Semi-physical test method for self-elevating platform lifting device

Abstract

According to the semi-physical test method for the self-elevating platform lifting device, equipment used in the semi-physical test method for the self-elevating platform lifting device comprises a console, a simulation machine and a switch, a control instruction corresponding to a working condition is input into the console to generate an electric signal, the console converts the electric signal into a digital signal, and the digital signal is sent to the simulation machine; the digital signal is converted into an instruction digital signal according to the control logic, then the instruction digital signal is sent to the simulation machine, the simulation machine converts the instruction digital signal into a simulation digital signal and then transmits the simulation digital signal to the simulation model, and the simulation model performs real-time simulation calculation on the simulation digital signal to obtain a simulation result. The simulation machine converts a simulation result into an output digital signal and then sends the output digital signal to the console, and the console processes the output digital signal to obtain a result digital signal and displays and compares the result digital signal. Therefore, according to the design, data acquisition and processing are fast, the test period is short, and the test efficiency of the control logic is high.

Description

Technical Field

[0001] The present invention relates to a test method, belonging to the field of semi-physical test methods, and particularly to a semi-physical test method for the lifting device of a jack-up platform. Background Art

[0002] A jack-up platform is an offshore platform widely used in the offshore engineering field, mainly used for offshore oil and gas exploration, exploitation, construction operations, etc. During the working process, in order to adapt to different water depths, seabed conditions and operation requirements, the jack-up platform needs to adjust the height of its working deck through a lifting device. However, due to the particularity of the operating environment and the high requirements for safety and reliability, the control logic of the lifting device is very complex, resulting in a large amount of on-site commissioning test work, low efficiency and high risk when installing the physical lifting device; therefore, a test technology is needed to test the control logic.

[0003] The Chinese patent application with the application number 202310057098.3 and the application date of January 18, 2023 discloses a simulation test system and method for the pile pulling and inserting operation of a jack-up drilling platform, including a container, and further including a bearing plate that can enter the container, a number of ballast tanks located on the bearing plate, and a level; it further includes three leg assemblies that pass through the bearing plate movably, and the three leg assemblies are distributed in an isosceles triangle; a longitudinally distributed rack is provided on the leg assembly, and each leg assembly is equipped with a gear assembly meshing with the rack and a motor for driving the gear assembly, and the motor is installed on the bearing plate. Although this patent can effectively and safely verify the control logic of the pile pulling and inserting operation of the jack-up drilling platform, it still has the following defects: This design has a slow data acquisition and processing speed and a long test period, resulting in a low test efficiency for the control logic.

[0004] Disclosing the information of this background art section is only intended to increase the overall understanding of the present patent application, and should not be regarded as an admission or any form of implication that this information constitutes the prior art already known to those of ordinary skill in the art. Summary of the Invention

[0005] The object of the present invention is to overcome the defects and problems in the prior art, such as slow data acquisition and processing speed and long test period, resulting in low test efficiency for the control logic, and to provide a semi-physical test method with fast data acquisition and processing speed, short test period and high test efficiency for the control logic.

[0006] To achieve the above object, the technical solution of the present invention is: a semi-physical test method for a jack-up platform lifting device. The equipment used in the semi-physical test method for the jack-up platform lifting device includes a console, a simulator, and a switch. The console and the simulator are both connected to the switch to construct a local area network. The operation method of the console is the same as that of the physical console in the lifting device, and the control logic of the console is the same as that of the physical console in the lifting device; The semi-physical test method for the jack-up platform lifting device includes the following steps: First step: First, according to the specific requirements of the working conditions of the lifting device, input control commands corresponding to the working conditions on the console to generate electrical signals. After the console converts the electrical signals into digital signals, it then converts the digital signals into command digital signals corresponding to the control commands according to the control logic. The command digital signals are used to control the power transmission components of the lifting device, thereby controlling the lifting of the leg. Then, the console sends the command digital signals to the simulator; Second step: First, load the simulation model into the simulator and set the calculation parameters of the simulation model. The calculation parameters include the calculation speed. After the simulator receives the above command digital signals, it first converts the above command digital signals into simulation digital signals and then transmits them to the simulation model. The simulation model uses the simulation digital signals as boundary conditions to simulate the response process of the power transmission components and the leg to the above control commands. The simulation model includes a lifting device principle model, a platform model, a gravity model, a buoyancy model, and a soil model. The simulation model performs real-time simulation calculations and then outputs simulation results; Third step: The simulator first converts the above simulation results into output digital signals and then sends the output digital signals to the console. The output digital signals include performance data simulating the lifting device after responding to the above control commands. The console calculates and processes the output digital signals to obtain result digital signals, and then displays the result digital signals on the console. The result digital signals correspond to the performance data. Then, the result digital signals are compared with the expected data and the theoretical data. When the result digital signals meet the design error requirements, the control logic test of the console is completed. When the result digital signals do not meet the design error requirements, the control logic of the console is optimized and then the test is carried out again.

