Joint Simulation and Operational Performance Evaluation Method Based on the Motion Dynamic Response of a Wind Power Maintenance Vessel and the Motion Control of an Active Compensation Gangway

Abstract

A combined simulation and operation maneuverability evaluation method based on the motion dynamic response of a wind power maintenance ship and the motion control of an active compensation gangway, comprising: constructing a seakeeping model of the maintenance ship in the frequency domain and calculating a hydrodynamic coefficient library; reconstructing the wave exciting force based on the Cummins time-domain motion equation and predicting the ship motion response by using an implicit generalized α time-domain composite integral; the dynamic positioning system extracts the low-frequency motion through a Kalman filter and optimizes the thruster thrust distribution to stabilize the ship position. Establishing a gangway dynamics model based on the Lagrange equation, adopting a feedforward-feedback composite control strategy to realize the real-time control of the displacement, velocity and acceleration at the top of the gangway, and optimizing the non-linear output of the hydraulic actuator. Realizing the combined simulation of the coupled system through time-domain synchronization and adaptive PID control. Checking the gangway motion based on preset thresholds and spatial boundary conditions and evaluating the operation maneuverability of the boarding operation. The present invention breaks through the limitations of traditional single-discipline analysis and effectively improves the prediction accuracy of the operation maneuverability of wind power maintenance boarding operations.

Description

Technical Field

[0001] The present invention relates to the fields of marine engineering technology and marine renewable energy, and in particular to a joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance vessel and active compensation gangway motion control. Background Art

[0002] At present, the safety issues of operation and maintenance operations in complex marine environments are becoming increasingly prominent. According to the measured data of the International Energy Agency, in a typical level 4 sea condition operation area (significant wave height 2.5-3.2 meters) 60 kilometers from the coastline, the operation and maintenance ship and the floating wind turbine platform can produce a heave displacement of ±3.5 meters and a dynamic attitude angle of ±22°. In the coupled environment of deep-sea wind farms, safely boarding wind turbines has become the primary task of operation and maintenance operations, and improving the operability of boarding operations has become the core goal of engineers.

[0003] To meet the above challenges, wind power operation and maintenance vessels are usually equipped with a gangway boarding system as an important channel connecting the operation and maintenance ship and the offshore wind turbine platform to achieve the transfer of personnel and equipment. The operability of the gangway operation is directly related to the smooth implementation of the operation and maintenance tasks and the safety of personnel. In actual operations, the operation and maintenance ship is affected by environmental factors such as wind, waves, and tides, and its motion state presents complex six-degree-of-freedom characteristics, including longitudinal swing, transverse swing, vertical swing, roll, pitch and bow swing. At the same time, modern wind power operation and maintenance ships are mostly equipped with a dynamic positioning system (DP System), which adjusts the ship's attitude in real time through thrusters to minimize the impact of sea conditions on ship movement and provide a relatively stable operating environment for gangway operations.

[0004] In the existing technology, the evaluation of the operability of the gangway at sea is usually based on the analysis of the ship's motion state, environmental conditions and the structural characteristics of the gangway. Common technical means include collecting the ship's motion data, environmental parameters and the force data of the gangway in real time through sensors, and making a preliminary judgment on the operability of the operation in combination with mathematical modeling or empirical formulas. In addition, some operation and maintenance ships have also introduced wave compensation technology, which uses the active or passive compensation mechanism of the gangway to offset the displacement and posture changes caused by the movement of the ship to improve the safety and stability of the operation. These technical means provide support for offshore wind power operation and maintenance to a certain extent, but under complex sea conditions in the deep sea, the dynamic response of wind power operation and maintenance ships and the operability of gangway boarding operations still require more accurate and systematic evaluation methods to meet industry needs.

[0005] Although the existing technology has made some progress in the operability assessment of the gangway operation of wind power operation and maintenance vessels, it still has the following defects, which limit its application effect in complex sea conditions:

[0006] First, the existing wind turbine boarding technologies are difficult to meet the long-term operation and maintenance needs of deep-water and far-sea wind farms under complex working conditions. The existing technologies mainly include traditional gangways, passive compensation gangways, basket / helicopter transfer, and dynamic positioning assistance. However, these technologies have significant defects: traditional gangways have poor wave resistance and rely on manual operation, resulting in a high accident rate; passive compensation gangways can only compensate for heaving motion due to mechanical structure limitations and cannot cope with multi-degree-of-freedom coupled motions; basket / helicopter transfer is costly and has low operation efficiency. These defects lead to a narrow operation window for existing technologies under medium and high sea conditions and pose safety hazards.

