each other, respectively. The switch 1 13 and the switch 2 14 are connected to form a dual-link redundant connection. The system control CPU 1 53 and the system control CPU 2 54 are connected to the server 1 1 and the server 2 12 via a dual-link network. Among them, the switch 1 13 is connected to the thin client 1 7, the switch 2 14 is connected to the thin client 2 8, the switch 5 17 is connected to the thin client 4 10, the switch 6 18 is connected to the thin client 3 9, and the thin client 1 7, the thin client 2 8, the thin client 3 9, and the thin client 4 10 are connected to the display 1 1, the display 2 2, the display 3 3, and the display 4 4, respectively, the server 1 1 is connected to the display 5 5, and the server 2 12 is connected to the display 6 6.

[0047] In addition, if Figure 1 As shown, server 1 11, server 2 12, thin client 1 7, thin client 2 8, display 1 1, display 2 2, display 5 5 and display 6 6 are all arranged in the central control room 01 for remote monitoring, command issuance and program modification; thin client 3 9 and display 3 3 are arranged in the cab of the offshore channel for processing point cloud data and camera data; thin client 4 10 and display 4 4 are arranged in the hydraulic room for monitoring the hydraulic unit.

[0048] Working principle and use method of the present invention:

[0049] The system control CPU 1 53 and the system control CPU 2 54 are connected to the system control unit distributed module 1 62 and the system control unit distributed module 2 63, which are used to connect the system control unit 03 instrument to control the sea channel, and then connected from the system control unit distributed module 2 63 to the hydraulic unit distributed module 1 73 and the hydraulic unit distributed module 2 74, which are used to connect the trestle hydraulic control unit 04 instrument to control the trestle hydraulic pressure. The motion control CPU 1 19 and the motion control CPU 2 20 of the motion control unit 02 are connected to the motion control unit distributed module 1 21 and the motion control unit distributed module 2 37 respectively, which are used to connect the trestle motion control unit 02 instrument.

[0050] If the system control CPU 1 53 stops, the system control CPU 2 54 will switch to standby within 50ms, and the motion control CPU 19 and the motion control CPU 2 20 will not be affected. If the motion control CPU 19 stops, the motion control CPU 2 20 will switch to standby within 50ms, and the system control CPU 1 53 and the system control CPU 2 54 will not be affected.

[0051] The system control unit distributed module 1 62, the system control unit distributed module 2 63, the hydraulic unit distributed module 1 73, and the hydraulic unit distributed module 2 74 all have two interfaces, and the four are bidirectionally connected in pairs. If one of the interfaces is damaged, only the other interface is directly switched, which will not affect the downstream unit distributed module and will not cause switching between the upstream main control and the backup, completely eliminating the operation and maintenance risks caused by single point failures.

[0052] The system control CPU 1 53 and the system control CPU 2 54 are connected to the motion control CPU 1 19 and the motion control CPU 2 20 through a ring network formed by a closed-loop connection in sequence through switch 3 15, switch 4 16, switch 5 17 and switch 6 18. The failure of one of the network nodes will not affect the connection between the system control CPU 1 53, the system control CPU 2 54 and the motion control CPU 1 19 and the motion control CPU 2 20.

[0053] The present invention sets each component module in the hydraulic control unit 04, the motion control unit 02 and the system control unit 03 into two groups that are mutually standby, and constructs a ring network through a switch. By optimizing the connection between each component and the ring network, redundant design and automatic switching are realized, and the high redundancy requirements of the pipe equipment of the active wave compensation offshore channel control system are realized from network redundancy, hardware redundancy and system redundancy, which greatly improves the reliability and stability of the entire redundant system. When a component fails, the spare component can automatically take over the work to ensure the continuous operation and safety of the offshore channel pier. By integrating the CPU equipment of the hydraulic control unit 04 and the motion control unit 02, the hardware cost is reduced, and the equipment cost and signal delay of the communication are reduced. The distributed control module can not only meet the redundancy requirements, but also facilitate the connection of instruments with a long distance, and more reasonably plan the location of the control box, leaving enough space for the cab. The redundant server can continuously iterate and upgrade the offshore channel function, provide data storage space, and facilitate the analysis of the operation of the offshore channel.

