A stiffness and damping calibration method, device and medium for a passive compensation device

Abstract

The present invention relates to the technical field of heave compensation for offshore hoisting operations, and in particular to a stiffness and damping calibration method, equipment, and medium for a passive compensation device. The method comprises: treating the passive compensation device as equivalent to a stiffness and damping system; treating the force of the gas in the accumulator, gas cylinder, and the airflow channel between the passive compensation device acting on the hydraulic cylinder piston as an equivalent spring force, and obtaining an equivalent stiffness based on the equivalent spring force; treating the product of the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline and the annular area of ​​the hydraulic cylinder rod cavity as an equivalent damping force, and obtaining an equivalent damping based on the equivalent damping force. The present invention can calibrate the stiffness and damping of a portable integrated passive compensation device to form an equivalent stiffness and damping system model. The calibrated stiffness and damping system model is applied to the simulation process of the offshore hoisting process, which can effectively improve the accuracy and reliability of the simulation results relative to the actual operation.

Description

Technical Field

[0001] The present invention relates to the technical field of heave compensation for offshore hoisting operations, and in particular to a stiffness and damping calibration method, equipment, and medium for a passive compensation device. Background Art

[0002] During offshore lifting operations, the vessel experiences six degrees of freedom motion under the influence of waves, which can affect the safety of offshore operations. Generally, dynamic positioning systems can compensate for wave-induced drift motions (sway, surge, and yaw), but cannot compensate for heave motion. The portable integrated passive compensation device is suspended between the end of the crane cable and the load. It is a ready-to-use passive compensation device. Through the relative movement between the piston rod and the cylinder barrel of the hydraulic cylinder inside the device, the cable tension of the operating vessel in the waves is compensated, compensating for the heave motion generated during offshore operations and ensuring offshore construction safety.

[0003] Specifically, the portable integrated passive compensation device mainly consists of a hydraulic cylinder, an accumulator, a gas cylinder, and a related valve group control system. When the hull is stationary, the tension of the cylinder piston rod is equal to the load weight; when the hull moves upward, the hydraulic cylinder barrel of the cable end traction compensation device rises with the hull, and the hydraulic oil in the rod chamber is pressed into the accumulator, which in turn compresses the gas in the accumulator, thereby alleviating the impact force caused by the increase in cable tension; when the hull descends, the hydraulic cylinder barrel descends with the hull. At this time, the hydraulic oil will return to the hydraulic cylinder due to the high-pressure gas in the accumulator, thereby compensating for the reduction in cable tension and preventing the cable from being slack due to excessively low tension. In general, the device can dynamically adjust the cable tension to ensure stable cable tension during lifting operations, compensate for the heave movement caused by offshore operations, and ensure offshore construction safety.

[0004] During operation, the portable integrated heave compensation device will be used for different loads and experience different sea conditions and working conditions. Under different operating conditions, the damping and stiffness parameters of the device are different. Inappropriate parameters will cause the compensation accuracy of the device to decrease. Therefore, it is necessary to use software to accurately calculate the parameters under different working conditions to ensure the compensation accuracy of the device.

[0005] Therefore, before offshore operations, it is necessary to conduct an overall equivalent analysis of the portable integrated passive compensation device, that is, to perform stiffness and damping calibration to provide a basis for the dynamic simulation of the lifting process, so that the compensation effect of the device can be analyzed and adjusted according to the simulation results.

[0006] Currently, there is limited research on the stiffness and damping calibration of portable integrated passive compensation devices, resulting in simulation results that deviate from actual conditions during the lifting process. Furthermore, existing research on heave compensation for lifting operations only considers heave compensation during the aerial lifting phase, making the resulting parameters difficult to apply to loads passing through the splash zone or underwater lifting. Summary of the Invention

[0007] The purpose of the present invention is to provide a stiffness and damping calibration method, equipment and medium for a passive compensation device in view of the existing technical status.

[0008] The present invention can calibrate the stiffness and damping of a portable integrated passive compensation device to form an equivalent stiffness-damping system model. The calibrated stiffness-damping system model is applied to the simulation of the offshore lifting process, which can effectively improve the accuracy and reliability of the simulation results relative to actual operations.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] In one aspect, the present invention provides a stiffness and damping calibration method for a passive compensation device, comprising:

[0011] Equivalently treating the passive compensation device as a stiffness damping system;

[0012] The force exerted on the hydraulic cylinder piston by the accumulator, the gas cylinder and the gas in the air flow channel between the accumulator and the gas cylinder in the passive compensation device is used as the equivalent spring force, and the equivalent stiffness is obtained according to the equivalent spring force;

[0013] The product of the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline and the annular area of ​​the rod cavity of the hydraulic cylinder is used as the equivalent damping force, and the equivalent damping is obtained according to the equivalent damping force.