[0007] Secondly, there is a lack of analysis of the coupling effect between the hydrodynamic response of the wind power operation and maintenance vessel and the motion control of the gangway during the current operation process. In actual operations, the operation and maintenance team often relies on experience judgment and rough estimation to evaluate operability, lacking systematic calculation and analysis support. Existing research is mostly limited to single analysis strategies based on hydrodynamic models or mechanical control, and fails to fully integrate the multi-physical field coupling effects involved in operation and maintenance operations. For example, the real-time interaction between the six-degree-of-freedom motion of the ship caused by wave loads and the active compensation of the gangway limits the predictability of the operation process and the adaptability to complex sea conditions. In addition, modern operation and maintenance vessels rely on the single feedback control method of traditional dynamic positioning systems, lacking monitoring and response to the motion state of the gangway top. When facing wave period changes or sudden sea conditions, the response speed is slow and the real-time compensation ability is limited.

[0008] Therefore, in view of the requirements for safety and efficiency in offshore wind turbine operation and maintenance, there is an urgent need for a high-precision method for evaluating the operability of the gangway boarding operation of operation and maintenance vessels.

[0009] It should be noted that the information disclosed in the above background art section is only used for understanding the background of the present application. Therefore, it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0010] The main object of the present invention is to overcome the defects existing in the above background art and provide a joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance vessel and the motion control of an active compensation gangway.

[0011] To achieve the above object, the present invention adopts the following technical solutions:

[0012] A joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance vessel and the control of an active compensation gangway, comprising the following steps:

[0013] 1) Establish a frequency-domain hydrodynamic model of the operation and maintenance vessel, solve for the frequency-domain added mass, damping coefficient, and wave load response amplitude operator of the operation and maintenance vessel through wave excitation force, and generate a second-order difference frequency transfer function;

[0014] 2) Based on Cummins time-domain motion equations, a prediction model for the time-domain motion response of the maintenance ship is constructed. Combining with the wave data in the operation sea area, an implicit time-domain integration strategy is adopted to predict the dynamic response of the ship including six degrees of freedom of surge, sway, heave, roll, pitch and yaw;

[0015] 3) According to the time-domain motion response, the low-frequency motion part of the ship is extracted by filtering, and the thruster thrust distribution command is generated in combination with the control strategy of the dynamic positioning system;

[0016] 4) According to the predicted motion response data and the motion state of the wind turbine platform, an active compensation control command for the gangway is generated, in which a composite control strategy combining feedforward control with feedback of the displacement, velocity and acceleration at the top of the gangway is adopted, and the nonlinear output of the hydraulic drive system is optimized by the autoregressive integrated moving average model predictive control algorithm;

[0017] 5) The ship motion response and the gangway control command are synchronously solved for the coupled system by the implicit time-domain integration strategy to update the ship-gangway joint dynamic response in real time;

[0018] 6) Based on the preset motion threshold and spatial boundary conditions of the gangway, the displacement, velocity and attitude at the top of the compensated gangway are checked, and the operability of the berthing operation is evaluated in combination with the wave environment data.

[0019] Further, step 1) specifically includes:

[0020] The boundary element method is used to divide the surface elements of the maintenance ship. Based on the assumptions of ideal fluid and irrotational flow conditions, the Laplace equation of the wave field velocity potential is solved, and the incident, radiation and diffraction velocity potentials are calculated by Green's function integration; based on the velocity potential distribution, the added mass and damping coefficients in the frequency domain are converted, and the first-order wave load response amplitude operator is solved in combination with the six-degree-of-freedom frequency-domain motion equation under regular waves, and the second-order difference-frequency transfer function including the influence of the free surface is generated by the near-field velocity potential pressure integration to construct a hydrodynamic coefficient database.

[0021] Further, step 2) specifically includes:

[0022] Based on the Cummins time-domain motion equation framework, the time-domain infinite-frequency added mass and impulse response function are constructed by inverse Fourier transform of the added mass and damping coefficients in the frequency domain; a roll quadratic damping term is introduced into the motion equation to characterize the viscous nonlinear effect, and the implicit generalized α time-domain composite integration strategy is used for second-order accurate discretization and solution to predict the six-degree-of-freedom motion response of the ship in real time.

[0023] Further, step 3) specifically includes:

[0024] Extract the second-order low-frequency component of the ship's motion response using a Kalman filter, and calculate the propulsive force correction based on the target positioning position or motion trajectory; generate a thrust command based on the thruster operability and power distribution strategy, and suppress the horizontal displacement deviation of the ship through the dynamic distribution of the thrusters to limit the low-frequency motion range.

[0025] Further, step 4) specifically includes:

[0026] Establish a dynamic model of the hydraulically actuated active motion compensation gangway with a six-degree-of-freedom parallel platform as the base, use the Denavit-Hartenberg transformation to construct the coordinate system relationship and solve the leg telescopic amount through inverse kinematics; establish a dynamic model including hydraulic driving force based on the Lagrange equation, construct a three-parameter closed-loop control system, introduce the relative motion signal between the ship and the wind turbine through the feedforward channel, and combine the displacement, velocity and acceleration feedback signals to implement a composite control strategy, and optimize the non-linear output of the hydraulic system through the generalized predictive control algorithm.

