Control method and control system for wind pile jacking operation of wind power operation and maintenance ship

Abstract

The invention relates to a control method and system for wind pile abutting operation of a wind power operation and maintenance ship, and belongs to the technical field of wind power operation and maintenance ships. According to the method, a mapping relation database containing data such as a wave environment, a ship loading state and main engine thrust is constructed through a high-precision CFD numerical simulation method; a wave measuring floating ball is arranged near the wind pile, and wave parameters are measured in real time; querying a predicted motion response from a database based on the current state; collecting actual motion data to correct the database; and calculating the motion state of the ship during abutting, considering the elastic coefficient and the friction coefficient of the rubber pad, dynamically adjusting the course, the host power and the loading state according to the corrected prediction result, and controlling the motion response within a preset range. According to the method, economy and comfort can be considered, and the motion response of the wind power operation and maintenance ship abutting against the wind pile is effectively controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power operation and maintenance vessels, and in particular to a control method and a control system for a wind power operation and maintenance vessel to operate against wind piles. Background Art

[0002] When a wind turbine maintenance ship is using a wind pile to perform wind turbine maintenance, the ship usually uses a rubber pad on the bow to support the wind pile at a lower sailing speed, and then increases the ship's horsepower so that the ship can maintain its relative position with the wind pile by friction.

[0003] When the wind power operation and maintenance ship is preparing to approach the wind pile, due to the low speed of the operation and maintenance ship, it is easy to produce a large motion response when it is stimulated by waves in severe sea conditions. Choosing the appropriate sailing direction can effectively reduce the amplitude of the motion response. When the wind power operation and maintenance ship is approaching the wind pile, the greater the power of the main engine, the smaller the relative motion between it and the wind pile. However, excessive power will cause the ship to impact the wind pile, which is not conducive to the long-term operation of the wind pile; on the other hand, it will consume a lot of fuel, which is not conducive to the economy of wind power operation and maintenance. On the contrary, the motion response will be too large, the operation and maintenance ship will not be able to approach the wind pile or the passengers will experience seasickness, which is not conducive to the comfort of the crew.

[0004] Therefore, in order to take both economy and comfort into consideration, the wind power operation and maintenance vessel needs to control the motion response of the ship within a certain range when leaning against wind piles. The control of the ship is generally adjusted by the captain based on experience based on on-site wind and wave conditions, which has strong uncertainty and requires effective theoretical guidance. Summary of the invention

[0005] In view of the shortcomings in the above-mentioned existing production technologies, the applicant provides a control method and control system for a wind power operation and maintenance vessel operating against wind piles, thereby taking into account both economy and comfort in the scenario where the wind power operation and maintenance vessel operates against wind piles, and controlling the motion response of the operation and maintenance vessel to be within an appropriate range by adjusting the ship's heading, main engine power and ship loading.

[0006] The technical solution adopted by the present invention is as follows: A control method for a wind power operation and maintenance vessel to operate against wind piles, comprising the following steps:

[0007] Step 1: construct a numerical simulation database of wave environment motion of wind power operation and maintenance ship, wherein the database is generated by a high-precision CFD numerical simulation method and stores a mapping relationship including wave wavelength, wave height, ship loading status, main engine thrust and ship motion response data points;

[0008] Step 2: Place a wave measuring buoy near the wind pile to measure the wave parameters of the operation area in real time, including wave height and wave period;

[0009] Step 3: Based on the current loading state of the wind power operation and maintenance vessel, the thrust of the main engine and the wave parameters obtained by the wave measuring buoy, interpolation query is performed from the database to predict the motion response of the front of the wind power operation and maintenance vessel;

[0010] Step 4: collecting actual motion data through the attitude sensor on the wind power operation and maintenance ship, comparing it with the prediction result of step 3 and correcting the mapping relationship of the database;

[0011] Step 5, according to the corrected motion response prediction result, combined with the elastic coefficient and friction coefficient of the bow rubber pad of the wind power operation and maintenance ship, the motion state of the ship when leaning against is calculated;

[0012] Step six, by dynamically adjusting the heading, main engine power and loading status of the wind power operation and maintenance vessel, the motion response amplitude of the vessel is controlled within a preset range to achieve the docking operation.