[0007] In the first step, the working conditions of the lifting device include the leg lowering condition, the pre-ballast condition, the pre-lifting condition, the platform lifting condition, the platform lowering condition, the leg pulling condition, and the emergency condition.

[0008] The simulator runs the Linux real-time operating system; In the second step, the calculation speed is faster than the operating speed of the power transmission components and the physical legs of the lifting device.

[0009] In the third step, the performance data includes, but is not limited to, the motor speed of the lifting device, the leg lifting speed, the leg load, the platform load, and the platform inclination angle.

[0010] The equipment used in the semi-physical test method of the jack-up platform lifting device further includes an animation computer, which is connected to a switch, and an animation model is set in the animation computer; The semi-physical test method of the jack-up platform lifting device further includes a fourth step: the simulator simultaneously transmits some output digital signals to the animation computer, and the received output digital signals drive the animation model to act, obtaining a three-dimensional simulation view of the simulator simulating the response process of the power transmission components and the legs to the control instructions; The fourth step is carried out simultaneously with the third step of sending the output digital signals to the console.

[0011] UDP interface programs are provided in both the simulator and the animation computer; Data transmission between the animation computer and the simulator is carried out through the UDP interface program; In the fourth step, the simulator simultaneously transmitting some output digital signals to the animation computer means that the simulator unidirectionally transmits some output digital signals to the animation computer through the UDP interface program; In the fourth step, the three-dimensional simulation view includes the overall above-water view of the platform, the underwater view of the platform, the action view of the lifting device, and data display.

[0012] The console includes an industrial computer, a controller, and an operation interface, and the industrial computer is connected to the controller through the TCP communication protocol; The method of operating the operation interface by the console is the same as that of the physical console in the lifting device, and the control logic set in the controller in the console is the same as that of the physical console of the lifting device.

[0013] In the first step, generating an electrical signal by inputting a control instruction corresponding to the working condition on the console, and the console converting the electrical signal into a digital signal means that by performing an input operation of the corresponding control instruction on the operation interface of the console, generating an electrical signal, and then transmitting the electrical signal to the industrial computer, and the industrial computer converts the electrical signal into a digital signal according to the TCP communication protocol and sends it to the controller; In the first step, converting the digital signal into an instruction digital signal corresponding to the control instruction according to the control logic means that the controller converts the digital signal into an instruction digital signal corresponding to the control instruction according to the built-in control logic; In the first step, the console sending the instruction digital signal to the simulator means that the controller of the console sends the instruction digital signal to the simulator; In the third step, the console obtaining the result digital signal after calculating and processing the output digital signal means that the controller in the console receives the output digital signal, calculates and processes it to obtain the result digital signal, and then transmits the result digital signal to the industrial control computer.

[0014] The simulator is also provided with a TCP interface program; Data transmission between the simulator and the console is carried out through the TCP / IP interface program.

[0015] In the second step, after receiving the above-mentioned instruction digital signal, the simulator first converting the above-mentioned instruction digital signal into a simulation digital signal means that the simulator sets the IP address of the data receiving object to receive the instruction digital signal sent by the controller of the console, and the simulator first converts the received instruction digital signal into a simulation digital signal recognizable by the simulation model through the TCP interface program; In the third step, the simulator first converting the above-mentioned simulation result into an output digital signal and then sending the output digital signal to the console means that the simulator first converts the above-mentioned simulation result into an output digital signal through the TCP interface program and sends it to the controller of the console.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. A semi-physical test method for a jack-up platform lifting device. First, according to the specific requirements of the lifting device working conditions, control instructions corresponding to the working conditions are input on the console. The console converts the control instructions from electrical signals into command digital signals and sends them to the simulator. The simulator converts the command digital signals into simulation digital signals and transmits them to the simulation model for real-time simulation calculation. Then, the simulation results are converted into output digital signals and transmitted to the console. The console calculates and processes the output digital signals to obtain result digital signals, and compares them with the expected data and theoretical data. During application, first, according to the specific requirements of the lifting device working conditions, control instructions corresponding to the working conditions are input on the console to generate electrical signals. After the console converts the electrical signals into digital signals, it then converts the digital signals into command digital signals corresponding to the control instructions according to the built-in control logic, and then transmits the command digital signals to the simulator. The simulator converts the command digital signals into simulation digital signals and transmits them to the simulation model. The simulation model uses the simulation digital signals as boundary conditions to simulate the response process of the power transmission components and the leg to the above control instructions to obtain simulation results. The simulator converts the simulation results into output digital signals and sends them to the console. The console processes the output digital signals to obtain result digital signals and displays them. By comparing the differences between the result digital signals and the expected data and theoretical data, the control logic of the console is verified. Because the simulation model in the simulator performs real-time simulation calculations according to the control instructions of the corresponding working conditions, simulates the actual response of the lifting device, and immediately feeds back the results to the console after the operation is completed, without waiting for the physical process in the physical test to occur, reducing the waiting time. The instant transmission of data, the real-time calculation of the simulation model, and the instant feedback all improve the speed of data acquisition and processing, thereby shortening the test cycle and improving the efficiency of testing the complex control logic in the lifting device, and further reducing the workload and risk of on-site commissioning tests. Therefore, the present invention can not only test the control logic of the lifting device through semi-physical tests, but also has a relatively high test efficiency for the control logic.