[0027] Further, step 5) specifically includes:

[0028] Adopt an implicit generalized α time-domain composite integration strategy to discretize the ship's motion response and the gangway control command in time steps, construct a constrained variational dynamic equation and a Jacobian matrix, and achieve the dynamic coupling and numerical stability synchronization of the ship-gangway system through iterative correction.

[0029] Further, in step 5), the joint dynamic response of the ship-gangway is updated in real time, specifically including: synchronizing the gangway closed-loop control command generated by the three-parameter feedforward-feedback composite control strategy of the gangway top displacement, velocity and acceleration with the ship's six-degree-of-freedom motion prediction result in the time domain, where the feedforward channel adjusts the gangway target pose in real time based on the ship's motion response signal relative to the wind turbine, and the feedback channel dynamically corrects the hydraulic driving force through the displacement, velocity and acceleration deviations of the gangway top, and combines the optimized hydraulic output by the generalized predictive control algorithm to achieve the generation of the cooperative motion compensation trajectory between the gangway top and the wind turbine platform.

[0030] Further, step 6) specifically includes:

[0031] Perform real-time motion threshold verification based on the preset thresholds of the heaving displacement, horizontal displacement, attitude angle and acceleration of the gangway top, and at the same time verify the safety distance, mechanical limit and contact angle space boundary conditions between the gangway top and the wind turbine platform; dynamically determine the operability of the berthing operation in combination with the wave environment data, and generate an operation execution or termination command.

[0032] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance ship and the active compensation gangway control.

[0033] A computer program product includes a computer program, which, when executed by a processor, implements the joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance ship and the active compensation gangway control.

[0034] The present invention has the following beneficial effects:

[0035] The present invention provides a joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power operation and maintenance ship and the active compensation gangway motion control. By constructing a joint simulation system of the dynamic motion response of the wind power operation and maintenance ship and the active compensation gangway control, high-precision coupling analysis of the six-degree-of-freedom dynamic response of the ship and the gangway motion compensation under complex sea conditions is realized. The method of the present invention breaks through the limitations of traditional single hydrodynamic analysis or mechanical control models, adopts a strategy combining the frequency-domain seakeeping model and the time-domain motion prediction, can accurately capture the nonlinear characteristics of the ship's wave loads, and synchronously solves the real-time interaction of the ship-gangway system through implicit time-domain integration, significantly improving the dynamic response prediction accuracy. Based on the three-parameter feedforward-feedback composite control strategy of the displacement, velocity, and acceleration at the top of the gangway, the motion prediction data of the ship relative to the wind turbine is introduced into the hydraulic drive system in advance through the feedforward channel, combined with the real-time feedback closed-loop of the displacement, velocity, and acceleration at the top of the gangway, effectively overcoming the inertia lag and mechanical limitations of traditional passive compensation technologies in multi-degree-of-freedom coupled motion. At the same time, the autoregressive integrated moving average model prediction algorithm is used to optimize the hydraulic nonlinear output, enhancing the real-time compensation ability under sudden sea conditions. Through the dual-check mechanism of preset motion thresholds and spatial boundary conditions, the safety of the pose at the top of the gangway is dynamically evaluated, and the wave environment data is integrated to realize the scientific prediction of the operation window, completely replacing the operation operability evaluation mode relying on manual experience. While ensuring the safety of deep-sea operation and maintenance operations, the downtime and operation and maintenance costs are significantly reduced, providing a systematic solution for wind power operation and maintenance in a multi-physical-field coupling environment.

[0036] Other beneficial effects in the embodiments of the present invention will be further described below. Description of the Drawings

[0037] Figure 1 It is a schematic flow chart of the joint simulation and operation operability evaluation based on the motion dynamic response of a wind power operation and maintenance ship and the active compensation gangway motion control according to an embodiment of the present invention;

[0038] Figure 2 It is a schematic structural diagram of a hydraulically driven active motion compensation gangway with a six-degree-of-freedom parallel platform as the base according to an embodiment of the present invention. Specific Embodiments

[0039] The following provides a detailed description of the embodiments of the present invention. It should be emphasized that the following description is merely exemplary and not intended to limit the scope of the present invention and its applications.

[0040] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for a fixing function or for a coupling or communication function.

[0041] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0042] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0043] Refer to Figure 1 , the embodiments of the present invention provide a joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power maintenance ship and the active compensation gangway control, including the following steps:

[0044] Step 1): Establish a frequency-domain hydrodynamic model of the maintenance ship, obtain the frequency-domain added mass, damping coefficient and wave load response amplitude operator of the maintenance ship by solving the wave excitation force, and generate a second-order difference frequency transfer function.