[0013] As a further improvement of the above technical solution:

[0014] Preferably, the high-precision CFD numerical simulation method in step one includes solving the six-degree-of-freedom motion equation of the ship; the equation decomposes the ship configuration and weight center of gravity into moment of inertia parameters, and decomposes the wave parameters, main engine power and heading into forces and moments acting on the ship, and obtains motion response data under different working conditions through numerical simulation.

[0015] Preferably, the motion response prediction in step three includes the displacement amplitudes of the ship's sway, surge and heave, and the angular displacement amplitudes of roll, pitch and pitch.

[0016] Preferably, the dynamic adjustment in step 6 includes at least one of the following methods:

[0017] Adjust the ship's heading according to the wave direction so that the bow of the ship forms a preset angle with the main direction of the waves;

[0018] According to the deviation of the motion response amplitude from the preset threshold, the host power is adjusted to balance the friction and impact forces;

[0019] By adjusting the ship's ballast water or cargo distribution, the center of gravity is changed to optimize the ship's stability.

[0020] Preferably, the wave-measuring buoy is arranged in a fan-shaped area around the wind pile to cover the wave incident direction during the leaning operation.

[0021] A control system for a wind power operation and maintenance vessel to operate against wind piles, comprising:

[0022] Wave measuring buoys are placed around the wind piles to collect wave parameters in real time;

[0023] A posture sensor is installed on the wind power operation and maintenance ship to monitor the ship's motion data;

[0024] Database module, storing numerical simulation data of wave environment motion of wind power operation and maintenance ship;

[0025] A control module configured to execute the above control method and generate adjustment instructions for heading, main engine power and loading status according to real-time data;

[0026] The actuator is used to adjust the ship's heading, main engine power and loading status according to the adjustment instructions.

[0027] Preferably, the actuator includes an automatic pilot system, a main engine power regulator and a ballast water control system. The automatic pilot system controls the steering of the ship according to the heading adjustment instruction, the main engine power regulator adjusts the main engine output power in real time, and the ballast water control system changes the center of gravity position of the ship by adjusting the ballast water distribution.

[0028] Preferably, the control module includes a machine learning unit for optimizing the interpolation algorithm of the database based on historical motion data and improving the accuracy of motion response prediction.

[0029] The beneficial effects of the present invention are as follows:

[0030] The present invention has high-precision prediction and control. By building a high-precision numerical simulation database and combining it with real-time measured wave parameters, it can accurately predict the motion response of the ship, thereby achieving refined control and improving the stability and safety of the operation.

[0031] The present invention also has the characteristics of real-time correction and optimization, uses actual motion data to correct the prediction results, continuously optimizes the mapping relationship of the database, and improves the prediction accuracy and control accuracy.

[0032] At the same time, the present invention adopts multi-dimensional dynamic adjustment. According to the prediction results, the motion response amplitude is controlled within a preset range by dynamically adjusting the ship's heading, main engine power and loading status, effectively balancing the economic and comfort requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the state of a wind power operation and maintenance vessel leaning against a wind pile in one embodiment of the present application.

[0034] Figure 2 for Figure 1 Top view of the .

[0035] Figure 3 Schematic diagram of the arrangement of the wave measuring buoy.

[0036] Figure 4This is a schematic diagram of the control process of the wind power operation and maintenance vessel leaning against the wind pile for this application.

[0037] Among them: 1. Wind power operation and maintenance ship; 2. Wind pile; 3. Wave measuring buoy. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0043] like Figure 1-Figure 4 As shown, the present invention provides a control method for a wind power operation and maintenance vessel to operate against wind piles, comprising the following steps:

[0044] Step 1: Construct a numerical simulation database of the wave environment motion of wind power operation and maintenance ships. The database is generated by a high-precision CFD numerical simulation method and stores the mapping relationship between the wave wavelength, wave height, ship loading status, main engine thrust, and ship motion response data points;

[0045] Step 2: Arrange a wave measuring buoy 3 near the wind pile 2 to measure the wave parameters of the operation area in real time, including wave height and wave period;

[0046] Step 3: Based on the current loading state of the wind power operation and maintenance vessel 1, the main engine thrust and the wave parameters obtained by the wave measuring buoy 3, interpolation query is performed from the database to predict the motion response of the front of the wind power operation and maintenance vessel;

[0047] Step 4: collect actual motion data through the attitude sensor on the wind power operation and maintenance vessel 1, compare it with the prediction result of step 3 and correct the mapping relationship of the database;

[0048] Step 5: Calculate the ship motion state when leaning against the vessel based on the corrected motion response prediction results and the elastic coefficient and friction coefficient of the rubber pad at the bow of the wind power operation and maintenance vessel;

[0049] Step six, by dynamically adjusting the heading, main engine power and loading status of the wind power operation and maintenance vessel 1, the motion response amplitude of the vessel is controlled within a preset range to achieve the docking operation.

