Motion compensation type pile gripper motion compensation control system based on floating ship

Abstract

The invention discloses a motion compensation type pile gripper motion compensation control system based on a floating ship, which mainly comprises a multi-degree-of-freedom motion sensing module, a controller, a hydraulic driving mechanism and a pile gripper, and is characterized in that the multi-degree-of-freedom motion sensing module acquires six-degree-of-freedom motion parameters of the floating ship in real time, including displacement and angle change in three-axis directions; the controller calculates a compensation displacement and a compensation angle based on the detection parameters, and generates a compensation output force by adopting a proportional-integral-differential (PID) control algorithm; and the hydraulic driving mechanism executes accurate movement according to the compensation instruction so as to adjust the posture and the position of the pile gripper, and relative movement compensation of the floating ship and the pile body is achieved. By dynamically adjusting the control parameters, the compensation force and the motion path are adaptively optimized according to the environmental conditions, the energy consumption is reduced, the compensation precision and the response speed are improved, the method adapts to the complex sea condition environment, and the method is widely applied to the engineering fields of offshore wind power installation, offshore oil drilling platforms and the like.

Description

Technical Field

[0001] The invention relates to the technical field of marine engineering equipment, and in particular to a motion compensation control system for a motion compensation pile gripper based on a floating ship. Background Art

[0002] With the rapid development of marine engineering technology, floating vessels are increasingly used in offshore wind power, oil extraction, marine observation and other fields. However, since floating vessels are affected by complex environmental loads (such as wind, waves, and currents) in the marine environment, their movement exhibits obvious six-degree-of-freedom characteristics, including translation (lateral movement, longitudinal movement, and heave) and rotation (roll, pitch, and bow) in three-axis directions. These movements bring significant operational difficulties to offshore fixed structures (such as guide piles or columns).

[0003] In actual engineering, the pile gripper is a key device used to connect and support floating vessels and fixed piles. Its performance is directly related to the safety and efficiency of the overall operation. However, changes in sea conditions cause relative movement between the floating vessel and the pile. If this movement is not compensated in real time, the following problems may occur:

[0004] 1. Equipment damage: High-frequency or large-scale relative movement between the floating vessel and the pile body may cause impact on the pile gripper and the pile body, increase equipment wear and even cause structural failure.

[0005] 2. Operation interruption: Uncompensated relative motion will reduce operation accuracy and increase the risk of operation failure, especially in offshore construction and installation with high precision requirements.

[0006] 3. Excessive energy consumption: Since the pile gripper needs to maintain normal operation under frequent impacts, the system energy consumption increases significantly, which is not conducive to the economy of long-term operation.

[0007] At present, in order to solve the above problems, some motion compensation methods have been applied in marine engineering, such as using hydraulic drive mechanism to achieve relative motion compensation between ship and pile. However, the existing technology has the following shortcomings:

[0008] 1. Insufficient accuracy: The existing system has limited accuracy in the six-degree-of-freedom motion detection and compensation control of floating ships, and it is difficult to meet the compensation needs in severe sea conditions.

[0009] 2. Response lag: Traditional compensation systems respond slowly to real-time environmental changes, which can easily cause compensation lags and affect operating results.

[0010] 3. Insufficient energy consumption optimization: Existing compensation systems focus more on improving motion accuracy, but ignore energy consumption optimization, which increases operating costs.

[0011] 4. Lack of intelligent control: Most systems do not perform adaptive adjustments based on external environmental parameters (such as waves and tides), resulting in poor performance of the control system under complex sea conditions.

[0012] Therefore, we urgently need to design a motion compensation control system for a motion compensated pile gripper based on a floating vessel to solve the above problems. Summary of the invention

[0013] In order to overcome the deficiencies in the prior art, the present invention provides a motion compensation control system for a motion compensation pile gripper based on a floating vessel. The compensation control system of the present invention is capable of improving compensation accuracy and response speed, thereby ensuring a stable connection between the pile gripper and the pile body, and reducing energy consumption and improving safety and reliability through adaptive optimization.

