Pile driving barge operation decision-making method, device and equipment and storage medium

Abstract

According to the pile driving barge operation decision-making method, device and equipment and the storage medium, the system motion response parameters are determined according to the equipment operation parameters, the system motion response parameters are obtained by solving the system kinetic equation, and the system kinetic equation is constructed according to the equipment operation parameters; determining an operation failure probability according to the system motion response parameter; obtaining a reliability index model according to the operation failure probability and a first limiting parameter; inputting wave data in a target time period into the reliability index model to obtain a reliability value; inputting the system stress parameter and the second limit parameter into a limit value judgment model to obtain a judgment value; and according to the reliability value and the judgment value, determining whether operation can be carried out in the previous environment or not. According to the method, through the system dynamics model based on the equipment operation parameters, the motion response of the pile driving barge under different operation conditions is accurately solved, and a reliable basis is provided for calculation of the operation failure probability.

Description

Technical Field

[0001] The present invention relates to the technical field of port engineering, and in particular to a pile-driving ship operation decision-making method, device, equipment and storage medium. Background Art

[0002] With the rapid development of marine engineering, especially the construction of infrastructure such as offshore platforms, submarine pipelines and offshore wind power, the demand for pile-driving ships is increasing. As an important equipment for offshore construction, pile-driving ships are mainly used for operations such as piling, hanging piles and sinking piles. Due to the complex operating environment and large fluctuations in the marine environment, the operation of pile-driving ships may be affected by many factors, such as waves, wind, tides, hull movement, etc. These factors make the success rate and safety of pile driving operations face great challenges. Therefore, how to make scientific decisions on pile-driving ship operations in a complex marine environment and ensure the efficiency and safety of pile driving operations has become a technical problem that needs to be solved urgently.

[0003] At present, many studies focus on the establishment of piling ship dynamics model and pile foundation stress analysis. However, due to the ever-changing marine environment, the existing decision-making methods for piling ship operations mostly rely on simple models or empirical judgments, which makes it difficult to accurately judge whether the piling operation is suitable in real time. Therefore, how to conduct a comprehensive assessment based on specific operating parameters, environmental wave data and other influencing factors and make scientific decisions has not been fully resolved.

[0004] In summary, the defects existing in the prior art need to be solved urgently. Summary of the invention

[0005] The present invention provides a pile-driving ship operation decision method, device, equipment and storage medium, which are used to solve the defects in the prior art, provide clear operation guidance for operators, and improve the success rate of pile driving operations.

[0006] The present invention provides a pile-driving ship operation decision method, comprising:

[0007] Determine system motion response parameters according to the equipment operation parameters, wherein the system motion response parameters are obtained by solving system dynamics equations, and the system dynamics equations are constructed according to the equipment operation parameters;

[0008] Determining the operation failure probability according to the system motion response parameters;

[0009] Obtaining a reliability index model according to the operation failure probability and the first restriction parameter;

[0010] Inputting the wave data within the target time period into the reliability index model to obtain a reliability value;

[0011] Inputting the system stress parameter and the second limit parameter into the limit value judgment model to obtain a judgment value;

[0012] It is determined whether the previous environment is operable according to the reliability value and the judgment value.

[0013] According to a pile-driving ship operation decision method provided by the present invention, after the step of determining whether the previous environment is suitable for operation according to the reliability value and the judgment value, the method further includes:

[0014] The reliability value is compared with a preset threshold value to determine the operation decision of the pile driving ship.

[0015] According to a pile-driving ship operation decision method provided by the present invention, the system motion response parameters include system motion response, motion response operator and standard deviation. The step of determining the system motion response parameters of the pile-driving ship according to the equipment operation parameters specifically includes:

[0016] According to the equipment operation parameters, construct the system dynamics equation;

[0017] Determining the system motion response according to the system dynamics equation;

[0018] Performing spectrum analysis on the system motion response to obtain a motion response operator and a standard deviation of the motion response operator.

[0019] According to a pile-driving ship operation decision method provided by the present invention, the step of determining the operation failure probability according to the system motion response parameter specifically includes:

[0020] Determining a statistical value of a motion response amplitude according to the system motion response parameter;

[0021] The probability of operation failure is determined based on the statistical value of the motion response amplitude and the limit control value.

[0022] According to a pile-driving ship operation decision method provided by the present invention, the specific manner of determining the operation failure probability is as follows:

[0023]

[0024] Among them, P f is the failure probability, X is the distribution function of the motion response that conforms to the Rayleigh distribution, X failure is the set failure threshold, μ is the mean value of the motion response, σ j is the standard deviation of the motion response, Φ is the standard normal distribution function, x j is the motion response, N 3h =10800 / T z , m 2is the mass of the replacement, m 0 is the hull mass;

[0025] The specific method for determining the limit control value is as follows:

[0026]

[0027] Among them, q 3h is the target safety of the maximum permissible failure of the ship within three hours, x j,lim Target security q 3h The corresponding motion response.

[0028] According to a pile-driving ship operation decision-making method provided by the present invention, the system dynamics equation includes a pile-driving ship system model and a pile-soil interaction model.

[0029] According to a pile-driving ship operation decision method provided by the present invention, the pile-driving ship system model and the pile-soil interaction model are specifically as follows:

[0030]

[0031] Among them, m 1 is the mass of the hammer, m 1 is the mass of the replacement, m 3 is the mass of the replacement ring, m 4,i 、m 4,1 is the mass of the pile foundation, x 1 is the displacement of the hammer, x 2 is the displacement of the replacement, x 3 is the displacement of the replacement ring, x 4,i 、x 4,i-1 、x 4,1 is the displacement of the pile foundation, k 1 is the stiffness of the hammer, k 2 is the stiffness of the replacement, k 3 is the stiffness of the ring, k 4,i , k 4,i-1 , k 4,1 is the damper stiffness.