[0045] In some embodiments, in step 1), the boundary element method is used to divide the operation and maintenance ship into surface elements. Based on the ideal fluid assumption and the irrotational flow condition, the Laplace equation of the wave field velocity potential is solved, and the incident, radiation, and diffraction velocity potentials are calculated by Green's function integration. The added mass and damping coefficients in the frequency domain are obtained based on the velocity potential distribution. Combining with the six-degree-of-freedom frequency-domain motion equation under regular waves, the first-order wave load response amplitude operator is solved, and the second-order difference-frequency transfer function including the influence of the free surface is generated by near-field velocity potential pressure integration to construct a hydrodynamic coefficient database.

[0046] Step 2): Based on the Cummins time-domain motion equation, a time-domain motion response prediction model of the operation and maintenance ship is constructed. Combining with the wave data in the operation sea area, an implicit time-domain integration strategy is used to predict the dynamic response of the ship including six degrees of freedom of surge, sway, heave, roll, pitch, and yaw.

[0047] In some embodiments, in step 2), based on the framework of the Cummins time-domain motion equation, the time-domain infinite-frequency added mass and impulse response function are constructed by performing inverse Fourier transform on the added mass and damping coefficients in the frequency domain. A roll quadratic damping term is introduced into the motion equation to characterize the viscous nonlinear effect, and an implicit generalized α time-domain composite integration strategy is used for discretized solution with second-order accuracy to predict the six-degree-of-freedom motion response of the ship in real time.

[0048] Step 3): According to the time-domain motion response, the low-frequency motion part of the ship is extracted by filtering, and combined with the control strategy of the dynamic positioning system, a thruster thrust distribution command is generated to suppress the horizontal displacement deviation of the ship.

[0049] In some embodiments, in step 3), the Kalman filter is used to extract the second-order low-frequency component of the ship motion response, and the propulsion force correction amount is calculated according to the target positioning position or motion trajectory. Based on the thruster operability and power distribution strategy, a thrust command is generated, and the horizontal displacement deviation of the ship is suppressed by dynamic distribution of the thrusters to limit the low-frequency motion range.

[0050] Step 4): According to the motion response prediction data and the motion state of the wind turbine platform, an active compensation control command for the gangway is generated, where a composite control strategy combining feedforward control with feedback of the displacement, velocity, and acceleration at the top of the gangway is adopted, and the nonlinear output of the hydraulic drive system is optimized by the autoregressive integrated moving average model predictive control algorithm.

[0051] In some embodiments, in step 4), a dynamic model of a hydraulically driven active motion compensation gangway with a six-degree-of-freedom parallel platform as the base is established. The Denavit-Hartenberg transformation is used to construct the coordinate system relationship, and the leg telescopic amount is solved by inverse kinematics. A dynamic model including hydraulic driving force is established based on the Lagrange equation, a three-parameter closed-loop control system is constructed, the relative motion signal between the ship and the wind turbine is introduced through the feedforward channel, and combined with the displacement, velocity, and acceleration feedback signals, a composite control strategy is realized, and the nonlinear output of the hydraulic system is optimized by the generalized predictive control algorithm.

[0052] Step 5): The ship motion response and the gangway control command are synchronously solved for the coupled system through an implicit time-domain integration strategy to update the ship-gangway joint dynamic response in real time.

[0053] In some embodiments, in step 5), the implicit generalized α time-domain composite integration strategy is used to discretize the time step of the ship motion response and the gangway control command, construct the constrained variational dynamic equation and the Jacobian matrix, and realize the dynamic coupling and numerical stability synchronization of the ship-gangway system through iterative correction.

[0054] In some embodiments, in step 5), the ship-gangway joint dynamic response is updated in real time, specifically including: synchronizing the time domain of the gangway closed-loop control command generated by the three-parameter feedforward-feedback composite control strategy of the displacement, velocity, and acceleration at the top of the gangway with the prediction result of the six-degree-of-freedom motion of the ship. Among them, the feedforward channel adjusts the target pose of the gangway in real time based on the motion response signal of the ship relative to the wind turbine, and the feedback channel dynamically corrects the hydraulic driving force through the displacement, velocity, and acceleration deviations at the top of the gangway. Combining the optimized hydraulic output by the generalized predictive control algorithm, the cooperative motion compensation trajectory generation between the top of the gangway and the wind turbine platform is realized.

[0055] Step 6): Based on the preset gangway motion threshold and spatial boundary conditions, the displacement, velocity, and attitude of the top of the compensated gangway are checked, and the operability of the docking operation is evaluated in combination with the wave environment data.

[0056] In some embodiments, in step 6), real-time motion threshold checking is performed based on the preset vertical displacement, horizontal displacement, attitude angle, and acceleration thresholds at the top of the gangway. At the same time, the safety distance, mechanical limit, and contact angle spatial boundary conditions between the top of the gangway and the wind turbine platform are verified. Combining the wave environment data, the operability of the docking operation is dynamically determined, and an operation execution or abort command is generated.