[0017] 2. In a semi-physical test method for a jack-up platform lifting device, the simulator simultaneously transmits part of the output digital signals to the animation computer. The output digital signals received by the animation computer drive the animation model to act, and a three-dimensional simulation view of the simulator simulating the response process of the power transmission components and the leg to the control instructions is obtained. During application, the animation computer uses the received output digital signals as input items to drive the animation model to run, and a three-dimensional simulation view is obtained. Through the three-dimensional simulation view, the actions during the response process of the lifting device can be intuitively observed, which can assist in comparing the differences and errors between the simulation results and the expected results, improving the accuracy and intuitiveness of the semi-physical test, and facilitating the understanding and analysis of the control logic. Therefore, the present invention can not only test the control logic of the lifting device through semi-physical tests, but also improve the accuracy and intuitiveness of the tests.

[0018] 3. In a semi-physical test method for a lifting device of a jack-up platform, data is transmitted between the animation computer and the simulator through a UDP interface program, and data is transmitted between the simulator and the console through a TCP / IP interface program. During application, the simulator sets the IP address of the data receiving object, converts the received command digital signal into a simulation digital signal recognizable by the simulation model through the TCP interface program. After obtaining the calculation result through simulation calculation, the simulator then converts part of the calculation result into an output digital signal through the TCP interface program and sends it to the console. At the same time, the simulator converts part of the calculation result into an output digital signal through the UDP interface program and sends it to the animation computer. Using the TCP interface program for data transmission between the simulator and the console can ensure the stability and reliability of data transmission, thereby making the data received by the simulator more accurate and the simulation result more precise. Using the UDP interface program for data transmission between the simulator and the animation computer speeds up the data transfer speed and can ensure the real-time and smoothness of the animation. Therefore, the present invention can not only test the control logic of the lifting device through semi-physical tests, but also improve the stability and security of data transmission in the tests. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic flow chart of the present invention.

[0020] Figure 2 is a schematic framework diagram of the present invention.

[0021] Figure 3 is a schematic structural diagram of the present invention.

[0022] Figure 4 is a schematic diagram of the simulation model of the lifting device of the present invention.

[0023] Figure 5 is a schematic diagram of the simulation models of the third and fourth leg columns of the lifting device in the present invention.

[0024] Figure 6 is a schematic diagram of the simulation models of gravity and buoyancy in the present invention.

[0025] Figure 7 is a schematic diagram of the simulation models of the first and second leg columns of the lifting device in the present invention.

[0026] In the figure: console 10, PLC 20, switch 30, simulator 40, buoyancy model 401, gravity model 402, connection model between leg column and platform 403, soil model 404, first leg column 411, second leg column 412, third leg column 413, fourth leg column 414, communication interface 415, hull 416, animation computer 50, model layer 60, development layer 70, data communication layer 80. Detailed Implementation Modes

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation modes.