[0032] The present invention also provides a pile-driving ship operation decision-making device, comprising:

[0033] A parameter determination module, used to determine a system motion response parameter according to the equipment operation parameter, wherein the system motion response parameter is obtained by solving a system dynamics equation, and the system dynamics equation is constructed according to the equipment operation parameter;

[0034] A probability determination module, used to determine the operation failure probability according to the system motion response parameters;

[0035] A model determination module, used to obtain a reliability index model according to the operation failure probability and the first restriction parameter;

[0036] A reliability determination module is used to input the wave data within the target time period into the reliability index model to obtain a reliability value;

[0037] A judgment value determination module, used for inputting the system stress parameter and the second limit parameter into the limit value judgment model to obtain a judgment value;

[0038] The operation judgment module is used to determine whether the previous environment can perform the operation according to the reliability value and the judgment value.

[0039] 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 when the processor executes the program, any of the above-mentioned methods for making decisions on pile driving ship operations is implemented.

[0040] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the piling ship operation decision-making method as described in any one of the above is implemented.

[0041] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for making a decision on a pile-driving ship operation as described above is implemented.

[0042] The pile-driving ship operation decision method, device, equipment and storage medium provided by the present invention determine the system motion response parameters according to the equipment operation parameters, the system motion response parameters are obtained by solving the system dynamics equation, and the system dynamics equation is constructed according to the equipment operation parameters; according to the system motion response parameters, the operation failure probability is determined; according to the operation failure probability and the first limit parameter, a reliability index model is obtained; the wave data in the target time period is input into the reliability index model to obtain a reliability value; the system stress parameter and the second limit parameter are input into the limit value judgment model to obtain a judgment value; according to the reliability value and the judgment value, it is determined whether the previous environment can be operated. The present invention accurately solves the motion response of the pile-driving ship under different operating conditions through the system dynamics model based on the equipment operation parameters, and provides a reliable basis for the calculation of the operation failure probability. The method can dynamically adjust the operation decision according to the specific operation environment and equipment status, avoiding the risks brought by blind decision-making. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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.

[0044] Figure 1 It is a flow chart of the decision-making method for pile-driving ship operation provided by the present invention;

[0045] Figure 2 It is a structural schematic diagram of the pile-driving ship operation decision-making device provided by the present invention;

[0046] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0047] 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 of 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.

[0048] In order to solve the problems in the prior art, the present invention proposes a pile-driving ship operation decision method to provide clear operation guidance for operators and improve the success rate of pile-driving operations. The following describes the pile-driving ship operation decision method. Figure 1 As shown, including but not limited to the following steps:

[0049] Step 110: determine the system motion response parameters according to the equipment operation parameters, wherein the system motion response parameters are obtained by solving the system dynamics equation, and the system dynamics equation is constructed according to the equipment operation parameters.

[0050] In step 110, the equipment operation parameters of the pile-driving ship need to be collected first, including but not limited to the natural vibration frequency of the hull, the operation load, the operation depth, the pile driving force, the pile foundation type, the pile body material, etc. The equipment operation parameters can be collected in real time by means of sensors, telemetry systems, offshore platform control systems, etc.

[0051] According to the equipment operation parameters collected above, the corresponding system dynamics equation is established. The system dynamics equation is used to describe the motion state of the pile-driving ship during offshore operations, mainly considering the influence of external environmental factors such as the kinetic inertia of the hull, wave excitation force, wind force, tide, etc. The equation establishment process can adopt the classic marine engineering mechanics model, including the swing, sway, lateral and longitudinal movement of the hull, etc. Common dynamics equations can be solved by Lagrange equations or Newton-Euler equations.

[0052] The constructed system dynamics equations are used to solve the motion response parameters of the system under different working environment conditions, such as the motion displacement, velocity, acceleration, etc. of the hull. These response parameters reflect the dynamic behavior of the equipment during actual operation and provide an important basis for the subsequent failure probability calculation.

[0053] Step 120: Determine the operation failure probability according to the system motion response parameters.

[0054] In the present invention, operation failure refers to the situation that the pile-driving vessel fails to complete the operation according to the predetermined requirements under a specific operation environment, such as the pile foundation is not installed correctly, the pile body is broken, the hull capsizes due to excessive waves or wind, etc. The evaluation of operation failure is performed by combining the motion response parameters of the equipment and the operation environment parameters.

[0055] According to the motion response parameters of the system (such as displacement, velocity, acceleration, etc. of the hull), a failure probability model is constructed. The failure probability is usually described by a probability distribution function, which can be modeled using normal distribution, Rayleigh distribution or other suitable probability distributions. The failure probability is closely related to external factors such as wave height and wind speed in the marine environment, as well as the design parameters and tolerance of the equipment.

[0056] By analyzing the equipment operating parameters and motion response parameters, combined with external environmental data (such as waves, wind, etc.), the probability of operating failure is calculated using Monte Carlo simulation or other statistical methods. This failure probability will serve as the basis for subsequent reliability evaluation.

[0057] Step 130: Obtain a reliability index model according to the operation failure probability and the first restriction parameter, wherein the reliability index model is used to determine the success probability of performing the operation under the current environment.