[0014] In some embodiments, the step of using the force of the accumulator, the gas cylinder, and the gas in the air flow channel therebetween in the passive compensation device acting on the hydraulic cylinder piston as the equivalent spring force, and obtaining the equivalent stiffness based on the equivalent spring force includes:

[0015] Obtaining the original gas pressure corresponding to each stage of the gas in the accumulator, the gas cylinder, and the air flow channel therebetween in the passive compensation device when the piston rod of the hydraulic cylinder is in the middle position of the hydraulic cylinder;

[0016] According to the original gas pressure at each stage, the gas pressure of the gas in the accumulator, the gas cylinder, and the air flow channel therebetween corresponding to each stage is obtained when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x;

[0017] Based on the gas pressure of the accumulator, the gas cylinder and the gas in the air flow channel therebetween corresponding to each stage, the equivalent spring force corresponding to each stage when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x is obtained.

[0018] In some embodiments, the step of obtaining the equivalent spring force corresponding to each stage when the length x of the hydraulic cylinder piston rod extending from the hydraulic cylinder is based on the gas pressure of the gas in the accumulator, the gas cylinder, and the gas flow channel therebetween corresponding to each stage includes:

[0019] The equivalent spring force is obtained according to the equivalent spring force formula, which is:

[0020]

[0021] Where, F k is the equivalent spring force when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x, P x A is the gas pressure corresponding to the gas in the accumulator, gas cylinder and the air flow channel between the two when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x, p A is the annular area of ​​the rod cavity of the hydraulic cylinder, rod is the cross-sectional area of ​​the hydraulic cylinder piston rod, ρ is the density of water, and h is the underwater depth at which the end of the hydraulic cylinder piston rod is located.

[0022] In some embodiments, the calculation formula for the original gas pressure of the gas in the accumulator, the gas cylinder, and the air flow channel between the two corresponding to each stage in the passive compensation device is:

[0023]

[0024] Where P0 is the original gas pressure of the gas in the accumulator, gas cylinder and the air flow channel between the two in the passive compensation device at each stage, m air is the mass of the load in the air, m water is the equivalent mass loaded in water, A p A is the annular area of ​​the rod cavity of the hydraulic cylinder, rod is the cross-sectional area of ​​the hydraulic cylinder piston rod, ρ is the density of water, and h is the underwater depth at which the end of the hydraulic cylinder piston rod is located;

[0025] The calculation formula for the gas pressure of the accumulator, the gas cylinder and the gas flow channel therebetween corresponding to each stage is as follows:

[0026]

[0027] Where, P xis the gas pressure corresponding to the gas in the accumulator, gas cylinder, and the air flow channel between the two when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x, P0 is the original gas pressure corresponding to each stage of the gas in the accumulator, gas cylinder, and the air flow channel between the two in the passive compensation device, V0 is the original total volume corresponding to each stage of the gas in the accumulator, gas cylinder, and the air flow channel between the two in the passive compensation device when the hydraulic cylinder piston rod is in the middle position of the hydraulic cylinder, V gas is the total volume of the gas in the accumulator, the gas cylinder and the air flow channel between the two in the passive compensation device at each stage when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is 0, A p is the annular area of ​​the rod cavity of the hydraulic cylinder, γ is the adiabatic index, and γ is 1.4 to 1.7.

[0028] In some embodiments, the step of taking the product of the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline and the annular area of ​​the rod cavity of the hydraulic cylinder as the equivalent damping force, and obtaining the equivalent damping according to the equivalent damping force includes:

[0029] Get the flow rate of the hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x;

[0030] determining a pipe friction coefficient based on the flow rate;

[0031] The pressure loss of the hydraulic oil passing through the hydraulic pipeline is obtained based on the flow rate, the friction coefficient, and the diameter of the hydraulic pipeline.

[0032] In some embodiments, the step of obtaining the flow rate of the hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x includes:

[0033] The flow rate is obtained according to the flow rate calculation formula, which is:

[0034]

[0035] Where c is the flow rate of hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x, and A is p is the annular area of ​​the rod cavity of the hydraulic cylinder, is the movement speed of the hydraulic cylinder piston rod; d is the diameter of the hydraulic pipeline;

[0036] And / or, the step of determining the pipeline friction coefficient based on the flow velocity includes:

[0037] The corresponding Reynolds number is calculated according to the flow rate, and the pipeline friction coefficient is determined according to the Reynolds number; the calculation formula of the pipeline friction coefficient is:

[0038]

[0039] Where λ is the pipeline friction coefficient, Re is the Reynolds number;

[0040] And / or, the step of obtaining the pressure loss of the hydraulic oil passing through the hydraulic pipeline based on the flow rate, the friction coefficient and the diameter of the hydraulic pipeline includes:

[0041] The pressure loss of the hydraulic oil passing through the hydraulic pipeline is calculated according to the pressure loss formula, which is:

[0042]

[0043] Wherein, △p is the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline, λ is the pipeline friction coefficient, d is the diameter of the hydraulic pipeline, l is the length of the hydraulic pipeline, ρ oil is the density of the hydraulic oil, and c is the flow rate of the hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x.