[0028] See Figure 1 — Figure 7 , a semi-physical test method for a jack-up platform lifting device. The equipment used in the semi-physical test method for the jack-up platform lifting device includes a console 10, a simulator 40, and a switch 30. The console 10 and the simulator 40 are both connected to the switch 30 to construct a local area network. The operation method of the console 10 is the same as that of the physical console in the lifting device, and the control logic of the console 10 is the same as that of the physical console in the lifting device; The semi-physical test method for the jack-up platform lifting device includes the following steps: The first step: First, according to the specific requirements of the working conditions of the lifting device, input control commands corresponding to the working conditions into the console 10 to generate electrical signals. After the console 10 converts the electrical signals into digital signals, according to the control logic, the digital signals are converted into command digital signals corresponding to the control commands. The command digital signals are used to control the power transmission components of the lifting device, so as to control the lifting of the leg. Then, the console 10 sends the command digital signals to the simulator 40; The second step: First, load the simulation model into the simulator 40 and set the calculation parameters of the simulation model. The calculation parameters include the calculation speed. After the simulator 40 receives the above command digital signals, it first converts the above command digital signals into simulation digital signals and then transmits them to the simulation model. The simulation model uses the simulation digital signals as boundary conditions to simulate the response process of the power transmission components and the leg to the above control commands. The simulation model includes a lifting device principle model, a platform model, a gravity model 402, a buoyancy model 401, and a soil model 404. The simulation model performs real-time simulation calculations and then outputs simulation results; The third step: The simulator 40 first converts the above simulation results into output digital signals and then sends the output digital signals to the console 10. The output digital signals include performance data simulating the lifting device after responding to the above control commands. The console 10 performs calculation processing on the output digital signals to obtain result digital signals, and then displays the result digital signals on the console 10. The result digital signals correspond to the performance data. Then, the result digital signals are compared with the expected data and the theoretical data. When the result digital signals meet the design error requirements, the control logic test of the console 10 is completed. When the result digital signals do not meet the design error requirements, the control logic of the console 10 is optimized and then the test is carried out again.

[0029] In the first step, the working conditions of the lifting device include the pile lowering condition, the preloading condition, the pre-lifting condition, the platform lifting condition, the platform lowering condition, the pile pulling condition, and the emergency condition.

[0030] The simulator 40 runs a Linux real-time operating system; In the second step, the calculation speed is faster than the operating speed of the power transmission components of the lifting device and the physical pile legs.

[0031] In the third step, the performance data includes but is not limited to the motor speed of the lifting device, the pile leg lifting speed, the pile leg load, the platform load, and the platform inclination.

[0032] The equipment used in the semi-physical test method of the self-elevating platform lifting device further includes an animation computer 50. The animation computer 50 is connected to the switch 30, and an animation model is set in the animation computer 50; The semi-physical test method of the self-elevating platform lifting device further includes a fourth step: The simulator 40 simultaneously transmits some output digital signals to the animation computer 50. The output digital signals received by the animation computer 50 drive the animation model to act, and a three-dimensional simulation view of the simulator 40 simulating the response process of the power transmission components and the pile legs to the control instructions is obtained; The fourth step and the third step are carried out simultaneously while sending the output digital signals to the console 10.

[0033] UDP interface programs are provided in both the simulator 40 and the animation computer 50; Data transmission between the animation computer 50 and the simulator 40 is carried out through the UDP interface program; In the fourth step, the fact that the simulator 40 simultaneously transmits some output digital signals to the animation computer 50 means that the simulator 40 unidirectionally transmits some output digital signals to the animation computer 50 through the UDP interface program; In the fourth step, the three-dimensional simulation view includes the global picture of the platform above water, the picture of the platform underwater, the action picture of the lifting device, and data display.

[0034] The console 10 includes an industrial computer, a controller, and an operation interface. The industrial computer is connected to the controller through the TCP communication protocol; The control method of the operation interface by the console 10 is the same as the control method of the physical console in the lifting device, and the control logic set in the controller of the console 10 is the same as the control logic of the physical console of the lifting device.

[0035] In the first step, the input of control instructions corresponding to the working conditions on the console 10 generates an electrical signal, and the conversion of the electrical signal into a digital signal by the console 10 means that: by performing the input operation of the corresponding control instructions on the operation interface of the console 10, an electrical signal is generated, and then the electrical signal is transmitted to the industrial control computer, and the industrial control computer converts the electrical signal into a digital signal according to the TCP communication protocol and sends it to the controller; In the first step, the conversion of the digital signal into an instruction digital signal corresponding to the control instruction according to the control logic means that: the controller converts the digital signal into an instruction digital signal corresponding to the control instruction according to the built-in control logic; In the first step, the sending of the instruction digital signal from the console 10 to the simulator 40 means that: the controller of the console 10 sends the instruction digital signal to the simulator 40; In the third step, the calculation and processing of the output digital signal by the console 10 to obtain a result digital signal means that: the controller in the console 10 receives the output digital signal, calculates and processes it to obtain a result digital signal, and then transmits the result digital signal to the industrial control computer.

[0036] The simulator 40 is also provided with a TCP interface program; Data transmission between the simulator 40 and the console 10 is carried out through the TCP / IP interface program.