[0014] In order to achieve the above invention purpose, the present invention provides the following technical solutions:

[0015] A motion compensation control system for a motion compensation pile gripper based on a floating vessel, comprising:

[0016] Multi-DOF motion sensing module: used to detect the six-DOF motion parameters of floating ships in real time, including displacement x in three axes s ,y s , z s , and the angle change θ in the three-axis direction x ,θ y ,θ z ;

[0017] Controller: used to calculate compensation actions based on the detected motion parameters, including compensation displacement Δx, Δy, Δz and compensation angle Δθ x , Δθ y , Δθ z ;

[0018] Hydraulic drive mechanism: used to execute the compensation instructions issued by the controller and convert the compensation displacement and angle change into the mechanical movement of the pile gripper;

[0019] Pile gripper: maintains flexible contact with the pile body through a hydraulic drive mechanism, adjusts the relative position and posture with the pile body to offset the movement of the floating vessel.

[0020] Where: x s ,y s ,z s It is the real-time displacement of the ship in three-axis directions; θ y ,θ z is the real-time angle change of the ship in the roll, pitch and yaw directions; Δx, Δy, Δz are the compensation displacements between the ship and the pile; Δθ x,Δθ y ,Δθ z To compensate for the angle change between the ship and the pile.

[0021] As a preferred technical solution of the present invention, the controller calculates the compensation displacement Δx, Δy, Δz of the floating vessel by the following formula:

[0022] Δx=x s -x r ,Δy=y s -y r ,Δz=z s -z

[0023] Where: x r ,y r ,z r are the target reference positions of the pile respectively.

[0024] As a preferred technical solution of the present invention, the controller uses a proportional-integral-differential PID control algorithm to generate a compensation output force F c , the calculation formula is:

[0025]

[0026] Where: e(t) is the real-time position error, e(t) = any component of Δx, Δy, Δz; K p ,K i ,K d are the proportional, integral and differential coefficients of the control system respectively.

[0027] As a preferred technical solution of the present invention, the PID control parameter K p ,K i ,K d Dynamically adjust according to the external environment, the adjustment formula is:

[0028] K p =K p0 +αA,K i =K i0 +βT,K d =K

[0029] Where: K p0 ,K i0 ,K d0 is the initial parameter; A is the wave amplitude; T is the wave period; f is the wave frequency; α, β, γ are the adjustment coefficients.

[0030] As a preferred technical solution of the present invention, the compensation trajectory generated by the controller is determined by the following formula:

[0031]

[0032] Where: R(t) is the real-time compensation trajectory length; Δx(t), Δy(t), Δz(t) are the time functions of the compensation displacement.

[0033] As a preferred technical solution of the present invention, the movement of the hydraulic drive mechanism is controlled by the following dynamic equation:

[0034]

[0035] Where: M is the equivalent mass matrix; C is the damping coefficient matrix; K is the stiffness coefficient matrix; X is the compensation displacement; are the speed and acceleration of compensation displacement respectively; F c To control the output force.

[0036] As a preferred technical solution of the present invention, the controller adopts a constrained optimization algorithm to minimize the energy consumption of the hydraulic drive mechanism, and its objective function is:

[0037] min∫0 T P(t)dt,

[0038] The constraints are:

[0039] X(t)≤X max ,

[0040] F c (t)≤F max ,

[0041] Where: P(t) is the real-time power; T is the compensation time period; X max ,F max are the maximum displacement and maximum force allowed by v respectively.

[0042] As a preferred technical solution of the present invention, the multi-degree-of-freedom motion sensing module uses a Kalman filter algorithm to correct the measurement error, and its state estimation formula is:

[0043]

[0044] in: is the estimated value of the current state; Z k is the current observation value; H is the state transfer matrix; K k is the Kalman gain.

[0045] As a preferred technical solution of the present invention, the Kalman gain K k The calculation formula is:

[0046] K k =P k-1 H T(HP k-1 H T +R) -1 ,

[0047] Where: P k-1 is the covariance matrix of the previous state; R is the measurement noise covariance.

[0048] As a preferred technical solution of the present invention, the system adopts a modular design, including a data acquisition module, a control calculation module, a hydraulic execution module and a communication module. The modules are connected through a real-time bus protocol to achieve efficient collaborative work, and have a redundant design to ensure that the system can still operate safely when a key module fails.