[0058] According to the failure probability of the operation, system stress parameters and limit parameters, a reliability index model is constructed. This model is used to comprehensively evaluate the success probability of the operation under the current environment. The reliability index is a quantitative indicator reflecting the success rate of the operation, which is usually defined as:

[0059] R=1-P fail

[0060] Among them, R is the reliability index, P fail is the probability of operation failure. The model takes into account all factors that affect the operation process, including equipment status, external environment, wave data, etc.

[0061] Through regression analysis of historical operation data and support from experimental data, the reliability index model can be optimized to make it more consistent with actual operation conditions. The optimization process can use machine learning algorithms or fuzzy logic models to correct and adaptively adjust the system, thereby further improving the accuracy of reliability assessment.

[0062] Step 140: input the wave data within the target time period into the reliability index model to obtain a reliability value.

[0063] Step 140, collect real-time or forecast wave data according to the marine environmental conditions in the target time period. The wave data includes wave height, period, direction, etc. It can be obtained through marine monitoring stations, satellite remote sensing technology, weather forecasting systems, etc.

[0064] The wave data in the target time period is processed into a format suitable for inputting into the reliability index model. The processing method can adopt smoothing filtering, time series analysis and other methods to eliminate outliers or noise interference and ensure the accuracy of the data.

[0065] The processed wave data is input into the reliability index model, and the reliability value is calculated by the model. The reliability value represents the probability of success of piling operation under a specific operating environment. If the reliability value is high, it means that the operating environment is suitable and the piling task can continue; if the score is low, the operation should be suspended and wait for the environmental conditions to improve.

[0066] Based on the calculated reliability value, an operation decision report is generated. This report not only provides a reliability assessment of the current operation, but also makes recommendations or decisions based on factors such as the risk level of the operation, equipment status, and environmental change trends, such as whether to continue the operation or adjust the operation plan.

[0067] For example, suppose a pile-driving ship is preparing to carry out pile-driving operations in a certain sea area, and the target time period is 48 hours. By collecting equipment operating parameters (such as pile type, pile foundation size, operating depth, etc.) in real time, as well as wave data within the target time period, the system dynamics equation is established and the motion response parameters are solved. The probability of operation failure is obtained by solving and a reliability index model is constructed. Finally, the wave data is input into the model, and the calculated reliability value is 0.85, indicating that the probability of successful operation is 85%. Based on this reliability value, the system recommends that the operation can continue, but the waves and wind need to be monitored to ensure safety during the operation.

[0068] Through this implementation mode, the present invention can provide scientific and accurate decision support for pile-driving ship operations, and effectively improve the safety and success rate of operations.

[0069] Step 150: Input the system stress parameter and the second limit parameter into the limit value judgment model to obtain a judgment value.

[0070] In this step, the system stress parameter and the second limit parameter need to be input into the limit value judgment model. The judgment value is obtained through the following process:

[0071] System stress parameters: These parameters are usually related to the equipment's workload, external environmental pressure, mechanical stress, etc. They can be obtained through actual equipment monitoring systems or environmental sensors. For example, in the case of a pile-driving vessel, the system stress parameters can be the load on the hull, the swing amplitude, and the stress on the structure.

[0072] Second limit parameter: This parameter is set according to the technical specifications or safety standards of the equipment, and usually reflects the maximum pressure or stress value that the equipment can withstand under specific conditions. Second limit parameters may include equipment load capacity, maximum workload, temperature limit, vibration limit, etc.

[0073] Limit value judgment model: This model determines whether the equipment is operating within the safety range based on the system stress parameter and the second limit parameter. This model is usually a mathematical model or a machine learning model that can evaluate whether the current working state of the equipment exceeds the limit value based on a preset threshold (such as a safety limit).

[0074] Obtaining a judgment value: By substituting the above input parameters into the model, the model outputs a judgment value indicating whether the device is within the safe working range. The judgment value is usually a Boolean value or a quantitative value, indicating whether the device meets the preset working safety standards.

[0075] Step 160: Determine whether the previous environment is operable according to the reliability value and the judgment value.

[0076] In this step, the reliability value and judgment value are combined to determine whether the operation can be performed in the current environment:

[0077] Reliability value: Based on the reliability score obtained in the previous step (such as the reliability index calculated based on wave data, operation failure probability, etc.), it represents the working stability and success probability of the equipment in the current environment. The higher the reliability value, the greater the possibility of success of the operation and the safer the operating conditions.

[0078] Judgment value: The judgment value obtained by step 150 indicates whether the equipment complies with the safety limit. If the judgment value indicates that the equipment is in a safe state, the feasibility of the operation can be further evaluated; otherwise, it is necessary to consider adjusting the operating conditions or suspending the operation.

[0079] Determine the feasibility of the operation: Based on the reliability value and judgment value, combined with the preset safety standards, determine whether the current environment is suitable for the operation. The specific judgment method is as follows:

[0080] If the reliability value is high and the judgment value indicates that the equipment status is safe, the operation can be carried out.

[0081] If the reliability value is low or the judgment value indicates that the equipment status is unsafe, it is necessary to consider stopping the operation or taking safety improvement measures.

[0082] For example, if the reliability value is below a certain preset threshold, or the judgment value shows that the equipment is in a high stress state, the system will judge it as unsuitable for the operation and may need to wait for environmental conditions to improve or for the equipment to return to a safe state.

[0083] As a further optional embodiment, after the step of inputting the wave data within the target time period into the reliability index model to obtain the reliability value, the method further includes:

[0084] The reliability value is compared with a preset threshold value to determine the operation decision of the pile driving ship.