[0044] In some embodiments, the step of obtaining the equivalent stiffness according to the equivalent spring force includes:

[0045] Calculate the equivalent stiffness according to the equivalent stiffness calculation formula and draw the equivalent stiffness curve.

[0046] The equivalent stiffness calculation formula is:

[0047] Where k is the equivalent stiffness, F k is the equivalent spring force corresponding to the length x of the piston rod of the hydraulic cylinder extending out of the hydraulic cylinder;

[0048] And / or, the step of obtaining equivalent damping according to the equivalent damping force includes:

[0049] Calculate the equivalent damping according to the equivalent damping calculation formula and draw the equivalent damping curve.

[0050] The equivalent damping calculation formula is:

[0051] Where c is the equivalent damping, F c is the equivalent damping force corresponding to the length x of the piston rod of the hydraulic cylinder extending out of the hydraulic cylinder, is the movement speed of the hydraulic cylinder piston rod.

[0052] Second, the present invention also provides an application of the above-mentioned stiffness and damping calibration method for a passive compensation device, comprising:

[0053] The equivalent spring force and the equivalent damping force are input into the cable tension calculation model to adjust the tension of the cable.

[0054] The force balance equation of the cable tension calculation model is:

[0055]

[0056] Where m D is the mass of the passive compensation device, a D is the acceleration of the passive compensation device, F c is the equivalent damping force of the passive compensation device, F c 'For F c The reaction force, F k is the equivalent spring force of the passive compensation device, F k 'For F k Reaction force, m L is the mass of the load, a' L F is the acceleration of the load when it is affected by the passive compensation device. V is the buoyancy of the load, f is the hydrodynamic force on the load, g is the acceleration due to gravity, and T is the cable tension.

[0057] Third, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method when executing the computer program.

[0058] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the above method when executed by a processor.

[0059] The beneficial effects of the present invention are:

[0060] In the present invention, the passive compensation device is equivalent to a stiffness damping system, wherein the compression of the gas in the accumulator, the gas cylinder and the air flow channel between the two is reflected as the stiffness of the equivalent system. Therefore, the present invention uses the force of the gas in the accumulator, the gas cylinder and the air flow channel between the two in the passive compensation device acting on the hydraulic cylinder piston as an equivalent spring force, and obtains the equivalent stiffness based on the equivalent spring force. The damping generated by the hydraulic oil through the hydraulic pipeline is reflected as the damping of the equivalent system. Therefore, the present invention uses the product of the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline and the annular area of ​​the rod cavity of the hydraulic cylinder as the equivalent damping force, and obtains the equivalent damping based on the equivalent damping force, thereby realizing the calibration of the stiffness and damping of the passive compensation device and forming an equivalent stiffness damping system model of the passive compensation device. The calibrated stiffness-damping system model can be applied to the simulation of offshore lifting processes, effectively improving the accuracy and reliability of simulation results relative to actual operations. This allows for better adjustment and control of the passive compensation device during actual lifting operations, ensuring stable cable tension during lifting operations, improving the passive compensation effect, and ensuring offshore construction safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 Schematic diagram of the operation of the portable integrated passive compensation device according to an embodiment of the present invention.

[0062] Figure 2 Schematic diagram of the principle of a portable integrated passive compensation device according to an embodiment of the present invention.

[0063] Figure 3 This is a schematic diagram showing that the portable integrated passive compensation device according to an embodiment of the present invention is equivalent to a stiffness damping system.

[0064] Figure 4 : This is the equivalent stiffness curve of the portable integrated passive compensation device according to an embodiment of the present invention.

[0065] Figure 5 : is the equivalent damping curve of the portable integrated passive compensation device according to an embodiment of the present invention.

[0066] Figure 6 The present invention is a flowchart of a stiffness and damping calibration method for a passive compensation device according to an embodiment of the present invention.

[0067] Figure 7 This is a flow chart of step S200 of a stiffness and damping calibration method for a passive compensation device according to an embodiment of the present invention.

[0068] Figure 8 This is a flow chart of step S300 of a stiffness and damping calibration method for a passive compensation device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0069] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is described in further detail below.