[0049] Based on the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0050] 1. In the motion compensation control system of the motion compensation pile gripper based on the floating vessel of the present invention, the six-degree-of-freedom motion parameters of the floating vessel can be obtained in real time based on the multi-degree-of-freedom motion sensing module. Combined with the accurate calculation of the compensation displacement and angle, the relative motion between the ship and the pile body can be effectively eliminated. The compensation force output is dynamically adjusted through the PID control algorithm, which improves the compensation accuracy and response speed, thereby ensuring the stable connection between the pile gripper and the pile body, and is suitable for high-precision operation requirements under severe sea conditions.

[0051] 2. In the motion compensation control system of the motion compensation pile gripper based on floating ships of the present invention, adaptive optimization of the compensation force is achieved according to environmental parameters such as wave amplitude and period by dynamically adjusting PID control parameters, thereby reducing system energy consumption. At the same time, the dynamic model of the hydraulic drive mechanism is optimized to limit the output force and displacement within a reasonable range, further reducing energy consumption and making the system more economical and sustainable.

[0052] 3. In the motion compensation control system of the motion compensation pile gripper based on a floating vessel of the present invention, by adopting modular design and fault redundancy mechanism, data interaction and fault backup are realized between the sensor module, hydraulic drive mechanism and controller, thereby enhancing the system's anti-interference ability and operational stability. Even when a sensor or execution unit fails, the system can still maintain operation continuity through the backup unit, thereby improving the safety and reliability of the overall operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 The system block diagram of the motion compensation control system of the motion compensation pile gripper based on the floating vessel. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] The following is combined with Figure 1 With reference to the accompanying drawings and a number of embodiments, specific embodiments of the present invention are described in detail.

[0057] The present invention is a motion compensation type pile gripper motion compensation control system, serving a floating ship, the system comprises a multi-degree-of-freedom motion sensor module, a controller, a hydraulic drive mechanism and a pile gripper.

[0058] The multi-degree-of-freedom motion sensor module is used to detect the six-degree-of-freedom motion parameters of the floating ship in real time, including the displacement x in the three-axis direction. s ,y s , z s , and the angle change θ in the three-axis direction x ,θ y ,θ z ;

[0059] The controller is used to calculate the compensation action based on the detected motion parameters, including the compensation displacement Δx, Δy, Δz and the compensation angle Δθ x , Δθ y , Δθ z ;

[0060] The hydraulic drive mechanism is used to execute the compensation instruction issued by the controller, and convert the compensation displacement and angle change into the mechanical movement of the pile gripper;

[0061] The pile gripper maintains flexible contact with the pile body through a hydraulic drive mechanism, and adjusts the relative position and posture with the pile body to offset the movement influence of the floating vessel.

[0062] Where: x s ,y s ,z s It is the real-time displacement of the ship in three-axis directions; θ y ,θ zis the real-time angle change of the ship in the roll, pitch and yaw directions; Δx, Δy, Δz are the compensation displacements between the ship and the pile; Δθ x ,Δθ y ,Δθ z To compensate for the angle change between the ship and the pile.

[0063] Embodiment 1:

[0064] This embodiment is used for detecting the motion parameters of floating ships and calculating the compensation displacement;

[0065] The compensation control system of the present invention collects the six-degree-of-freedom motion data of the ship in real time through the multi-degree-of-freedom motion sensing module. This embodiment introduces the working process based on the six-degree-of-freedom motion parameter detection and compensation displacement calculation of the floating ship.

[0066] 1. Displacement in three axes: x s ,y s ,z s ;

[0067] Angles of three axes: θ x ,θ y ,

[0068] The sensor module uses a high-precision inertial measurement unit (IMU) combined with GPS signals to ensure detection accuracy and obtain the angles and displacements in the above three-axis directions.

[0069] 2. The controller is based on the formula:

[0070] Δx=x s -x r ,Δy=y s -y r ,Δz=z s -z

[0071] Calculate the real-time relative displacement Δx, Δy, Δz between the ship and the pile, where x r ,y r ,z r It is the target position of the pile, which is set by the operator when the system is initialized.

[0072] 3. The calculated displacements Δx, Δy, Δz are transmitted to the control algorithm module for further generating compensation instructions.