[0085] In this embodiment, in order to ensure the safety and efficiency of the operation, one or more preset reliability thresholds need to be set, which represent the minimum reliability requirements for the pile-driving ship to operate safely. The basis for setting the preset thresholds may include but is not limited to the following factors:

[0086] Environmental conditions: restrictions of marine environmental conditions such as waves and wind.

[0087] Equipment bearing capacity: Determine the maximum allowable environmental pressure based on the equipment's design parameters, structural strength, etc.

[0088] Historical operating experience: Set a reasonable reliability range based on past operating experience and data analysis.

[0089] The value of the preset threshold can be dynamically adjusted according to factors such as the specific sea area, operation task, equipment type, etc. For example, a relatively stable sea area may set a lower threshold (such as 0.7), while a complex sea area may require a higher threshold (such as 0.85) for operation.

[0090] The calculated reliability value (R) will be compared with the preset threshold (R_threshold) to determine whether the operation should continue. The specific judgment method is as follows:

[0091] If the reliability value R ≥ the preset threshold R threshold , it means the working environment is suitable and piling operation can continue. At this time, the system may provide the following operation suggestions:

[0092] Continue operations and continue to monitor the working environment.

[0093] Predict environmental change trends in the future in advance to ensure the feasibility of the operation plan.

[0094] If the reliability value R<preset threshold R threshold , it means that the working environment is not suitable and there is a high working risk. At this time, the system may give the following working decisions:

[0095] Suspend operations and wait for environmental conditions to improve.

[0096] Adjust the job plan and select a suitable time period to restart the job.

[0097] Take emergency measures, such as reducing work intensity and increasing equipment protection.

[0098] To facilitate operators to respond quickly, the system can visualize the comparison results between the reliability value and the preset threshold through a graphical interface. For example, different colored warning signs (green for reliable, yellow for attention, and red for unsafe) are used to remind operators of the risk level of the operation. At the same time, detailed decision reports can be generated to assist decision makers in making reasonable adjustments.

[0099] During the implementation process, if the environment changes during the operation (such as drastic changes in waves, wind speed, etc.), the system will recalculate the reliability value in real time and compare it with the preset threshold again. If a large change in the reliability value is found, the system will automatically prompt the operator to re-evaluate the operating environment and make new decisions as needed. For example, if the waves suddenly increase during the operation and the reliability value is lower than the threshold, the system can automatically issue a warning to suspend the operation.

[0100] As a further optional embodiment, the system motion response parameters include system motion response, motion response operator and standard deviation. The step of determining the system motion response parameters of the pile-driving ship according to the equipment operation parameters specifically includes:

[0101] According to the equipment operation parameters, construct the system dynamics equation;

[0102] Determining the system motion response according to the system dynamics equation;

[0103] Performing spectrum analysis on the system motion response to obtain a motion response operator and a standard deviation of the motion response operator.

[0104] First, equipment operating parameters related to pile-driving ship operations are collected and analyzed. These parameters include but are not limited to the pile-driving ship's load, operating position, operating mode, sea environment (such as wave height, frequency, wind speed, current velocity, etc.) and hull structure characteristics.

[0105] According to the above equipment operation parameters, the kinematic and dynamic models of the pile-driving ship are established. Usually, these dynamic equations use Newton-Euler equations or Lagrange equations to describe the dynamic characteristics of the hull motion. The model includes the following key parts:

[0106] Mechanical model: describes the relationship between external ocean forces (such as waves, wind, flow, etc.) and the hull response.

[0107] Kinematic model: describes the changes of physical quantities such as displacement, velocity, acceleration, etc. of the hull over time.

[0108] Constraints: including geometric constraints on the contact between the hull and the sea surface, as well as restrictions on other equipment and the environment.

[0109] According to the known equipment operating parameters and environmental conditions, numerical methods (such as finite element analysis, Lagrange method, etc.) are used to solve the dynamic equations to obtain the system's motion response data. These response data will serve as the basis for subsequent calculations.

[0110] By solving the system dynamics equations, the motion responses of the pile-driving ship in the target operating environment are obtained, which include the displacement, acceleration, velocity and other time series data of the ship.

[0111] The time series data of motion response reflects the dynamic changes of the equipment during operation due to external disturbances (such as waves, wind, etc.). These data can be obtained through numerical simulation, experimental measurement or analysis of historical operation data.

[0112] In order to deeply analyze the motion response characteristics of the system, it is necessary to perform spectral analysis on the obtained motion response data. Common methods include fast Fourier transform (FFT), which converts time domain signals into frequency domain signals and analyzes the response characteristics at different frequencies. This process helps reveal the behavior patterns of the system at different frequencies.

[0113] Through spectral analysis, the frequency characteristics of motion response, namely motion response operators (such as frequency response functions), are obtained. These operators describe the response characteristics of the hull under different frequency fluctuations and reflect the sensitivity of the equipment to changes in the external environment such as waves.

[0114] Perform statistical analysis on the system's motion response operator and calculate its standard deviation. The purpose of this process is to evaluate the volatility and stability of the system response. The smaller the standard deviation, the more stable the system response; the larger the standard deviation, the greater the vibration or instability of the equipment under the current operating conditions, which may affect the safety and reliability of the operation.