[0070] First, to facilitate the description of the stiffness and damping calibration method for a passive compensation device of the present invention below, the structure of the portable integrated passive compensation device of the present invention is briefly described below.

[0071] For details, see Figures 1 to 2 As shown, a portable integrated passive compensation device 1 is suspended between the end of a cable on a crane 3 of a mother ship 4 and a load 2. The passive compensation device is mainly composed of a hydraulic cylinder 7, an accumulator 5, a gas cylinder 8 and a related valve group control system, wherein the hydraulic cylinder 7 is divided into a rodless air chamber 71 and a rod oil chamber 72 by a piston member, the piston member includes a piston 731 and a piston rod 732, the accumulator includes a compensation air chamber 51 and a compensation oil chamber 52, wherein the compensation oil chamber and the rod oil chamber are connected through a hydraulic pipeline 6 with an oil circuit regulating valve, and the compensation air chamber and the gas cylinder are connected through an air flow pipeline 9 of the air circuit regulating valve, wherein the gas in the accumulator, the gas cylinder and the air flow channel therebetween can be nitrogen.

[0072] On the one hand, see Figures 1 to 3 and Figure 6 As shown, the present invention provides a stiffness and damping calibration method for a passive compensation device, comprising:

[0073] S100. The passive compensation device is equivalent to a stiffness damping system;

[0074] S200. The force exerted on the hydraulic cylinder piston by the accumulator, the gas cylinder, and the gas in the air flow channel between the accumulator and the gas cylinder in the passive compensation device is used as an equivalent spring force, and an equivalent stiffness is obtained according to the equivalent spring force;

[0075] S300. The product of the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline and the annular area of ​​the rod cavity of the hydraulic cylinder is used as the equivalent damping force, and the equivalent damping is obtained according to the equivalent damping force.

[0076] In the present invention, the passive compensation device is equivalent to a stiffness damping system, wherein the compression of the gas in the accumulator, the gas cylinder and the air flow channel between the two is reflected as the stiffness of the equivalent system. Therefore, the present invention uses the force of the gas in the accumulator, the gas cylinder and the air flow channel between the two in the passive compensation device acting on the hydraulic cylinder piston as an equivalent spring force, and obtains the equivalent stiffness based on the equivalent spring force. The damping generated by the hydraulic oil through the hydraulic pipeline is reflected as the damping of the equivalent system. Therefore, the present invention uses the product of the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline and the annular area of ​​the rod cavity of the hydraulic cylinder as the equivalent damping force, and obtains the equivalent damping based on the equivalent damping force, thereby realizing the calibration of the stiffness and damping of the passive compensation device and forming an equivalent stiffness damping system model of the passive compensation device. The calibrated stiffness-damping system model can be applied to the simulation of offshore lifting processes, effectively improving the accuracy and reliability of simulation results relative to actual operations. This allows for better adjustment and control of the passive compensation device during actual lifting operations, ensuring stable cable tension during lifting operations, improving the passive compensation effect, and ensuring offshore construction safety.

[0077] In some embodiments, see Figure 7 As shown, in step S200, the step of using the force of the accumulator, the gas cylinder, and the gas in the air flow channel between the accumulator and the gas cylinder in the passive compensation device acting on the hydraulic cylinder piston as the equivalent spring force, and obtaining the equivalent stiffness according to the equivalent spring force includes:

[0078] S210. Obtaining the original gas pressure of each stage corresponding to the gas in the accumulator, the gas cylinder, and the air flow channel between the passive compensation device when the hydraulic cylinder piston rod is in the middle position of the hydraulic cylinder;

[0079] S220. Based on the original gas pressure at each stage, obtain the gas pressure of the accumulator, the gas cylinder, and the gas flow channel therebetween at each stage when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x;

[0080] S230. Based on the gas pressure of the accumulator, the gas cylinder and the gas in the air flow channel therebetween corresponding to each stage, obtain the equivalent spring force corresponding to each stage when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x.

[0081] It can be understood that the hydraulic cylinder piston rod has two processes of extension and retraction. When the piston rod is completely retracted inside the hydraulic cylinder, the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is 0; when in the current state, the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is 2m, and in the next state the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is 1m, at this time, the hydraulic cylinder piston rod is retracted from the current state to enter the next state. On the contrary, when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder in the next state is 3m, the hydraulic cylinder piston rod is extended from the current state to enter the next state.

[0082] It can be understood that, depending on the different lifting directions, in each stage of the lifting operation, the deck lifting stage can be the stage of lifting the load from the deck into the air or the stage of lifting the load from the air to the deck; the splash zone stage can be the stage of passing the load from the air through the splash zone or the stage of passing the load from the seabed through the splash zone; the underwater lifting stage can be the stage of lifting the load underwater and sinking it to the seabed or the stage of lifting the load from the seabed to the water surface.