[0073] Example 2

[0074] This embodiment is used to calculate the PID control compensation force in a floating ship. The following describes the process of generating the compensation force based on the PID control algorithm:

[0075] 1. After receiving the compensation displacements Δx, Δy, Δz obtained in Example 1, the controller calculates the real-time position error e(t) in each direction respectively: e(t) = Δx, Δy, Δz.

[0076] 2. Use PID control algorithm to generate compensation output force F c ,in: K p ,K i ,K d It is a PID control parameter, which is adaptively adjusted by the external environment.

[0077] Initial parameter K p0 ,K i0 ,K d0 Preset by the system, the environment adaptive adjustment formula is:

[0078] K p =K p0 +αA,K i =K i0 +βT,K d =K

[0079] Among them, A, T, and f are wave amplitude, period, and frequency, respectively, which are acquired by the sensor module through real-time wave monitoring equipment.

[0080] 3. Compensation force F c The force is transmitted to the hydraulic drive mechanism to drive the pile gripper to move.

[0081] Embodiment 3:

[0082] This embodiment is the motion control of the hydraulic drive mechanism, and specifically describes the dynamic control and execution of the hydraulic drive mechanism:

[0083] 1. Hydraulic drive mechanism based on compensation force F c To execute the motion, the dynamic model is:

[0084]

[0085] Among them: M is the equivalent mass matrix of the hydraulic system; C is the damping coefficient matrix, which prevents vibration caused by excessive displacement; K is the stiffness coefficient matrix, which is used to ensure the stable contact between the pile gripper and the pile body; To compensate for the velocity and acceleration of the displacement.

[0086] 2. The system uses real-time monitoring to compensate the trajectory length R(t):

[0087]

[0088] Make sure the compensation trajectory is within the design range to avoid exceeding the mechanical limits of the hydraulic mechanism.

[0089] Embodiment 4:

[0090] This embodiment is used for energy consumption optimization control and introduces the energy consumption optimization process of the hydraulic drive mechanism:

[0091] 1. The controller aims to minimize the total energy consumption of the hydraulic mechanism, and the optimization objective function is:

[0092] min∫0 T P(t)dt,

[0093] Where P(t) is the real-time power and T is the compensation time period.

[0094] 2. The system sets the following constraints:

[0095] X(t)≤X max ,

[0096] F c (t)≤F max ,

[0097] Where: X max is the maximum allowable compensation displacement; F max is the maximum output force allowed. When the actual calculation result exceeds the constraint range, the controller dynamically adjusts the target trajectory X(t).

[0098] Embodiment 5:

[0099] This embodiment is used for multi-degree-of-freedom error correction, specifically a process of using a Kalman filter algorithm to perform error correction on multi-degree-of-freedom motion data:

[0100] 1. The system's motion parameters x at each moment s ,y s ,z s ,θ x ,θ y ,θ z Perform state estimation:

[0101]

[0102] in: is the estimated value of the current state; Z k is the current observation value; H is the state transfer matrix; K k is the Kalman gain.

[0103] 2. Kalman gain K k The calculation formula is:

[0104] K k =P k-1 HT (HP k-1 H T +R) -1 ,

[0105] Where: P k-1 is the covariance matrix of the previous state; R is the measurement noise covariance;

[0106] This method effectively filters out the interference of waves and sensor noise and improves the accuracy of motion compensation.

[0107] Embodiment 6:

[0108] This embodiment is a modular design and fault redundancy, which describes the modular design and redundancy mechanism of the system:

[0109] 1. The system includes the following modules:

[0110] Data acquisition module: collects ship motion parameters and external environment information in real time; Control calculation module: responsible for the execution of motion compensation algorithm;

[0111] Hydraulic execution module: completes mechanical motion compensation;

[0112] Communication module: Based on CAN bus or big network protocol, ensure efficient collaboration between modules.