[0115] Specifically, the establishment of the piling ship dynamics model is based on the following assumptions:

[0116] 1. Ignore the elastic deformation of the hull, and thus ignore the fluid-solid coupling effect between the hull and the seawater. The motion of the hull on the waves belongs to the forced vibration of the rigid body in six degrees of freedom. The six degrees of freedom are roll, sway, pitch, sway, heave and heave. The mass of the hull is m 1 ;

[0117] 2. For the full-revolving pile-driving ship, the turntable support structure is relatively strong and is regarded as a rigid body with a mass of m 2 ; For fixed-jib pile-driving vessels, m 2 =0;

[0118] 3. Considering the elastic vibration of the pile frame, the vibrations in the two planes are independent of each other. Its elastic deformation is represented by the deformation mode vector and the corresponding mode coordinates. The number of selected mode vectors is n. The mass is m 3 ;

[0119] 4. The steel wire rope is regarded as an elastic body. Its elastic elongation and damping are taken into consideration. The mass of the steel wire rope is negligible. It can swing freely in space around the suspension point of the boom. The pile foundation hoisting weight is regarded as a concentrated mass point with a mass of m. 4 , connected to the boom end by a wire rope.

[0120] The overall system of the pile-driving ship can be divided into four parts: the ship, the full-revolving turntable and bracket, the boom and the pile-hanging system. The dynamic equations of the four parts are established according to the Lagrange equation, and finally the dynamic equations of the whole system are integrated. The overall rigid-flexible coupling dynamic equation of the pile-driving ship system is established using the Lagrange equation. First, it is necessary to list the various parts of the system, including the kinetic energy, potential energy and overall generalized force of the hull, the full-revolving system, the boom and the pile-hanging system. The use of matrix representation can not only simplify the derivation of the model, but also facilitate computer programming. In the establishment of the entire dynamic model, the Lagrange equation is expressed as:

[0121]

[0122] The sub-equations of the ship, full-revolving turntable and bracket, boom and pile system are integrated to establish an overall equation group, which is solved in the time domain to obtain the force and response.

[0123] In addition to the modeling of the overall system of the pile-driving ship, the pile foundation also needs to be modeled:

[0124] During the pile sinking construction, the pile foundation diameter is much smaller than 1 / 5 of the shortest wavelength, so the Morrison equation can be used to calculate the pile foundation force. The pile sinking process analysis assumes that the soil medium is a linear elastic continuous medium, and the equivalent soil spring stiffness is calculated by the dynamics of the soil medium to establish a pile-soil interaction calculation model. In the Morrison equation, the resistance load component is caused by viscosity and is proportional to the relative velocity between the fluid and the structural surface. When the structural components are slender and the amplitude is large, the resistance load becomes very important. The Morrison equation for the fluid force acting on the pile foundation section is:

[0125]

[0126] Among them C d is the drag force coefficient, D is the characteristic drag diameter, u f is the transverse fluid velocity, u s is the lateral structural velocity, C m =C a +1 is the coefficient of inertia and A is the cross-sectional area.

[0127] By calculating the above kinematic equations, the reliability and feasibility of the system can be further analyzed. For example, by comparing the standard deviation with the preset stability threshold, it is possible to determine whether the operating environment is suitable. If the standard deviation is too large, it may be necessary to adjust the operation plan or take preventive measures, such as optimizing the operation parameters, increasing the stability of the equipment, and choosing the right time for the operation.

[0128] As a further optional embodiment, the step of determining the operation failure probability according to the system motion response parameter specifically includes:

[0129] Determining a statistical value of a motion response amplitude according to the system motion response parameter;

[0130] The probability of operation failure is determined based on the statistical value of the motion response amplitude and the limit control value.

[0131] In this embodiment, based on the solution of the above-mentioned system dynamics equation and the motion response data, the motion response amplitude of the pile-driving ship at each time point during the operation is extracted. The motion response amplitude generally refers to the maximum change amplitude of physical quantities such as displacement, acceleration or velocity of the equipment within a certain period of time. These response amplitudes can effectively reflect the intensity of the equipment in a dynamic environment.

[0132] Perform statistical analysis on the obtained movement response amplitude data. Common statistical methods include:

[0133] Mean: Calculates the average value of the motion response amplitude, reflecting the overall trend of the system response.

[0134] Variance and standard deviation: evaluate the degree of discreteness of the motion response amplitude and reflect the stability of the system response.

[0135] Maximum and minimum values: Evaluate the extreme fluctuations in system response and reflect the response characteristics under extreme environmental conditions.

[0136] Based on the statistical analysis results, a probability distribution model of the motion response amplitude is constructed. Common distribution models include normal distribution and gamma distribution, which can describe the frequency of the motion response amplitude of the device under different working conditions.

[0137] The limit control value refers to the maximum motion response amplitude that the equipment can safely withstand during operation. This value is usually determined by the equipment's design parameters and safety standards, such as the equipment's structural strength, seismic resistance, maximum operating range, etc. If the equipment's motion response amplitude exceeds this control value, it may cause equipment damage or operation failure.

[0138] The probability of operation failure is calculated by comparing the statistical value of the motion response amplitude with the limit control value. The specific method is as follows:

[0139] Probability density function: The probability density of the movement response amplitude exceeding the limit control value is calculated through the probability distribution model of the movement response amplitude.

[0140] Failure probability: According to the concept of "tail probability" in statistics, determine the probability that the system motion response amplitude exceeds the limit control value under given environmental conditions. The failure probability calculation formula can be expressed as:

[0141] P fail =1-F(x max ),

[0142] Among them, P fail is the probability of job failure, F(x max ) is the motion response amplitude exceeding the limit control value x max The cumulative distribution function value of .