[0037] In the second step, after the simulator 40 receives the above instruction digital signal, the conversion of the above instruction digital signal into a simulation digital signal means that: the simulator 40 sets the IP address of the data receiving object to receive the instruction digital signal sent by the controller of the console 10, and the simulator 40 first converts the received instruction digital signal into a simulation digital signal recognizable by the simulation model through the TCP interface program; In the third step, the simulator 40 first converts the above simulation result into an output digital signal and then sends the output digital signal to the console 10 means that: the simulator 40 first converts the above simulation result into an output digital signal through the TCP interface program and sends it to the controller of the console 10.

[0038] The supplementary description of the present invention is as follows: The preferred operation interface of the present invention includes a handle, buttons, knobs, and a touch screen.

[0039] The present invention preferably generates an electrical signal by performing the input operation of control instructions on the handle, buttons, knobs, and touch screen.

[0040] The present invention preferably uses the console 10 as a semi-physical test object, which is the upper computer of the system, capable of sending control instructions, processing data through the controller, and realizing user interface interaction.

[0041] The present invention preferably uses the animation computer 50 to receive the corresponding output digital signals sent by the simulator 40 according to the action drive data required for the three-dimensional simulation view and the key state data required for display.

[0042] The present invention preferably requires that the output digital signals received by the console 10 be displayed on the interface of the industrial control computer.

[0043] The present invention preferably performs real-time simulation calculations on the simulation model to obtain calculation results; the calculation results include but are not limited to real-time leg displacement, leg load, platform displacement, platform load, platform draft data, motor speed, torque, brake state, transmission speed, platform inclination data.

[0044] The present invention preferably uses the output digital signals sent by the simulator 40 to the console 10 as the performance data concerned in the experiment.

[0045] The present invention preferably displays the data in the three-dimensional simulation view of the animation computer 50 as key state data, and the key state data includes leg displacement, platform draft, platform inclination, leg speed, leg displacement, platform out of water, and is displayed in text form.

[0046] The present invention preferably uses the controller of the console to send the command digital signals to the simulator 40 at a given frequency, and the frequency of the controller sending the command digital signals is adjusted according to the calculation requirements of the simulation model.

[0047] The present invention preferably uses the received simulation digital signals as boundary conditions for the simulation model to perform simulation calculations, and the boundary conditions are the input data for the simulation model calculation.

[0048] The present invention preferably uses the boundary conditions including but not limited to brake state, motor speed, and working condition information.

[0049] The present invention preferably uses the simulator 40 to perform data interaction with the upper computer and the PLC control system through Ethernet communication.

[0050] Embodiment 1: See Figure 1 — Figure 7, A semi-physical test method for a jack-up platform lifting device. The equipment used in the semi-physical test method for the jack-up platform lifting device includes a console 10, a simulator 40, and a switch 30. The console 10 and the simulator 40 are both connected to the switch 30 to construct a local area network. The operation method of the console 10 is the same as that of the physical console in the lifting device, and the control logic of the console 10 is the same as that of the physical console in the lifting device; The semi-physical test method for the jack-up platform lifting device includes the following steps: First step: First, according to the specific requirements of the working conditions of the lifting device, input control commands corresponding to the working conditions into the console 10 to generate electrical signals. After the console 10 converts the electrical signals into digital signals, it then converts the digital signals into command digital signals corresponding to the control commands according to the control logic. The command digital signals are used to control the power transmission components of the lifting device, thereby controlling the lifting of the leg. Then, the console 10 sends the command digital signals to the simulator 40; Second step: First, load the simulation model into the simulator 40 and set the calculation parameters of the simulation model. The calculation parameters include the calculation speed. After the simulator 40 receives the above command digital signals, it first converts the above command digital signals into simulation digital signals and then transmits them to the simulation model. The simulation model uses the simulation digital signals as boundary conditions to simulate the response process of the power transmission components and the leg to the above control commands. The simulation model includes a lifting device principle model, a platform model, a gravity model 402, a buoyancy model 401, and a soil model 404. The simulation model performs real-time simulation calculations and then outputs simulation results; Third step: The simulator 40 first converts the above simulation results into output digital signals and then sends the output digital signals to the console 10. The output digital signals include performance data simulating the lifting device after responding to the above control commands. The console 10 performs calculation processing on the output digital signals to obtain result digital signals, and then displays the result digital signals on the console 10. The result digital signals correspond to the performance data. Then, the result digital signals are compared with the expected data and the theoretical data. When the result digital signals meet the design error requirements, the control logic test of the console 10 is completed. When the result digital signals do not meet the design error requirements, the control logic of the console 10 is optimized and then tested again.