[0057] The present invention relates to a method for joint simulation and operational performance evaluation of the dynamic motion response of a wind power operation and maintenance vessel and the control of an active motion compensation gangway, which effectively solves the problems of insufficient analysis of the motion coupling effect between the operation and maintenance vessel and the gangway under complex sea conditions, low prediction accuracy of the berthing operation performance, and lack of real-time performance. By constructing a high-precision ship motion response model based on hydrodynamic analysis and coupling it with the control of the dynamic positioning system and the active compensation gangway, a joint simulation of the dynamic motion response of the wind power operation and maintenance vessel and the motion control of the active compensation gangway is realized. Thereby, accurate gangway motion control and accurate operational performance evaluation can be provided, replacing traditional evaluation methods based on experience or rough estimation, reducing resource waste caused by increased personnel working hours and extended downtime in actual engineering, and thus improving the efficiency of wind power operation and maintenance. The method of the present invention establishes a coupling system for the dynamic motion response of the operation and maintenance vessel - the motion control of the active compensation gangway. Through multidisciplinary joint simulation, the prediction accuracy of the dynamic response and the evaluation accuracy of the operational performance during the gangway berthing operation of the wind power operation and maintenance vessel under complex sea conditions are improved, and the prediction ability of the operation window under complex sea conditions is enhanced, providing reliable technical support for operation and maintenance decision-making.

[0058] The specific embodiments, algorithm examples and experimental verifications of the present invention are further described below.

[0059] A method for joint simulation and operational performance evaluation of the dynamic motion response of a wind power operation and maintenance vessel and the control of an active motion compensation gangway includes the simulation of the dynamic motion response of the operation and maintenance vessel, the simulation of the control of the active motion compensation gangway, the coupling system and control strategy for the dynamic motion response of the operation and maintenance vessel - the motion control of the active compensation gangway, and the motion verification of the gangway and the evaluation of the berthing operation performance. The simulation of the dynamic motion response of the operation and maintenance vessel includes: the seakeeping model of the operation and maintenance vessel in the frequency domain, the time-domain motion response prediction model of the operation and maintenance vessel and the dynamic positioning system. The simulation of the control of the active motion compensation gangway uses a three-parameter feedforward-feedback composite control strategy to achieve real-time tracking and control of the displacement, velocity and acceleration of the top of the gangway. The coupling system constructs a real-time interaction architecture for the six-degree-of-freedom motion response prediction of the operation and maintenance vessel, the control of the dynamic positioning system and the control of the active compensation gangway, and realizes joint simulation through high-precision time-domain dynamics solution and ensures the relative stability of the active compensation gangway. The operation performance evaluation method is applicable to the operation and maintenance of both fixed and floating wind turbines. By quantitatively verifying the motion of the gangway, the prediction accuracy of the operation performance is significantly improved, ensuring the safety of the wind power operation and maintenance vessel during offshore operations. For the overall work flow, please refer to Figure 1 , and the main equipment in the system includes an operation and maintenance vessel 1, a gangway 2, a wind turbine platform 3 and a dynamic positioning system 4.

[0060] The specific implementation process includes:

[0061] 1. The seakeeping model of the operation and maintenance vessel in the frequency domain.

[0062] For the ocean current field, the ideal fluid hypothesis and irrotational flow conditions are adopted. The boundary element method is used to divide the surface elements of the operation and maintenance ship. Based on the Laplace equation of the velocity potential in the wave field, the Green's function is used for surface element integration in the processes of the incident, radiation, and diffraction of the operation and maintenance ship to solve the velocity potential:

[0063]

[0064] In the formula, and are the field point and source point of the surface element grid, is the velocity potential, is the frequency-domain Green's function of the field point and the singular point. Taking the partial derivative of means taking the partial derivative in the normal direction.

[0065] Based on the above results, the added mass and damping coefficient of the operation and maintenance ship in the frequency domain are calculated through the conversion of the velocity potential surface elements. By solving the six-degree-of-freedom frequency-domain motion equations of the operation and maintenance ship under regular waves in each wave direction, the six-degree-of-freedom first-order wave load response amplitude operator of the operation and maintenance ship in each wave direction is calculated. Further, through the near-field velocity potential pressure integration method, considering the free surface condition, the wave second-order difference frequency transfer function of the operation and maintenance ship is calculated to form a complete hydrodynamic coefficient database of the operation and maintenance ship.

[0066] 2. Prediction model for the time-domain motion response of the operation and maintenance ship.

[0067] According to the historical measured wave field data in the operation sea area, the wave spectrum parameters and wave propagation directions in the operation sea area are selected to form the sea area wave condition data. The Cummins time-domain motion equation is used as the calculation framework. By performing the inverse Fourier transform on the added mass and damping coefficient in the frequency domain, the added mass at infinite frequency and the impulse response function in the time domain are constructed, and the efficient time-domain reconstruction of the wave excitation force is realized through convolution integral:

[0068]

[0069] In the formula, is the six-degree-of-freedom motion of the operation and maintenance ship. The dot above represents the derivative with respect to time, is the impulse response function, and are the structural mass and added mass at infinite frequency of the operation and maintenance ship respectively, and are the first and second added damping of the operation and maintenance ship, is the wave excitation force at time. Through the pre-calculated first-order wave load response amplitude operator and second-order difference frequency transfer function of the operation and maintenance ship, discrete superposition processing is performed according to the wave spectrum, is the propulsion force of the dynamic positioning system, which is obtained from the dynamic positioning system controller.