[0083] Since the external environment is different in the deck lifting stage, the splash zone stage and the underwater lifting stage, there are differences in the forces applied to the passive compensation device and the load. In the present invention, the original gas pressure corresponding to the passive compensation device at different stages is obtained to obtain the corresponding equivalent spring force, thereby obtaining the equivalent stiffness corresponding to the different lifting stages. The equivalent spring damping system model constructed by the obtained equivalent stiffness can better simulate the various stages of actual offshore lifting operations, effectively improve the accuracy and reliability of the simulation results relative to the actual operations, and provide a more accurate passive compensation strategy for each stage of actual lifting operations.

[0084] In some embodiments, in step S230, the step of obtaining the equivalent spring force corresponding to each stage when the length x of the hydraulic cylinder piston rod extending from the hydraulic cylinder is based on the gas pressure of the gas in the accumulator, the gas cylinder, and the gas flow channel therebetween corresponding to each stage includes:

[0085] The equivalent spring force is obtained according to the equivalent spring force formula, which is:

[0086]

[0087] Where, F k is the equivalent spring force when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x, P x A is the gas pressure corresponding to the gas in the accumulator, gas cylinder and the air flow channel between the two when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x, p A is the annular area of ​​the rod cavity of the hydraulic cylinder, rodis the cross-sectional area of ​​the hydraulic cylinder piston rod, ρ is the density of water, and h is the underwater depth at which the end of the hydraulic cylinder piston rod is located.

[0088] In the equivalent spring force formula, based on the differences in the external environment at each stage, the force of water on the piston rod is introduced during the underwater lifting stage. This makes the equivalent spring force of the passive compensation device during underwater lifting closer to its spring force in actual lifting operations, and the simulation results are more accurate and reliable.

[0089] In some embodiments, in step S210, the calculation formula for the original gas pressure of the accumulator, the gas cylinder, and the gas flow channel therebetween in the passive compensation device at each stage is:

[0090]

[0091] Where P0 is the original gas pressure of the gas in the accumulator, gas cylinder and the air flow channel between the two in the passive compensation device at each stage, m air is the mass of the load in the air, m water is the equivalent mass loaded in water, A p A is the annular area of ​​the rod cavity of the hydraulic cylinder, rod is the cross-sectional area of ​​the hydraulic cylinder piston rod, ρ is the density of water, and h is the underwater depth at which the end of the hydraulic cylinder piston rod is located.

[0092] Due to the differences in the external environment at each stage, there are differences in the passive compensation device and the load force. Targeted improvements are made to the calculation formula of the original gas pressure, so that the equivalent spring force corresponding to each stage obtained later is closer to the spring force at each stage in the actual lifting operation, and the simulation results are more accurate and reliable. Therefore, based on the simulation analysis results, a more precise passive compensation strategy can be provided for each stage of the actual lifting operation.

[0093] In some embodiments, in step S220, the calculation formula for the gas pressure of the accumulator, the gas cylinder, and the gas flow channel therebetween corresponding to each stage is as follows:

[0094]

[0095] Where, P x is the gas pressure corresponding to the gas in the accumulator, gas cylinder, and the air flow channel between the two when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x, P0 is the original gas pressure corresponding to each stage of the gas in the accumulator, gas cylinder, and the air flow channel between the two in the passive compensation device, V0 is the original total volume corresponding to each stage of the gas in the accumulator, gas cylinder, and the air flow channel between the two in the passive compensation device when the hydraulic cylinder piston rod is in the middle position of the hydraulic cylinder, V gasis the total volume of the gas in the accumulator, the gas cylinder and the air flow channel between the two in the passive compensation device at each stage when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is 0, A p is the annular area of ​​the rod cavity of the hydraulic cylinder, γ is the adiabatic index, and γ is 1.4 to 1.7.

[0096] It can be understood that when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is 0, the hydraulic cylinder piston rod is completely retracted into the rod oil chamber of the hydraulic cylinder. At this time, the gas in the accumulator, the gas cylinder and the air flow channel between the two in the passive compensation device corresponds to the total volume V of each stage. gas is the maximum volume of the gas.

[0097] The hydraulic cylinder piston rod is in the middle position of the hydraulic cylinder, which means that the piston of the hydraulic cylinder moves to the middle position of the entire internal cavity of the hydraulic cylinder.

[0098] Wherein, γ is the adiabatic index. Since the gas in the accumulator, the gas cylinder and the air flow channel therebetween is usually nitrogen, preferably, γ is 1.4.

[0099] Preferably, under high pressure or high temperature conditions, γ is 1.7.