[0051] During application, since the operation method and control logic of the console 10 are the same as those of the physical console in the lifting device, conducting tests on the console 10 can ensure the accuracy of test results. Moreover, the process of testing the console 10 also reflects the actual performance of the physical console. At the same time, it can avoid the risks of on-site physical installation tests and ensure safety. In addition, since the present invention uses a simulation model to perform real-time simulation calculations according to the control instructions of corresponding working conditions, simulating the actual response of the lifting device, and immediately feeding back the results to the console after the operation is completed, without waiting for the physical process to occur in the physical test, the waiting time is reduced. The instant transmission of data, the real-time calculation of the simulation model, and the instant feedback all improve the speed of data acquisition and processing, thereby shortening the test cycle, improving the efficiency of testing the complex control logic in the lifting device, and further reducing the workload of on-site commissioning tests.

[0052] Embodiment 2: The basic content is the same as that of Embodiment 1, except that in the first step, the working conditions of the lifting device include the pile lowering condition, the preloading condition, the pre-lifting condition, the platform lifting condition, the platform lowering condition, the pile pulling condition, and the emergency condition.

[0053] During application, in the pile lowering condition, input control instructions to control the lifting device to lower the leg to the seabed so that the pile shoe of the leg can be inserted into the seabed mud to fix the platform; in the preloading condition, input control instructions to control the lifting device to apply preloading to the leg to ensure that the leg stands firmly on the seabed; in the pre-lifting condition, input control instructions to control the lifting device to perform a pre-lifting operation to test the lifting system before officially lifting the platform to ensure the normal operation of the system and that the leg can withstand the upcoming load; in the platform lifting condition, input control instructions to control the lifting device to lift the entire platform to the working position to make the platform reach the required height for operation, and precise control of the lifting device is required to ensure the smooth rise of the platform; in the platform lowering condition, input control instructions to control the lifting device to lower the platform back to the sea surface so that the platform can move to a new operation position or perform maintenance work, and precise control of the lifting device is required to ensure the smooth descent of the platform; the pile pulling condition refers to the process of pulling the leg out of the seabed, and input control instructions to control the lifting device to generate sufficient force to overcome the adsorption force and friction between the leg and the seabed, pull out the leg and lift it to a predetermined height at the bottom of the platform; the emergency condition refers to when an emergency occurs, such as power loss, system failure, or excessive platform tilt angle, controlling the lifting device to ensure the safety of the platform and the leg, including operations such as emergency stop, locking in place, or emergency descent, to protect the safety of the platform and personnel; by testing the control logic of the lifting device under different working conditions, it can be ensured that the lifting device can operate efficiently and safely under various working conditions, reducing the workload and risks during on-site physical installation.

[0054] Example 3: The basic content is the same as that of Example 1, except that: the simulator 40 runs the Linux real-time operating system; in the second step, the calculation speed is faster than the operating speed of the power transmission components of the lifting device and the physical leg.

[0055] During application, the simulator 40 runs the Linux real-time operating system, which supports the real-time code running and compiling function. A set of real-time simulation systems is installed under Linux. Using the Linux real-time operating system can provide a deterministic response time, ensuring that the simulator 40 can process tasks and data in a timely manner to meet the requirements of real-time simulation. Moreover, the real-time code running and compiling function can improve the development efficiency, enabling developers to quickly verify the correctness and effectiveness of the code without waiting for the entire code to be written and then performing centralized running or compiling. At the same time, the calculation speed of the simulation model is faster than the operating speed of the power transmission components of the lifting device and the physical leg, which can also ensure real-time performance and improve the data processing speed, thus ensuring that the response of the control program is consistent with the real time.

[0056] Example 4: The basic content is the same as that of Example 1, except that: in the third step, the performance data includes but is not limited to the motor speed of the lifting device, the leg lifting speed, the leg load, the platform load, and the platform inclination angle.

[0057] During application, the motor speed is the rotational speed of the motor in the lifting device, which affects the lifting speed and efficiency of the lifting device; the leg lifting speed is the speed of the leg during the lifting process, which determines the speed of the platform's lifting and has a direct impact on the operation efficiency and safety; the leg load is crucial for ensuring the stability and safety of the platform; the platform load refers to the sum of various expected loads borne by the platform during normal use, including the platform's own weight, equipment weight, personnel activity load, etc.; the platform inclination angle is the inclination angle of the platform during the lifting process or due to external forces (such as wind, waves), which is very important for evaluating the stability and structural integrity of the platform. At the same time, the performance data also includes the system response time, the hydraulic system pressure, the energy consumption, etc., and the specific content of the performance data is determined according to the test requirements of the platform.