[0070] For the viscous nonlinear motion response of rolling motion, a rolling quadratic damping term is introduced to improve the prediction accuracy of rolling motion. In the time domain, an implicit generalized time-domain composite integration strategy is used for time-step discretization to perform discrete-time prediction of the motion response of the operation and maintenance ship with second-order accuracy, and to calculate the motion response of the operation and maintenance ship at the next moment, the position of the top of the gangway of the operation and maintenance ship, and the motion compensation target.

[0071] 3. Dynamic positioning system.

[0072] According to the predicted motion response of the operation and maintenance ship, the Kalman filter is used to filter the time-domain data, extract the second-order low-frequency motion part, and analyze the current position and speed. According to the set positioning position or motion trajectory of the operation and maintenance ship, calculate the target difference and motion correction amount, and obtain the required propulsion force according to the control strategy. According to the operability of the thrusters of the operation and maintenance ship and the propulsion force range, determine the operation direction and power correlation of the thrusters, distribute the required propulsion force, match the thruster position and propulsion power to balance the second-order horizontal wave force, limit the low-frequency motion range of the operation and maintenance ship, and ensure the operation safety.

[0073] 4. Hydraulic-driven active compensation gangway motion control simulation.

[0074] Reference Figure 2 , the gangway includes a six-degree-of-freedom parallel platform 5 and a telescopic structure 6. The six-degree-of-freedom parallel platform includes a bottom plate 7, a hydraulic actuator 8, and a top plate 9.

[0075] Establish a gangway model including a six-degree-of-freedom parallel platform and a telescopic structure. Use the Denavit-Hartenberg transformation to construct the relationship between the coordinate system of the platform bottom plate and the position of the top of the gangway, and solve the telescopic lengths of the six legs through inverse kinematics after receiving the motion compensation target pose; apply the Lagrange method to establish the dynamic equation, including the kinetic energy, gravitational potential energy of the platform top plate and the telescopic mechanism, and the driving force term of the hydraulic actuator.

[0076]

[0077] Among them, is the generalized coordinate of the gangway position and control, is the mass matrix, is the constraint control equation, is the second variation form of the constraint control equation with respect to , is the hydraulic driving force.

[0078] The hydraulic actuator adopts a valve-controlled cylinder structure, and its linear model is the transfer function relationship between the driving force and the servo voltage. A three-parameter feedforward-feedback composite control method is adopted to control the displacement, speed and acceleration at the top of the gangway to form a controller. The feedforward channel introduces the motion response signal of the maintenance ship relative to the wind turbine to achieve early control, and the feedback channel constructs a control closed-loop through the actual position deviation of the top of the gangway measured by a laser rangefinder. For the non-linear model of the hydraulic actuator, a generalized predictive control algorithm is adopted, and the future output is predicted based on the autoregressive integrated moving average model, and the system disturbance is suppressed through rolling optimization and feedback correction.

[0079] 5. Coupling system and control strategy for the dynamic motion response of the maintenance ship - active compensation for the motion control of the gangway.

[0080] The above-mentioned dynamic motion response simulation module of the maintenance ship and the active motion compensation gangway simulation module driven by hydraulic pressure form a coupling system for the dynamic motion response of the maintenance ship - active compensation for the motion control of the gangway, and an implicit generalized time-domain composite integration strategy is used for time-step discretization processing, a constrained variational dynamic equation and a Jacobian matrix are constructed, and according to the six-degree-of-freedom motion data of the maintenance ship and the wave load conditions, through time-step prediction integration and iterative correction, it is synchronized in the time domain with the known motion of the wind turbine platform. The PID controllers of the gangway and the dynamic positioning system use the Ziegler-Nichols method to estimate the parameters, and optimize the control law with the ITAE index:

[0081]

[0082] Among them, is the output of the controller, is the displacement, speed or acceleration error, are the three control parameters of the PID controller, and its adaptive control is based on the high-precision predicted positions of the two gangway mounting points of the maintenance ship and the wind turbine platform.

[0083] 6. Gangway motion verification and assessment of the operability of the landing operation.

[0084] Perform real-time threshold verification on the movement of the top of the accommodation ladder adjusted by the controller. For specific examples of the accommodation ladder movement threshold, refer to Table 1; perform spatial boundary condition verification on the pose of the top of the accommodation ladder balanced by the dynamic positioning system. The spatial boundary conditions include the safety distance between the top of the accommodation ladder and the wind turbine platform, the mechanical limit of the telescopic arm of the accommodation ladder, and the contact offset angle between the top of the accommodation ladder and the wind turbine platform, to avoid the collision risk between the top of the accommodation ladder and the wind turbine platform. If the above two composite constraint conditions are verified to pass, continue the current control strategy for operation; if not, issue a warning. Based on the long-term wave scatter diagram or short-term weather forecast of the operation location, combined with the verification results of the accommodation ladder movement, judge the operability of the maintenance and berthing operation in the working sea area in real time, to ensure the safety and efficiency of the maintenance ship's offshore operation.