[0050] In some embodiments, the high-precision CFD numerical simulation method in step one includes solving the six-degree-of-freedom motion equation of the ship; the equation decomposes the ship configuration and weight center of gravity into moment of inertia parameters, and decomposes the wave parameters, main engine power and heading into forces and moments acting on the ship, and obtains motion response data under different working conditions through numerical simulation.

[0051] In some embodiments, the motion response prediction in step three includes the displacement amplitudes of the ship's sway, surge and heave, and the angular displacement amplitudes of the roll, pitch and pitch.

[0052] In some embodiments, the dynamic adjustment in step 6 includes at least one of the following methods:

[0053] Adjust the ship's heading according to the wave direction so that the bow of the ship forms a preset angle with the main direction of the waves;

[0054] According to the deviation of the motion response amplitude from the preset threshold, the host power is adjusted to balance the friction and impact forces;

[0055] By adjusting the ship's ballast water or cargo distribution, the center of gravity is changed to optimize the ship's stability.

[0056] In some embodiments, the wave-measuring buoy 3 is arranged in a fan-shaped area around the wind pile 2 to cover the wave incident direction during the leaning operation.

[0057] In other embodiments, a control system for a wind power operation and maintenance vessel to operate against wind piles is provided, including:

[0058] The wave measuring buoy 3 is arranged around the wind pile 2 and is used to collect wave parameters in real time;

[0059] The attitude sensor is installed on the wind power operation and maintenance ship 1 to monitor the ship's motion data;

[0060] Database module, storing numerical simulation data of wave environment motion of wind power operation and maintenance ship;

[0061] A control module configured to execute the control method of any one of claims 1 to 5 and generate adjustment instructions for heading, main engine power and loading status according to real-time data;

[0062] Actuators are used to adjust the ship's heading, main engine power and loading status according to regulation instructions.

[0063] Furthermore, the actuator includes an automatic pilot system, a main engine power regulator and a ballast water control system. The automatic pilot system controls the ship's steering according to the heading adjustment instruction, the main engine power regulator adjusts the main engine output power in real time, and the ballast water control system changes the center of gravity position of the ship by adjusting the ballast water distribution.

[0064] Furthermore, the control module includes a machine learning unit for optimizing an interpolation algorithm of a database based on historical motion data and improving the accuracy of motion response prediction.

[0065] In a specific embodiment, for a certain type of wind power operation and maintenance ship, its motion response corresponds to the wave environment one by one, that is, under given input environmental conditions, the motion response state of the current state can be obtained through data simulation. When the ship is against the wind pile, its motion state is determined by the ship configuration, weight center of gravity g s 、W wave height in the operation area h , cycle Wt , ship heading θ, rubber pad friction coefficient k, ship main engine power P e The decision can be expressed as the following functional relationship:

[0066] M min <<f(g s , W h , W t ,θ,P e , k)<<M max (Formula 1)

[0067] The following equation 2 is the six-degree-of-freedom motion equation of the ship. The ship configuration, weight and center of gravity g s The moment of inertia of the ship about the coordinate axis can be decomposed into equation 2: x ,I y ,I z . Wave height W in the operating area h , cycle W t 、Ship main engine power P e The ship heading θ can be decomposed into the forces X, Y, Z and moments K, M, N in the xyz directions in formula 2.

[0068] By solving this equation, the motion response of the wind power operation and maintenance vessel under different loading, heading, main engine power and wave conditions can be obtained.

[0069]

[0070] After solving the motion response, u in equation 2 is set to 0, and the magnitude of the force on the maintenance boat in the xyz direction can be inferred, which is the force F between the maintenance boat and the rubber pad. p By solving equation 3, we can get the motion response M of the maintenance ship when it is against the wind pile: xyz .

[0071] P p =k*M xyz (Formula 3)

[0072] Through the above functional relationship, it is possible to solve what kind of heading and main engine power should be used when the ship is against the wind pile so that the ship's motion response is within the required range, thereby completing the task of the operation and maintenance personnel boarding the wind pile.