[0054] The above description shows and describes the preferred embodiments of the present invention. As mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. A highly redundant system for active wave compensation of offshore channels, characterized by: It comprises a hydraulic control unit (04), a motion control unit (02), and a system control unit (03), wherein the hydraulic control unit (04) is used to control the hydraulic system of the trestle, the motion control unit (02) controls the position and speed of the trestle movement, and the system control unit (03) obtains system parameters to perform control data analysis and processing, and calculates compensation values ​​to realize active wave compensation; The hydraulic control unit (04) comprises a hydraulic unit distributed module 1 (73) and a hydraulic unit distributed module 2 (74) which are mutually standby; the motion control unit (02) comprises a motion control unit distributed module 1 (21) and a motion control unit distributed module 2 (37) which are mutually standby, the motion control unit distributed module 1 (21) and the motion control unit distributed module 2 (37) are respectively connected to a motion control CPU 1 (19) and a motion control CPU 2 (20) which are mutually standby; the system control unit (03) comprises a system control unit distributed module 1 (62) and a system control unit distributed module 2 (63) which are mutually standby, the system control unit distributed module 1 (62) and the system control unit distributed module 2 (63) are respectively connected to a system control CPU 1 (53) and a system control CPU 2 (54) which are mutually standby; The motion control CPU 1 (19), the motion control CPU 2 (20), the system control CPU 1 (53), and the system control CPU 2 (54) are respectively connected to the switch 3 (15), the switch 4 (16), the switch 5 (17), and the switch 6 (18) in a one-to-one correspondence, the switch 3 (15) and the switch 4 (16) are mutually standby, and the switch 5 (17) and the switch 6 (18) are mutually standby; the switch 3 (15), the switch 4 (16), the switch 5 (17), and the switch 6 (18) are sequentially connected in a closed loop to form a ring network, the system control CPU 1 (53) and the system control CPU 2 (54) are controlled and connected with the motion control CPU 1 (19) and the motion control CPU 2 (20) through the formed ring network, and the system control CPU 1 (53) and the system control CPU 2 (54) are synchronously connected; The system control CPU 1 (53) and the system control CPU 2 (54) are controlled and connected with the system control unit distributed module 1 (62), the system control unit distributed module 2 (63), the hydraulic unit distributed module 1 (73) and the hydraulic unit distributed module 2 (74) through the switch 5 (17) and the switch 6 (18), and the system control unit distributed module 1 (62) is connected with the switch 5 (17) and the switch 6 (18) respectively, and the system control unit distributed module 1 (62), the system control unit distributed module 2 (63), the hydraulic unit distributed module 1 (73) and the hydraulic unit distributed module 2 (74) are sequentially connected through the interface dual link transmission and the hardware interface redundancy connection; The system control CPU 1 (53) and the system control CPU 2 (54) are also respectively connected to a switch 1 (13) and a switch 2 (14) which serve as backup for each other. The switch 1 (13) and the switch 2 (14) are respectively connected to a server 1 (11) and a server 2 (12) which serve as backup for each other. The switch 1 (13) and the switch 2 (14) are connected to form a dual-link redundant connection. The system control CPU 1 (53) and the system control CPU 2 (54) are feedback-connected to the server 1 (11) and the server 2 (12) via a dual-link network.

2. A highly redundant system for active wave compensation offshore channel according to claim 1, characterized in that: The hydraulic control unit (04) comprises a motor group 1 (75), a motor group 2 (82), a valve group 1 (76), a valve group 2 (83), a sensor group 1 (77), a sensor group 2 (84), a lifting hydraulic motor 1 (78), a lifting hydraulic motor 2 (85), a rotating hydraulic motor 1 (79), a rotating hydraulic motor 2 (86), a telescopic hydraulic motor 1 (80), a telescopic hydraulic motor 2 (87), a luffing hydraulic cylinder 1 (81), and a luffing hydraulic cylinder 2 (88), which are mutually standby. The motor group 1 (75), valve group 1 (76), sensor group 1 (77), lifting hydraulic motor 1 (78), rotating hydraulic motor 1 (79), telescopic hydraulic motor 1 (80), luffing hydraulic cylinder 1 (81) and hydraulic unit distributed module 1 (73) are connected; the motor group 2 (82), valve group 2 (83), sensor group 2 (84), lifting hydraulic motor 2 (85), rotating hydraulic motor 2 (86), telescopic hydraulic motor 2 (87), luffing hydraulic cylinder 2 (88) and hydraulic unit distributed module 2 (74) are connected; The lifting hydraulic motor 1 (78) and the lifting hydraulic motor 2 (85) are connected to the lifting mechanism, the rotating hydraulic motor 1 (79) and the rotating hydraulic motor 2 (86) are connected to the rotating mechanism, the telescopic hydraulic motor 1 (80) and the telescopic hydraulic motor 2 (87) are connected to the telescopic mechanism, and the amplitude-changing hydraulic cylinder 1 (81) and the amplitude-changing hydraulic cylinder 2 (88) are connected to the amplitude-changing mechanism; The lifting hydraulic motor 1 (78), the rotating hydraulic motor 1 (79), the telescopic hydraulic motor 1 (80), and the luffing hydraulic cylinder 1 (81) are arranged on the same side of the trestle, and the lifting hydraulic motor 2 (85), the rotating hydraulic motor 2 (86), the telescopic hydraulic motor 2 (87), and the luffing hydraulic cylinder 2 (88) are symmetrically arranged on the other side of the trestle.