[0143] Based on the calculated failure probability value of the operation, determine whether the operation is likely to fail. If the failure probability is high (such as exceeding the preset threshold), it means that the operation risk is high, and it may be necessary to adjust the operation plan or take preventive measures, such as suspending the operation, adjusting equipment parameters, or selecting a more appropriate operation time.

[0144] As a further optional embodiment, the specific method of determining the operation failure probability is as follows:

[0145]

[0146] Among them, P fis the failure probability, X is the distribution function of the motion response that conforms to the Rayleigh distribution, X failure is the set failure threshold, μ is the mean value of the motion response, σ j is the standard deviation of the motion response, Φ is the standard normal distribution function, x j is the motion response, N 3h =10800 / T z , m 2 is the mass of the replacement, m 0 is the hull mass;

[0147] Ship operations are usually carried out in relatively calm weather, where linear wave theory can be used to describe the wave and ship motions. Over a finite duration, such as 3 hours, the processes involved (surface elevation and ship motion) can be reasonably well modeled as stationary Gaussian processes. The ship's motion response over a 3-hour period is taken as the key parameter for the operation. By further assuming that the global maxima are statistically independent and identically distributed, the distribution function of the motion response that conforms to the Rayleigh distribution can be expressed as follows:

[0148]

[0149] Among them, q 3h is the target safety of the maximum permissible failure of the ship within three hours, x j,lim Target security q 3h The corresponding motion response.

[0150] In this embodiment, X is the distribution function of the motion response that conforms to the Rayleigh distribution, Xfailure is the set failure threshold, which indicates the maximum tolerable motion response amplitude of the operation failure, and N 3h =10800 / T z is the number of responses within three hours, is the period, m 2 is the mass of the replacement, m 0 The mass of the hull.

[0151] The set failure threshold Xfailure is usually based on the maximum tolerance or safety standard of the device. When the system's motion response amplitude exceeds this threshold, the device may fail.

[0152] To ensure the safety of the operation, determine the target safety q 3h The corresponding limit control value x j,lim , using the following formula

[0153]

[0154] P[x j,3h >x j,lim] is the probability that the motion response exceeds the limit control value during the three-hour operation, q 3h It is the maximum probability of failure allowed for a ship within three hours, also known as target safety, which is usually determined by the ship's safety standards or risk assessment of the operating environment.

[0155] As a further optional embodiment, the system dynamics equation includes a pile-driving vessel system model and a pile-soil interaction model.

[0156] As a further optional embodiment, the pile-driving ship system model and the pile-soil interaction model are specifically as follows:

[0157]

[0158] Among them, m 1 is the mass of the hammer, m 2 is the mass of the replacement, m 3 is the mass of the replacement ring, m 4,i 、m 4,1 is the mass of the pile foundation, x 1 is the displacement of the hammer, x 2 is the displacement of the replacement, x 3 is the displacement of the replacement ring, x 4,i 、x 4,i-1 、x 4,1 is the displacement of the pile foundation, k 1 is the stiffness of the hammer, k 2 is the stiffness of the replacement, k 3 is the stiffness of the ring, k 4,i , k 4,i-1 , k 4,1 is the damper stiffness.

[0159] Specifically, the motion equation is calculated and solved using the Runge-Kutta method to obtain the displacement, velocity, acceleration and contact force of each component. The calculation results of the physical model are compared with the simulation numerical results. Because the hammer's striking time is very short, the analytical solution of the hammer is very short for this impact model, which is observed at 0.04s. In addition, the physical model only considers the moment of striking, and does not consider the subsequent rebound and secondary impact. Therefore, the contact force between the hammer and the replacement is only considered for 0.01s, and the contact force between the pile and the replacement ring is only considered for 0.02s. It can be found that compared with the hammer, the analytical solution of the pile is more consistent with the numerical solution results. From the comparison results, it can be seen that the physical model is more in line with the solution of the dynamic response under the pile rejection condition.

[0160] A concentrated parameter model considering pile elasticity is established, and the Runge-Kutta method is used to solve the calculation. According to the established concentrated parameter model, the influence of the displacement stiffness, the displacement ring stiffness, and the hammer and displacement mass ratio on the displacement top impact force and the pile top impact force are studied respectively. The results show that the displacement stiffness has a greater impact on the impact force. In practical applications, the appropriate displacement stiffness should be selected under the principle of achieving a higher pile sinking efficiency and protecting the pile from damage.

[0161] For the reliability index model, the most important dynamic measurement control factor in the pile driving construction process can be solved in the above dynamic equation. Among them, the effective hammering energy of the pile body is used to measure whether the working performance of the pile hammer system is normal. In the test, the hammering efficiency is calculated as effective hammering energy / rated energy (corresponding to the hammering gear), and the consistency and stability of the hammering efficiency are used to evaluate the normal working performance of the pile hammer. The change of the bearing capacity of the foundation pile with the penetration or the depth of burial can be determined by recording the penetration and the measured bearing capacity corresponding to the depth of burial, and comparing with the design bearing capacity to determine whether the design requirements are met. For monitoring the influence of buildings or slopes near the pile driving area, observation points need to be set up, and the influence of pile driving can be evaluated by measuring the apparent phenomenon or deformation displacement. Monitoring the tensile and compressive stress of the pile body is a necessary means to ensure the quality of the foundation pile body and improve the efficiency of pile driving, and is an especially important content in the dynamic measurement of the whole process of pile driving. Excessive hammering compressive stress can easily cause the pile body to break, and too small hammering compressive stress can cause low pile driving efficiency. For concrete piles, excessive hammering tensile stress can easily cause circumferential cracking of the pile body.