[0058] Example 5: The basic content is the same as that of Embodiment 1, except that: the equipment used in the semi-physical test method of the self-elevating platform lifting device further includes an animation computer 50, the animation computer 50 is connected to the switch 30, and an animation model is set in the animation computer 50; the semi-physical test method of the self-elevating platform lifting device further includes a fourth step: the simulator 40 simultaneously transmits some output digital signals to the animation computer 50, and the output digital signals received by the animation computer 50 drive the animation model to act, obtaining a three-dimensional simulation view of the simulator 40 simulating the response process of the power transmission components and the leg to the control instruction; the fourth step and the third step of sending the output digital signals to the console 10 are carried out simultaneously; UDP interface programs are provided in both the simulator 40 and the animation computer 50; data transmission between the animation computer 50 and the simulator 40 is carried out through the UDP interface program; in the fourth step, the simulator 40 simultaneously transmitting some output digital signals to the animation computer 50 means that the simulator 40 unidirectionally transmits some output digital signals to the animation computer 50 through the UDP interface program; in the fourth step, the three-dimensional simulation view includes the overall picture of the platform above water, the picture of the platform underwater, the action picture of the lifting device, and data display.

[0059] During application, the simulator 40 unidirectionally transmits some output digital signals to the animation computer 50 through the UDP interface program. These output digital signals mainly include action data and display data. The action data includes the leg movement speed and the platform movement speed data, and the display data includes the leg load, the leg speed, the leg displacement, the platform draft, and the platform load; after receiving these signal data, the animation computer 50 inputs them into the animation model to run, obtaining a three-dimensional simulation view including the overall picture of the platform above water, the picture of the platform underwater, the action picture of the lifting device, and data display. Through the three-dimensional simulation view, the response situation of the lifting device can be observed more intuitively, thus making it easier to understand and compare the gap between the simulation result and the expected result; at the same time, data transmission between the animation computer 50 and the simulator 40 is carried out through the UDP interface program, enhancing the real-time performance of data transmission and ensuring the real-time performance and smoothness of the three-dimensional simulation view.

[0060] Embodiment 6: The basic content is the same as that of Embodiment 1, except that: the console 10 includes an industrial computer, a controller, and an operation interface, and the industrial computer is connected to the controller through the TCP communication protocol; the method for controlling the operation interface of the console 10 is the same as that of the physical console of the lifting device, and the control logic set in the controller of the console 10 is the same as that of the physical console of the lifting device; in the first step, when a control instruction corresponding to the working condition is input into the console 10 to generate an electrical signal, the conversion of the electrical signal into a digital signal by the console 10 means that: by performing an input operation of the corresponding control instruction on the operation interface of the console 10, an electrical signal is generated, and then the electrical signal is transmitted to the industrial computer, and the industrial computer converts the electrical signal into a digital signal according to the TCP communication protocol and sends it to the controller; in the first step, the conversion of the digital signal into an instruction digital signal corresponding to the control instruction according to the control logic means that: the controller converts the digital signal into an instruction digital signal corresponding to the control instruction according to the built-in control logic; in the first step, the sending of the instruction digital signal by the console 10 to the simulator 40 means that: the controller of the console 10 sends the instruction digital signal to the simulator 40; in the third step, the calculation and processing of the output digital signal by the console 10 to obtain a result digital signal means that: the controller in the console 10 receives the output digital signal, calculates and processes it to obtain a result digital signal, and then transmits the result digital signal to the industrial computer.

[0061] During application, by performing an instruction input operation on the operation interface of the console 10, an electrical signal is generated, and then the electrical signal is transmitted to the industrial computer of the console 10. The industrial computer converts the electrical signal into a digital signal according to the TCP communication protocol and sends it to the controller of the console 10. The controller converts the digital signal into an instruction digital signal corresponding to the instruction according to the built-in control logic, and sends the instruction digital signal to the simulator 40 at a given frequency. The frequency at which the controller sends the instruction digital signal is set according to the calculation requirements of the simulation model; after the simulation model performs simulation calculations on the control instruction to obtain a simulation result, the simulator 40 converts the simulation result into an output digital signal and then transmits it to the controller. The controller calculates and processes the output digital signal to obtain a result digital signal, and then displays it on the industrial computer for easy comparison with the expected data and theoretical data.