[0100] In some embodiments, see Figure 8 As shown, in step S300, the step of taking the product of the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline and the annular area of ​​the rod cavity of the hydraulic cylinder as the equivalent damping force, and obtaining the equivalent damping according to the equivalent damping force includes:

[0101] S310 obtains the flow rate of the hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x;

[0102] S320. Determine the pipeline friction coefficient based on the flow rate;

[0103] S330. Obtaining the pressure loss of the hydraulic oil through the hydraulic pipeline based on the flow rate, the friction coefficient and the diameter of the hydraulic pipeline;

[0104] S340. Calculate the equivalent damping force according to the calculation formula of the equivalent damping force. The calculation formula of the equivalent damping force is shown as follows:

[0105] F c =Δp·A p ,

[0106] Where, F c is the equivalent damping force of the passive compensation device, Δp is the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline, A p is the annular area of ​​the rod cavity of the hydraulic cylinder.

[0107] The damping generated by the hydraulic oil passing through the hydraulic pipeline is reflected as the damping of the equivalent system. Therefore, the present invention uses the product of the pressure loss of the hydraulic oil through the hydraulic pipeline in the passive compensation device and the annular area of ​​the rod cavity of the hydraulic cylinder as the equivalent damping force, thereby simplifying the algorithm of the equivalent damping while ensuring the accuracy of the equivalent damping force.

[0108] In some embodiments, in step S310, the step of obtaining the flow rate of the hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x includes:

[0109] The flow rate is obtained according to the flow rate calculation formula, which is:

[0110]

[0111] Where c is the flow rate of hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x, and A is p is the annular area of ​​the rod cavity of the hydraulic cylinder, is the movement speed of the hydraulic cylinder piston rod; d is the diameter of the hydraulic pipeline.

[0112] In some embodiments, in step S320, the step of determining the pipeline friction coefficient based on the flow velocity includes:

[0113] The corresponding Reynolds number is calculated according to the flow rate, and the pipeline friction coefficient is determined according to the Reynolds number; the calculation formula of the pipeline friction coefficient is:

[0114]

[0115] Where λ is the pipeline friction coefficient, Re is the Reynolds number;

[0116] In step S330, the step of obtaining the pressure loss of the hydraulic oil passing through the hydraulic pipeline based on the flow rate, the friction coefficient, and the diameter of the hydraulic pipeline includes:

[0117] The pressure loss of the hydraulic oil passing through the hydraulic pipeline is calculated according to the pressure loss formula, which is:

[0118]

[0119] Wherein, △p is the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline, λ is the pipeline friction coefficient, d is the diameter of the hydraulic pipeline, l is the length of the hydraulic pipeline, ρ oil is the density of the hydraulic oil, and c is the flow rate of the hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x.

[0120] In some embodiments, in step S200, the step of obtaining the equivalent stiffness according to the equivalent spring force includes:

[0121] Calculate the equivalent stiffness according to the equivalent stiffness calculation formula and draw the equivalent stiffness curve.

[0122] The equivalent stiffness calculation formula is:

[0123] Where k is the equivalent stiffness, F k is the equivalent spring force corresponding to the length x of the piston rod of the hydraulic cylinder extending out of the hydraulic cylinder.

[0124] Among them, see Figure 4 As shown in the figure, the equivalent stiffness curve represents the equivalent spring force of the piston rod of the passive compensation device when it is extended to different displacements. Therefore, the variation pattern of the equivalent stiffness can be obtained through the equivalent stiffness curve, which effectively improves the accuracy and reliability of the simulation results relative to the actual operation and provides a more accurate passive compensation strategy for each stage of the actual lifting operation.

[0125] In some embodiments, in step S300, the step of obtaining equivalent damping according to the equivalent damping force includes:

[0126] Calculate the equivalent damping according to the equivalent damping calculation formula and draw the equivalent damping curve.

[0127] The equivalent damping calculation formula is:

[0128] Where c is the equivalent damping, F c is the equivalent damping force corresponding to the length x of the piston rod of the hydraulic cylinder extending out of the hydraulic cylinder, is the movement speed of the hydraulic cylinder piston rod.

[0129] Among them, see Figure 5 As shown in the figure, the equivalent damping curve represents the equivalent damping force generated when the piston rod moves at different speeds. The changing pattern of the equivalent damping can be obtained through the equivalent damping curve, which effectively improves the accuracy and reliability of the simulation results relative to the actual operation and provides a more accurate passive compensation strategy for actual lifting operations.

[0130] In one embodiment, the equivalent spring damping system model obtained by the calibration method of the present invention can be applied to the overall model of offshore lifting simulation to provide an equivalent spring damping system model of the passive compensation device for the analysis of the entire lifting operation process.