[0162] Regarding the control of pile body stress during pile sinking, the US ASTM standard: 5.1 of D4945-08 requires that the pile body stress should not exceed the yield stress value of the pile body material multiplied by a reduction factor. For steel, the reduction factor is 0.9, and for concrete, the reduction factor is 0.85. my country's "Design and Construction Code for Prestressed Concrete Large Diameter Pipe Piles for Port Engineering" 3.4.1 and "Port Engineering Pile Foundation Code" JTJ254-98 5.2.4.1 only stipulate the pile tensile and compressive stress standards for ordinary prestressed concrete piles, reinforced concrete piles, and post-tensioned prestressed concrete large diameter pipe piles, but have not mentioned the currently widely used PHC pre-tensioned prestressed concrete large diameter pipe piles. At the same time, a large number of engineering practices have shown that the maximum tensile and compressive stress of concrete piles under dynamic hammering often exceeds the specified limit value without cracking, indicating that the specified value is on the safe side.

[0163] Based on the above considerations, this paper proposes the formula for the tensile stress limit value of prestressed concrete piles including PHC piles and prestressed concrete hollow square piles during the hammering process:

[0164] σ s ≤γ pc σ pc +b t ft

[0165] In the formula, σ s is the ultimate tensile stress of pile driven by hammer (MPa); pc is the concrete prestressing partial coefficient, which is taken as 1.0; σ pc is the effective precompression stress value of concrete (MPa); b t is the dynamic concrete tensile strength enhancement factor, which is taken as 1.3; f t is the design value of concrete axial tensile strength (MPa).

[0166] When there is a lack of parameters such as the effective pre-compression stress of concrete at the pile driving construction site, the tensile stress limit value of hammer pile driving is calculated according to the formula in Table 1.

[0167]

[0168] Table 1

[0169] According to the aforementioned theory of ultimate bearing capacity of steel pipe piles under dynamic stress of pile driving, the material yield strength of steel under dynamic stress of pile driving will be greater than its static yield strength. This paper recommends the stress calculation formula of steel pipe piles based on dynamic effect as follows:

[0170] σ s ≤μ s

[0171] In the formula, σ s is the standard value of hammer pile stress (MPa); μ s is the steel strength (static) yield stress (MPa).

[0172] The stress level of the pile body is an important factor related to the quality of the project, especially for concrete piles. If the compressive stress value exceeds the upper limit of concrete, it is easy to cause the pile head to explode and the pile body to crack longitudinally. Excessive compressive stress values ​​will cause vertical cracks in the pile body and easily cause broken piles. When steel pipe piles encounter hard rock formations, the penetration rate will be very low, and the energy and stress of the pile body will increase rapidly, which is easy to cause curling. Controlling the stress value of the pile body during the pile sinking process is the key.

[0173] The maximum tensile stress is likely to occur in the initial stage of pile sinking when the upper silt layer is relatively soft and the pile tip passes through a hard layer such as a sand layer while the lower soil layer is a relatively soft clay layer. When the pile tip encounters a relatively soft soil layer, the height of the hammer jump should be adjusted to reduce the energy of the pile body and control the tensile stress of the pile body. The compressive stress is closely related to the energy and penetration of the pile body. When the rock layer is relatively hard, the penetration is relatively small, the pile body energy is relatively large, and the compressive stress value of the pile body will be relatively large. The gear position of the pile hammer should be controlled to reduce the input of the energy of the pile body and improve the quality of the project.

[0174] The following is a description of the pile-driving ship operation decision-making device provided by the present invention. Figure 2 As shown, the piling vessel operation decision-making device described below and the piling vessel operation decision-making method described above can correspond to each other.

[0175] A pile-driving ship operation decision-making device, comprising:

[0176] A parameter determination module 210 is used to determine a system motion response parameter according to the equipment operation parameter, wherein the system motion response parameter is obtained by solving a system dynamics equation, and the system dynamics equation is constructed according to the equipment operation parameter;

[0177] A probability determination module 220, for determining a probability of operation failure according to the system motion response parameters;

[0178] A model determination module 230, configured to obtain a reliability index model according to the operation failure probability and the first restriction parameter;

[0179] The reliability determination module 240 is used to input the wave data within the target time period into the reliability index model to obtain a reliability value;

[0180] A judgment value determination module 250 is used to input the system stress parameter and the second limit parameter into the limit value judgment model to obtain a judgment value;

[0181] The operation judgment module 260 is used to determine whether the previous environment can perform the operation according to the reliability value and the judgment value.

[0182] Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the pile driving ship operation decision method, which includes:

[0183] Determine system motion response parameters according to the equipment operation parameters, wherein the system motion response parameters are obtained by solving system dynamics equations, and the system dynamics equations are constructed according to the equipment operation parameters;

[0184] Determining the operation failure probability according to the system motion response parameters;

[0185] Obtaining a reliability index model according to the operation failure probability and the first restriction parameter;

[0186] Inputting the wave data within the target time period into the reliability index model to obtain a reliability value;

[0187] Inputting the system stress parameter and the second limit parameter into the limit value judgment model to obtain a judgment value;

[0188] It is determined whether the previous environment is operable according to the reliability value and the judgment value.