[0073] The control method and control system of the wind power maintenance ship against wind piles of the present invention can establish a functional relationship between the wind and wave field, ship thrust, and motion response. In actual sea conditions, according to the wave environment conditions, by adjusting the navigation direction of the ship, the main engine power and the ship loading, the maintenance ship can be made to against the wind piles with a reasonable motion response.

[0074] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The above-mentioned embodiments only express the implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A control method for a wind power operation and maintenance vessel to operate against wind piles, characterized in that: The following steps are involved: Step 1: construct a numerical simulation database of wave environment motion of wind power operation and maintenance ship, wherein the database is generated by a high-precision CFD numerical simulation method and stores a mapping relationship including wave wavelength, wave height, ship loading status, main engine thrust and ship motion response data points; Step 2: arranging a wave measuring buoy (3) near the wind pile (2) to measure wave parameters in the operation area in real time, including wave height and wave period; Step three, based on the current loading state of the wind power operation and maintenance vessel (1), the main engine thrust and the wave parameters obtained by the wave measuring buoy (3), interpolation query is performed from the database to predict the front motion response of the wind power operation and maintenance vessel; Step 4: collecting actual motion data through the attitude sensor on the wind power operation and maintenance vessel (1), comparing it with the prediction result of step 3 and correcting the mapping relationship of the database; Step 5, according to the corrected motion response prediction result, combined with the elastic coefficient and friction coefficient of the bow rubber pad of the wind power operation and maintenance ship, the motion state of the ship when leaning against is calculated; Step six, by dynamically adjusting the heading, main engine power and loading status of the wind power operation and maintenance vessel (1), the motion response amplitude of the vessel is controlled within a preset range to achieve the docking operation.

2. The control method for a wind power operation and maintenance vessel to operate against wind piles as claimed in claim 1, characterized in that: The high-precision CFD numerical simulation method described in step 1 includes solving the six-degree-of-freedom motion equation of the ship; The equation decomposes the ship configuration and weight center of gravity into rotational inertia parameters, and decomposes the wave parameters, main engine power and heading into forces and moments acting on the ship, and obtains motion response data under different working conditions through numerical simulation.

3. The control method for the wind power operation and maintenance vessel to operate against wind piles as claimed in claim 1, characterized in that: The motion response prediction in step 3 includes the displacement amplitudes of ship sway, surge and heave, as well as the angular displacement amplitudes of roll, pitch and pitch.

4. The control method for a wind power operation and maintenance vessel to operate against wind piles according to claim 1, characterized in that: The dynamic adjustment in step 6 includes at least one of the following methods: Adjust the ship's heading according to the wave direction so that the bow of the ship forms a preset angle with the main direction of the waves; According to the deviation of the motion response amplitude from the preset threshold, the host power is adjusted to balance the friction and impact forces; By adjusting the ship's ballast water or cargo distribution, the center of gravity is changed to optimize the ship's stability.

5. The control method for a wind power operation and maintenance vessel to operate against wind piles as claimed in claim 1, characterized in that: The wave-measuring buoy (3) is arranged in a fan-shaped area around the wind pile (2) to cover the wave incident direction during the leaning operation.

6. A control system for a wind power operation and maintenance vessel to operate against wind piles, characterized in that: include: A wave measuring buoy (3) is arranged around the wind pile (2) and is used to collect wave parameters in real time; A posture sensor, installed on the wind power operation and maintenance vessel (1), for monitoring the vessel's motion data; Database module, storing numerical simulation data of wave environment motion of wind power operation and maintenance ship; A control module, configured to execute the control method according to any one of claims 1 to 5, and to generate adjustment instructions for heading, main engine power and loading status according to real-time data; The actuator is used to adjust the ship's heading, main engine power and loading status according to the adjustment instructions.

7. The control system for the wind power operation and maintenance vessel to operate against wind piles as claimed in claim 6, characterized in that: The actuator includes an automatic pilot system, a main engine power regulator and a ballast water control system. The automatic pilot system controls the ship's steering according to a heading adjustment instruction, the main engine power regulator adjusts the main engine output power in real time, and the ballast water control system changes the center of gravity of the ship by adjusting the ballast water distribution.

8. The control system for the wind power operation and maintenance vessel to operate against wind piles as claimed in claim 6, characterized in that: The control module includes a machine learning unit for optimizing the interpolation algorithm of the database based on historical motion data and improving the accuracy of motion response prediction.

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