[0085] Table 1 Accommodation Ladder Movement Threshold (g = 9.8m / s 2 )

[0086]

[0087] Compared with the prior art, the technical advantages of the present invention are as follows:

[0088] 1. The present invention proposes a joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power maintenance ship and the active compensation of the accommodation ladder movement, replacing the traditional offshore operation evaluation method that relies on engineering experience and rough estimation. With scientific theoretical support and rigorous simulation verification, it accurately and quantitatively analyzes the coupling effect of the hydrodynamic response of the maintenance ship and the accommodation ladder movement compensation. The data-driven evaluation results show excellent scientificity and repeatability, greatly improving the prediction accuracy of the maintenance operability, and providing core technical support for the operation planning and risk management of the wind power maintenance ship.

[0089] 2. The present invention establishes a complete coupling system of the dynamic motion response of the maintenance ship - the active compensation of the accommodation ladder movement control, breaking the barriers of the separate operation of the ship's dynamic response and the accommodation ladder movement control, and realizing the real-time coupling analysis of the six-degree-of-freedom motion of the maintenance ship and the movement of the top of the accommodation ladder. Compared with the traditional frequency-domain analysis method, the present invention considers the first-order and second-order wave loads of the ship in a complex environment field, accurately captures the instantaneous changes of the nonlinear motion response, the ship's motion acceleration, and the dynamic response of the accommodation ladder, and improves the accuracy of the accommodation ladder movement prediction under complex sea conditions.

[0090] 3. The present invention optimizes the control performance of the hydraulically driven motion compensation accommodation ladder through a three-parameter feedforward-feedback composite control strategy, combined with the real-time monitoring of the displacement, velocity, and acceleration of the top of the accommodation ladder. Compared with the response lag caused by the system inertia in the traditional feedback control, this technology introduces the relative motion response of the maintenance ship relative to the berthing point of the wind turbine into the control closed-loop through the feedforward channel, realizing the advanced control before the deviation between the controlled quantity and the given quantity occurs, and significantly improving the control accuracy.

[0091] An embodiment of the present invention further provides a storage medium for storing a computer program, which when executed, at least executes the method described above.

[0092] An embodiment of the present invention further provides a control device, including a processor and a storage medium for storing a computer program; wherein, the processor is used to at least execute the method described above when executing the computer program.

[0093] An embodiment of the present invention further provides a processor, which executes a computer program and at least executes the method described above.

[0094] The storage medium can be implemented by any type of non-volatile storage device, or a combination thereof. Among them, the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read-Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory), an electrically erasable programmable read-only memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), a ferromagnetic random access memory (FRAM, Ferromagnetic Random Access Memory), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory); the magnetic surface memory can be a disk memory or a tape memory. The storage medium described in the embodiments of the present invention is intended to include, but not limited to, these and any other suitable types of memories.

[0095] In several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed with each other can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical, or other forms.

[0096] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0097] In addition, in each embodiment of the present invention, all the functional units may be integrated into one processing unit, or each unit may be separately taken as one unit, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0098] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments. The foregoing storage medium includes: various media that can store program codes such as removable storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0099] Alternatively, if the above-mentioned integrated units of the present invention are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes such as removable storage devices, ROM, RAM, magnetic disks, or optical discs.

[0100] The methods disclosed in several method embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0101] The above content is a further detailed description of the present invention in combination with specific preferred implementation manners. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those skilled in the technical field to which the present invention belongs, without departing from the concept of the present invention, several equivalent substitutions or obvious variations can be made, and as long as the performance or use is the same, they should all be regarded as falling within the protection scope of the present invention.

Claims

1. A joint simulation and operational maneuverability evaluation method based on the motion dynamic response of a wind power maintenance vessel and the control of an active compensation gangway, characterized in that It includes the following steps: 1) Establish a frequency-domain hydrodynamic model of the maintenance ship, solve for the frequency-domain added mass, damping coefficient, and wave load response amplitude operator of the maintenance ship through the wave exciting force, and generate a second-order difference-frequency transfer function; 2) Based on the Cummins time-domain motion equation, construct a time-domain motion response prediction model of the maintenance ship. Combine the wave data in the operation sea area and adopt an implicit time-domain integration strategy to predict the dynamic response of the ship including six degrees of freedom of surge, sway, heave, roll, pitch, and yaw; 3) According to the time-domain motion response, extract the low-frequency motion part of the ship through filtering, and generate a thruster thrust distribution command in combination with the control strategy of the dynamic positioning system; 4) According to the motion response prediction data and the motion state of the wind turbine platform, generate an active compensation control command for the gangway. Among them, a composite control strategy combining feedforward control with the feedback of the displacement, velocity, and acceleration of the top of the gangway is adopted, and the nonlinear output of the hydraulic drive system is optimized through the autoregressive integrated moving average model prediction control algorithm; 5) Couple and synchronously solve the ship motion response and the gangway control command through the implicit time-domain integration strategy to update the ship-gangway joint dynamic response in real time; 6) Based on the preset motion threshold and spatial boundary conditions of the gangway, check the displacement, velocity, and attitude of the top of the compensated gangway, and evaluate the operability of the docking operation in combination with the wave environment data.