[0189] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0190] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the pile driving ship operation decision method provided by the above methods, the method comprising:

[0191] Determine system motion response parameters according to the equipment operation parameters, wherein the system motion response parameters are obtained by solving system dynamics equations, and the system dynamics equations are constructed according to the equipment operation parameters;

[0192] Determining the operation failure probability according to the system motion response parameters;

[0193] Obtaining a reliability index model according to the operation failure probability and the first restriction parameter;

[0194] Inputting the wave data within the target time period into the reliability index model to obtain a reliability value;

[0195] Inputting the system stress parameter and the second limit parameter into the limit value judgment model to obtain a judgment value;

[0196] It is determined whether the previous environment is operable according to the reliability value and the judgment value.

[0197] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for making a decision on a pile-driving ship operation provided by the above methods is implemented, and the method comprises:

[0198] Determine system motion response parameters according to the equipment operation parameters, wherein the system motion response parameters are obtained by solving system dynamics equations, and the system dynamics equations are constructed according to the equipment operation parameters;

[0199] Determining the operation failure probability according to the system motion response parameters;

[0200] Obtaining a reliability index model according to the operation failure probability and the first restriction parameter;

[0201] Inputting the wave data within the target time period into the reliability index model to obtain a reliability value;

[0202] Inputting the system stress parameter and the second limit parameter into the limit value judgment model to obtain a judgment value;

[0203] It is determined whether the previous environment is operable according to the reliability value and the judgment value.

[0204] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0205] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0206] 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 pile-driving ship operation decision-making method, characterized in that: include: Determine system motion response parameters according to the equipment operation parameters, wherein the system motion response parameters are obtained by solving system dynamics equations, and the system dynamics equations are constructed according to the equipment operation parameters; Determining the operation failure probability according to the system motion response parameters; Obtaining a reliability index model according to the operation failure probability and the first restriction parameter; Inputting the wave data within the target time period into the reliability index model to obtain a reliability value; Inputting the system stress parameter and the second limit parameter into the limit value judgment model to obtain a judgment value; It is determined whether the previous environment is operable according to the reliability value and the judgment value.

2. The pile-driving ship operation decision-making method according to claim 1, characterized in that: After the step of determining whether the previous environment is operable according to the reliability value and the judgment value, the method further comprises: The reliability value is compared with a preset threshold value to determine the operation decision of the pile driving ship.

3. The pile-driving ship operation decision-making method according to claim 1, characterized in that: The system motion response parameters include system motion response, motion response spectrum and standard deviation. The step of determining the system motion response parameters of the pile-driving ship according to the equipment operation parameters specifically includes: According to the equipment operation parameters, construct the system dynamics equation; Determining the system motion response according to the system dynamics equation; A spectral analysis is performed on the system motion response to obtain a motion response spectrum and a standard deviation of the motion response operator.

4. The pile-driving ship operation decision-making method according to claim 1, characterized in that: The step of determining the operation failure probability according to the system motion response parameter specifically includes: Determining a statistical value of a motion response amplitude according to the system motion response parameter; The probability of operation failure is determined based on the statistical value of the motion response amplitude and the limit control value.

5. The pile-driving ship operation decision-making method according to claim 4, characterized in that: The specific method for determining the probability of job failure is as follows: Among them, P f is the failure probability, X is the distribution function of the motion response that conforms to the Rayleigh distribution, X failure is the set failure threshold, μ is the mean value of the motion response, σ j is the standard deviation of the motion response, Φ is the standard normal distribution function, x j is the motion response, N 3h =10800 / T z , m2 is the mass of the replacement, m0 is the mass of the hull; The specific method for determining the limit control value is as follows: Among them, q 3h is the target safety of the maximum permissible failure of the ship within three hours, x j,lim Target security q 3h The corresponding motion response.

6. The pile-driving ship operation decision-making method according to claim 1, characterized in that: The system dynamics equation includes a pile-driving ship system model and a pile-soil interaction model.

7. The pile-driving ship operation decision-making method according to claim 1, characterized in that: The limit value judgment model is used to calculate the pile body stress parameters and determine whether the current environment can be operated according to the preset limit parameters, as follows: Among them, m1 is the mass of the hammer, m2 is the mass of the replacement hammer, m3 is the mass of the replacement hammer ring, and m 4,i 、m 4,1 is the mass of the pile foundation, x1 is the displacement of the hammer, x2 is the displacement of the replacement hammer, x3 is the displacement of the replacement hammer ring, and x 4,i 、x 4,i-1 、x 4,1 is the displacement of the pile foundation, k1 is the stiffness of the hammer, k2 is the stiffness of the replacement hammer, k3 is the stiffness of the replacement hammer ring, k 4,i , k 4,i-1 , k 4,1 is the damper stiffness.

8. A decision-making device for pile-driving ship operation, characterized in that: include: A parameter determination module, used to determine a system motion response parameter according to the equipment operation parameter, wherein the system motion response parameter is obtained by solving a system dynamics equation, and the system dynamics equation is constructed according to the equipment operation parameter; A probability determination module, used to determine the operation failure probability according to the system motion response parameters; A model determination module, used to obtain a reliability index model according to the operation failure probability and the first restriction parameter; A reliability determination module is used to input the wave data within the target time period into the reliability index model to obtain a reliability value; A judgment value determination module, used for inputting the system stress parameter and the second limit parameter into the limit value judgment model to obtain a judgment value; The operation judgment module is used to determine whether the previous environment can perform the operation according to the reliability value and the judgment value.

9. 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 program, the pile-driving ship operation decision method according to any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the pile-driving ship operation decision-making method according to any one of claims 1 to 7 is implemented.

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