[0131] Second, in one embodiment, the present invention further provides an application of the above-mentioned stiffness and damping calibration method for a passive compensation device, comprising:

[0132] The equivalent spring force and the equivalent damping force are input into the cable tension calculation model to adjust the tension of the cable.

[0133] The force balance equation of the cable tension calculation model is:

[0134]

[0135] Where m D is the mass of the passive compensation device, a D is the acceleration of the passive compensation device, F c is the equivalent damping force of the passive compensation device, F c 'For F c The reaction force, F k is the equivalent spring force of the passive compensation device, F k 'For F k Reaction force, m L is the mass of the load, a' L F is the acceleration of the load when it is affected by the passive compensation device. V is the buoyancy of the load, f is the hydrodynamic force on the load, g is the acceleration due to gravity, and T is the cable tension.

[0136] Specifically, during marine engineering hoisting operations, the load force balance equation can be expressed as:

[0137] m L a L +m L g+T+F V +f=0

[0138] Where m L is the mass of the load, a L is the acceleration of the load, g is the acceleration due to gravity, T is the cable tension, F V is the buoyancy of the load, and f is the hydrodynamic force of the load.

[0139] Since the portable integrated passive compensation device of the present invention is provided between the end of the cable and the load, the coupled motion of the mother ship and the load is effectively separated. Therefore, the equivalent spring force and reaction force of the passive compensation device are recorded as F k 、F k ', the equivalent damping force and reaction force are recorded as F c 、F c ', ignoring the hydrodynamic influence on the passive compensation device, the force balance equation of the cable tension calculation model mentioned above can be obtained for the device and load, and the cable tension can be calculated and analyzed using the equivalent spring force and equivalent damping force of the passive compensation device.

[0140] Third, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method when executing the computer program.

[0141] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the above method when executed by a processor.

[0142] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may, without departing from the scope of the technical solution of the present invention, make some changes or modifications to equivalent embodiments using the technical contents suggested above. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of the solution of the present invention.

Claims

1. A stiffness and damping calibration method for a passive compensation device, characterized in that: include: Equivalently treating the passive compensation device as a stiffness damping system; The force exerted on the hydraulic cylinder piston by the accumulator, the gas cylinder and the gas in the air flow channel between the accumulator and the gas cylinder in the passive compensation device is used as the equivalent spring force, and the equivalent stiffness is obtained according to the equivalent spring force; The product of the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline and the annular area of ​​the rod cavity of the hydraulic cylinder is used as the equivalent damping force, and the equivalent damping is obtained according to the equivalent damping force; The step of using the force of the accumulator, the gas cylinder, and the gas in the air flow channel therebetween in the passive compensation device acting on the hydraulic cylinder piston as the equivalent spring force, and obtaining the equivalent stiffness according to the equivalent spring force comprises: Obtaining the original gas pressure corresponding to each stage of the gas in the accumulator, the gas cylinder, and the air flow channel therebetween in the passive compensation device when the piston rod of the hydraulic cylinder is in the middle position of the hydraulic cylinder; According to the original gas pressure at each stage, the gas pressure of the gas in the accumulator, the gas cylinder, and the air flow channel therebetween corresponding to each stage is obtained when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x; Based on the gas pressure of the accumulator, the gas cylinder, and the gas flow channel therebetween corresponding to each stage, obtaining the equivalent spring force corresponding to each stage when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x; The step of obtaining the equivalent spring force corresponding to each stage when the length x of the hydraulic cylinder piston rod extending from the hydraulic cylinder is based on the gas pressure of the gas in the accumulator, the gas cylinder, and the air flow channel therebetween corresponding to each stage comprises: The equivalent spring force is obtained according to the equivalent spring force formula, which is: Where, F k is the equivalent spring force when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x, P x A is the gas pressure corresponding to the gas in the accumulator, gas cylinder and the air flow channel between the two when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x, p A is the annular area of ​​the rod cavity of the hydraulic cylinder, rod is the cross-sectional area of ​​the hydraulic cylinder piston rod, ρ is the density of water, and h is the underwater depth at which the end of the hydraulic cylinder piston rod is located; When the piston rod of the hydraulic cylinder is in the middle position of the hydraulic cylinder, the calculation formula for the original gas pressure of the gas in the accumulator, the gas cylinder and the air flow channel between the two in the passive compensation device corresponding to each stage is: Where P0 is the original gas pressure of the gas in the accumulator, gas cylinder and the air flow channel between the two in the passive compensation device at each stage, m air is the mass of the load in the air, m water is the equivalent mass loaded in water, A p A is the annular area of ​​the rod cavity of the hydraulic cylinder, rod is the cross-sectional area of ​​the hydraulic cylinder piston rod, ρ is the density of water, and h is the underwater depth at which the end of the hydraulic cylinder piston rod is located; When the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x, the calculation formula for the gas pressure of the accumulator, the gas cylinder, and the gas flow channel therebetween corresponding to each stage is as follows: Where, P x is the gas pressure corresponding to the gas in the accumulator, gas cylinder, and the air flow channel between the two when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x, P0 is the original gas pressure corresponding to each stage of the gas in the accumulator, gas cylinder, and the air flow channel between the two in the passive compensation device, V0 is the original total volume corresponding to each stage of the gas in the accumulator, gas cylinder, and the air flow channel between the two in the passive compensation device when the hydraulic cylinder piston rod is in the middle position of the hydraulic cylinder, V gas is the total volume of the gas in the accumulator, the gas cylinder and the air flow channel between the two in the passive compensation device at each stage when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is 0, A p is the annular area of ​​the rod cavity of the hydraulic cylinder, γ is the adiabatic index, and γ is 1.4~1.