3. A highly redundant system for active wave compensation offshore channel according to claim 2, characterized in that: The motion control unit (02) comprises a lifting pressure sensor (30) connected to a motion control unit distributed module (21), a lifting encoder (26), a lifting servo proportional valve (22), a rotary pressure sensor (31), a rotary encoder (27), a rotary servo proportional valve (23), a telescopic force sensor (35), a telescopic pressure sensor (32), a telescopic encoder (28), a telescopic servo proportional valve (24), a variable amplitude position sensor (34), a variable amplitude force sensor (36), a variable amplitude pressure sensor (33), a variable amplitude encoder (29), and a variable amplitude servo proportional valve (25); The motion control unit (02) further comprises a lifting pressure sensor (46) connected to the motion control unit distributed module (37), a lifting encoder (38), a lifting servo proportional valve (42), a rotary pressure sensor (47), a rotary encoder (39), a rotary servo proportional valve (43), a telescopic force sensor (51), a telescopic pressure sensor (48), a telescopic encoder (40), a telescopic servo proportional valve (44), a variable amplitude position sensor (50), a variable amplitude force sensor (52), a variable amplitude pressure sensor (49), a variable amplitude encoder (41), and a variable amplitude servo proportional valve (45); The lifting encoder 1 (26) and the lifting encoder 2 (38) are connected to the lifting hydraulic motor 1 (78) and the lifting hydraulic motor 2 (85) respectively; the rotary encoder 1 (27) and the rotary encoder 2 (39) are connected to the rotary hydraulic motor 1 (79) and the rotary hydraulic motor 2 (86) respectively; the telescopic encoder 1 (28) and the telescopic encoder 2 (40) are respectively arranged on both sides of the middle of the trestle; the amplitude change encoder 1 (29) and the amplitude change encoder 2 (41) are respectively connected to the amplitude change hydraulic cylinder 1 (81) and the amplitude change hydraulic cylinder 2 (88); the amplitude change position sensor 1 (34) and the amplitude change position sensor 2 (50) are respectively arranged inside the oil chamber of the amplitude change hydraulic cylinder 1 (81) and the amplitude change hydraulic cylinder 2 (88); the telescopic force sensor 1 (35), the amplitude change force sensor 1 (36), the telescopic force sensor 2 (51), and the amplitude change force sensor 2 (52) are arranged at the ends of the trestle and are symmetrically located on both sides of the trestle.

4. A highly redundant system for active wave compensation offshore channel according to claim 1, characterized in that: The system control unit (03) comprises MRU 1 (65), MRU 2 (69), compass 1 (66), compass 2 (70), DGPS 1 (67), DGPS 2 (71), dynamic positioning 1 (68), and dynamic positioning 2 (72), which are mutually standby in pairs. The MRU 1 (65), compass 1 (66), DGPS 1 (67), and dynamic positioning 1 (68) are connected to the system control unit distributed module 1 (62), and the MRU 2 (69), compass 2 (70), DGPS 2 (71), and dynamic positioning 2 (72) are connected to the system control unit distributed module 2 (63).

5. A highly redundant system for active wave compensation offshore channel according to claim 4, characterized in that: The system control unit (03) further includes a laser radar 1 (55), a laser radar 2 (58), a camera 1 (56) and a camera 3 (59) arranged at the extended end of the pier, wherein the laser radar 1 (55) and the camera 1 (56) are located on the same side, and the laser radar 2 (58) and the camera 3 (59) are symmetrically arranged on the other side; and further includes a camera 2 (57) arranged at the other end of the pier and a camera 4 (60) arranged in the middle of the pier, wherein the laser radar 1 (55), the camera 1 (56) and the camera 2 (57) form a group, and the laser radar 2 (58), the camera 3 (59) and the camera 4 (60) form a group, and the two groups are standby for each other and are connected to a ring network which is sequentially closed-loop connected to the switch 3 (15), the switch 4 (16), the switch 5 (17) and the switch 6 (18).

6. A highly redundant system for active wave compensation offshore channel according to claim 5, characterized in that: The system control unit (03) further comprises a wired joystick (64) and a wireless joystick (61), wherein the wired joystick (64) is connected to the distributed module 1 (62) of the system control unit, and the wireless joystick (61) is connected to the switch 3 (15), the switch 4 (16), the switch 5 (17), and the switch 6 (18) in a closed loop in sequence to form a ring network wireless communication connection.

7. A highly redundant system for active wave compensation offshore channel according to claim 1, characterized in that: The switch 1 (13) is connected to a thin client 1 (7), the switch 2 (14) is connected to a thin client 2 (8), the switch 5 (17) is connected to a thin client 4 (10), the switch 6 (18) is connected to a thin client 3 (9), and the thin client 1 (7), thin client 2 (8), thin client 3 (9), and thin client 4 (10) are respectively connected to a display 1 (1), a display 2 (2), a display 3 (3), and a display 4 (4), the server 1 (11) is connected to a display 5 (5), and the server 2 (12) is connected to a display 6 (6).

8. A highly redundant system for active wave compensation offshore channel according to claim 7, characterized in that: The server 1 (11), server 2 (12), thin client 1 (7), thin client 2 (8), display 1 (1), display 2 (2), display 5 (5) and display 6 (6) are all arranged in the central control room (01), the thin client 3 (9) and display 3 (3) are arranged in the driving room of the offshore passage, and the thin client 4 (10) and display 4 (4) are arranged in the hydraulic room.

Images