2. The method according to claim 1, characterized in that, Step 1) specifically includes: Use the boundary element method to divide the surface elements of the maintenance ship, solve the Laplace equation of the wave field velocity potential based on the ideal fluid assumption and the irrotational flow condition, and calculate the incident, radiation, and diffraction velocity potentials through the Green's function integral; based on the velocity potential distribution, convert to obtain the frequency-domain added mass and damping coefficient, combine the six-degree-of-freedom frequency-domain motion equation under regular waves to solve the first-order wave load response amplitude operator, and generate a second-order difference-frequency transfer function including the influence of the free surface through the near-field velocity potential pressure integral to construct a hydrodynamic coefficient database.

3. The method according to claim 1, wherein Step 2) specifically includes: Based on the Cummins time-domain motion equation framework, construct the time-domain infinite-frequency added mass and impulse response function by performing an inverse Fourier transform on the frequency-domain added mass and damping coefficient; introduce a roll quadratic damping term in the motion equation to characterize the viscous nonlinear effect, and adopt an implicit generalized α time-domain composite integration strategy for second-order accurate discretization and solution to predict the ship's six-degree-of-freedom motion response in real time.

4. The method according to claim 1, characterized in that, Step 3) specifically includes: Use a Kalman filter to extract the second-order low-frequency component of the ship motion response. The dynamic positioning system calculates the propulsion force correction amount according to the target positioning position or motion trajectory, generates a thrust command based on the thruster operability and power distribution strategy, and suppresses the horizontal displacement deviation of the ship through the thruster dynamic distribution to limit the low-frequency motion range.

5. The method according to claim 1, wherein Step 4) specifically includes: A dynamic model of a hydraulically-driven active motion compensation gangway with a six-degree-of-freedom parallel platform as the base is established. The Denavit-Hartenberg transformation is used to construct the coordinate system relationship, and the leg telescopic amount is solved by inverse kinematics. A dynamic model including hydraulic driving force is established based on the Lagrange equation. A three-parameter closed-loop control system is designed. The relative motion signal between the ship and the wind turbine is introduced through the feedforward channel. Combining the displacement, velocity, and acceleration feedback signals, a composite control strategy is realized, and the nonlinear output of the hydraulic system is optimized by the generalized predictive control algorithm.

6. The method according to claim 1, characterized in that, Step 5) specifically includes: The implicit generalized α time-domain composite integration strategy is used to discretize the time steps of the ship motion response and the gangway control command. The constrained variational dynamic equation and the Jacobian matrix are constructed, and the dynamic coupling and numerical stability synchronization of the ship-gangway system are realized through iterative correction.

7. The method according to claim 1, characterized in that, In step 5), the joint dynamic response of the ship-gangway is updated in real time, specifically including: synchronizing the time domain of the gangway closed-loop control command generated by the three-parameter feedforward-feedback composite control strategy of the gangway top displacement, velocity, and acceleration with the prediction result of the ship's six-degree-of-freedom motion. Among them, the feedforward channel adjusts the target pose of the gangway in real time based on the motion response signal of the ship relative to the wind turbine, and the feedback channel dynamically corrects the hydraulic driving force through the deviation of the gangway top displacement, velocity, and acceleration. Combining the optimized hydraulic output by the generalized predictive control algorithm, the collaborative motion compensation trajectory generation of the gangway top and the wind turbine platform is realized.

8. The method according to claim 1, wherein Step 6) specifically includes: Based on the preset thresholds of the heaving displacement, horizontal displacement, attitude angle, and acceleration at the gangway top, real-time motion threshold verification is carried out. At the same time, the safety distance, mechanical limit, and contact angle space boundary conditions between the gangway top and the wind turbine platform are verified. Combining the wave environment data, the operability of the landing operation is dynamically determined, and the operation execution or abort command is generated.

9. A computer-readable storage medium storing a computer program, characterized in that, When executed by a processor, the computer program implements the joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power maintenance ship and the control of an active compensation gangway as described in any one of claims 1 to 8.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the joint simulation and operation operability evaluation method based on the motion dynamic response of a wind power maintenance ship and the control of an active compensation gangway as described in any one of claims 1 to 8.

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