7.

2. A stiffness and damping calibration method for a passive compensation device according to claim 1, characterized in that: The step of taking the product of the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline and the annular area of ​​the rod cavity of the hydraulic cylinder as the equivalent damping force, and obtaining the equivalent damping according to the equivalent damping force includes: Get the flow rate of the hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x; determining a hydraulic conduit friction coefficient based on the flow rate; The pressure loss of the hydraulic oil passing through the hydraulic pipeline is obtained based on the flow rate, the friction coefficient, and the diameter of the hydraulic pipeline.

3. The stiffness and damping calibration method for a passive compensation device according to claim 2, characterized in that: The step of obtaining the flow rate of the hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x comprises: The flow rate is obtained according to the flow rate calculation formula, which is: Where c is the flow rate of hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending from the hydraulic cylinder is x, and A is p is the annular area of ​​the rod cavity of the hydraulic cylinder, is the movement speed of the hydraulic cylinder piston rod; d is the diameter of the hydraulic pipeline; And / or, the step of determining the hydraulic pipeline friction coefficient based on the flow rate includes: The corresponding Reynolds number is calculated according to the flow rate, and the hydraulic pipeline friction coefficient is determined according to the Reynolds number; the calculation formula of the hydraulic pipeline friction coefficient is: Where λ is the friction coefficient of the hydraulic pipeline, and Re is the Reynolds number; And / or, the step of obtaining the pressure loss of the hydraulic oil passing through the hydraulic pipeline based on the flow rate, the friction coefficient and the diameter of the hydraulic pipeline includes: The pressure loss of the hydraulic oil passing through the hydraulic pipeline is calculated according to the pressure loss formula, which is: Wherein, Δp is the pressure loss of the hydraulic oil in the passive compensation device through the hydraulic pipeline, λ is the friction coefficient of the hydraulic pipeline, d is the diameter of the hydraulic pipeline, l is the length of the hydraulic pipeline, ρ oil is the density of the hydraulic oil, and c is the flow rate of the hydraulic oil through the hydraulic pipeline when the length of the hydraulic cylinder piston rod extending out of the hydraulic cylinder is x.

4. The stiffness and damping calibration method for a passive compensation device according to claim 1, characterized in that: The step of obtaining the equivalent stiffness according to the equivalent spring force comprises: Calculate the equivalent stiffness according to the equivalent stiffness calculation formula and draw the equivalent stiffness curve. The equivalent stiffness calculation formula is: , Where k is the equivalent stiffness, F k is the equivalent spring force corresponding to the length x of the piston rod of the hydraulic cylinder extending out of the hydraulic cylinder; And / or, the step of obtaining equivalent damping according to the equivalent damping force includes: Calculate the equivalent damping according to the equivalent damping calculation formula and draw the equivalent damping curve. The equivalent damping calculation formula is: , Where c is the equivalent damping, F c is the equivalent damping force corresponding to the length x of the piston rod of the hydraulic cylinder extending out of the hydraulic cylinder, is the movement speed of the hydraulic cylinder piston rod.

5. An application of the stiffness and damping calibration method for a passive compensation device according to any one of claims 1 to 4, characterized in that: include: The equivalent spring force and the equivalent damping force are input into the cable tension calculation model to adjust the tension of the cable. The force balance equation of the cable tension calculation model is: Where m D is the mass of the passive compensation device, a D is the acceleration of the passive compensation device, F c is the equivalent damping force of the passive compensation device, F c The reaction force, F k is the equivalent spring force of the passive compensation device, F k Reaction force, m L is the mass of the load, F is the acceleration of the load when it is affected by the passive compensation device. V is the buoyancy of the load, f is the hydrodynamic force on the load, g is the acceleration due to gravity, and T is the cable tension.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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