[0113] 2. The system is designed with redundancy. When a module fails, the backup module immediately takes over. For example, when the data acquisition module fails, the system switches to the backup IMU sensor; when the hydraulic actuator module fails, the mechanical limiter protects the pile gripper from slipping.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A motion compensation control system for a motion compensation pile gripper based on a floating vessel, characterized in that: include: Multi-DOF motion sensing module: used to detect the six-DOF motion parameters of floating ships in real time, including displacement in three axes x s ,y s , z s , and the angle change θ in the three-axis direction x ,θ y ,θ z ; Controller: used to calculate compensation actions based on the detected motion parameters, including compensation displacement Δx, Δy, Δz and compensation angle Δθ x , Δθ y , Δθ z ; Hydraulic drive mechanism: used to execute the compensation instructions issued by the controller and convert the compensation displacement and angle change into the mechanical movement of the pile gripper; Pile gripper: maintains flexible contact with the pile body through a hydraulic drive mechanism, adjusts the relative position and posture with the pile body to offset the movement of the floating vessel. Where: x s ,y s ,z s It is the real-time displacement of the ship in three-axis directions; θ y ,θ z is the real-time angle change of the ship in the roll, pitch and yaw directions; Δx, Δy, Δz are the compensation displacements between the ship and the pile; Δθ x ,Δθ y ,Δθ z To compensate for the angle change between the ship and the pile.

2. The motion compensation control system for a motion compensation pile gripper based on a floating vessel according to claim 1, characterized in that: The controller calculates the compensation displacement Δx, Δy, Δz of the floating vessel by the following formula: Δx=x s -x r ,Δy=y s -y r ,Δz=z s -z Where: x r ,y r ,z r are the target reference positions of the pile respectively.

3. The motion compensation control system for a motion compensation pile gripper based on a floating vessel according to claim 2, characterized in that: The controller uses a proportional-integral-differential PID control algorithm to generate a compensation output force F c , the calculation formula is: Where: e(t) is the real-time position error, e(t) = any component of Δx, Δy, Δz; K p ,K i ,K d are the proportional, integral and differential coefficients of the control system respectively.

4. The motion compensation control system for a motion compensation pile gripper based on a floating vessel according to claim 3, characterized in that: The PID control parameter K p ,K i ,K d Dynamically adjust according to the external environment, the adjustment formula is: K p =K p0 +αA,K i =K i0 +βT,K d =K Where: K p0 ,K i0 ,K d0 is the initial parameter; A is the wave amplitude; T is the wave period; f is the wave frequency; α, β, γ are the adjustment coefficients.

5. The motion compensation control system for a motion compensation pile gripper based on a floating vessel according to claim 4, characterized in that: The compensation trajectory generated by the controller is determined by the following formula: Where: R(t) is the real-time compensation trajectory length; Δx(t), Δy(t), Δz(t) are the time functions of the compensation displacement.

6. The motion compensation control system for a motion compensation pile gripper based on a floating vessel according to claim 1, characterized in that: The motion of the hydraulic drive mechanism is controlled by the following dynamic equation: Where: M is the equivalent mass matrix; C is the damping coefficient matrix; K is the stiffness coefficient matrix; X is the compensation displacement; are the speed and acceleration of compensation displacement respectively; F c To control the output force.

7. The motion compensation control system for a motion compensation pile gripper based on a floating vessel according to claim 5, characterized in that: The controller uses a constrained optimization algorithm to minimize the energy consumption of the hydraulic drive mechanism, and its objective function is: The constraints are: X(t)≤X max , F c (t)≤F max , Where: P(t) is the real-time power; T is the compensation time period; X max ,F max are the maximum displacement and maximum force allowed by v respectively.

8. The motion compensation control system for a motion compensation pile gripper based on a floating vessel according to claim 1, characterized in that: The multi-degree-of-freedom motion sensing module uses the Kalman filter algorithm to correct the measurement error, and its state estimation formula is: in: is the estimated value of the current state; Z k is the current observation value; H is the state transfer matrix; K k is the Kalman gain.

9. The motion compensation control system for a motion compensation pile gripper based on a floating vessel according to claim 8, characterized in that: The Kalman gain K k The calculation formula is: K k =P k-1 H T (HP k-1 H T +R) -1 , Where: P k-1 is the covariance matrix of the previous state; R is the measurement noise covariance.

10. The motion compensation control system for a motion compensation pile gripper based on a floating vessel according to any one of claims 1 to 9, characterized in that: The system adopts a modular design, including data acquisition module, control calculation module, hydraulic execution module and communication module. The modules are connected through a real-time bus protocol to achieve efficient collaborative work, and have a redundant design to ensure that the system can still operate safely when a key module fails.

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