[0062] Embodiment 7: The basic content is the same as that of Embodiment 1, except that: a TCP interface program is further provided in the simulator 40; data transmission between the simulator 40 and the console 10 is performed through a TCP / IP interface program; in the second step, after the simulator 40 receives the above instruction digital signal, converting the above instruction digital signal into a simulation digital signal means that: the simulator 40 sets the IP address of the data receiving object to receive the instruction digital signal sent by the controller of the console 10, and the simulator 40 first converts the received instruction digital signal into a simulation digital signal recognizable by the simulation model through the TCP interface program; in the third step, after the simulator 40 first converts the above simulation result into an output digital signal, sending the output digital signal to the console 10 means that: the simulator 40 first converts the above simulation result into an output digital signal through the TCP interface program and sends it to the controller of the console 10.

[0063] During application, data transmission between the simulator 40 and the console 10 is performed through a TCP / IP interface program. The simulator 40 sets the IP address of the data receiving object to receive the instruction digital signal sent by the controller. The simulator 40 first converts the received instruction digital signal into a simulation digital signal recognizable by the simulation model through the TCP interface program, and then transmits the simulation digital signal to the simulation model for real-time simulation calculation to obtain a calculation result. The simulator 40 first converts the calculation result into an output digital signal through the TCP interface program and then sends the output digital signal to the controller of the console 10. At the same time, the simulator 40 unidirectionally transmits part of the output digital signal to the animation computer 50 through a UDP interface program. Data transmission through the TCP / IP interface program between the simulator 40 and the console 10 can ensure the accuracy and security of data, thereby ensuring the accuracy and security of data for simulation calculation. And unidirectionally transmitting to the animation computer 50 through the UDP interface program can ensure the real-time performance and efficiency of data transmission, ensuring the real-time performance and smoothness of the animation.

[0064] Embodiment 8: See Figure 2 As shown, the model layer 60 includes a lifting device, a leg, a platform hull, environmental loads, and a soil model; the development layer 70 includes a PLC control program and a simulation model, where the simulation model includes all the models in the model layer 60; in the data communication layer 80, the industrial control computer communicates with the PLC 20 through the TCP protocol, and the simulation model communicates with the animation computer 50 through the UDP protocol.

[0065] Embodiment 9: The basic content is the same as that of Embodiment 1, with the differences being as follows: The console 10 includes an industrial computer, a controller, and an operation interface. The industrial computer is connected to the controller through the TCP communication protocol. The operation method of the console 10 on the operation interface is the same as that of the physical console. The controller of the console 10 is a PLC20, and the lifting device control program is downloaded to the PLC20. The control logic of the control program in the PLC20 is the same as that of the physical console. The PLC20, the simulator 40, and the animation computer 50 are all connected to the switch 30 to form a local area network. The simulator 40 performs data interaction with the upper computer and the PLC control system through the Ethernet communication method. The industrial computer includes a handle, buttons, knobs, and a touch screen, and the touch screen displays the state parameters of the lifting device. The simulator 40 is installed with a Linux real-time operating system, supports the real-time code running and compiling function, and performs data interaction with the upper computer and the PLC20 control system through the Ethernet communication method. The lifting device simulation model is carried in an external simulation software, and the simulation model is deployed to the simulator 40 through the CAE software semi-physical management module. Among them, the calculation speed of the lifting device model in the simulator 40 needs to be faster than the running speed of the physical object to meet the real-time requirement.

[0066] During application, first, operate the handle, buttons, knobs, and touch screen to generate signals during instruction input. The signals are transmitted to the PLC20, and after passing through the control program, the instructions are forwarded to the simulator 40. The simulator 40 receives the leg movement driving instructions in the PCL20, and the legs in the simulation model move at the set speed. After the simulation model calculates, the calculation results are obtained, including real-time data such as leg displacement, leg load, platform displacement, platform load, and platform draft. The simulator 40 transmits the calculation results to both the PLC20 and the animation computer 50 at the same time. The data is transmitted to the industrial computer touch screen for display through the PLC20, and the animation computer 50 drives the legs and the platform hull to move according to the data information for visual display.

[0067] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. Any equivalent modifications or changes made by those of ordinary skill in the art according to the disclosed content of the present invention shall be included in the protection scope recorded in the claims.

Claims

1. A semi-physical test method for a self-elevating platform lifting device, characterized in that: The semi-physical test method for the self-elevating platform lifting device uses equipment including a control console (10), a simulator (40), and a switch (30); the control console (10) and the simulator (40) are connected to the switch (30) to form a local area network; the control method of the control console (10) is consistent with the control method of a real control console in the lifting device; and the control logic of the control console (10) is consistent with the control logic of a real control console in the lifting device; The semi-physical test method of the self-elevating platform lifting device comprises the following steps: The first step: first, according to the specific requirements of the working condition of the lifting device, a control instruction corresponding to the working condition is input into the control console (10) to generate an electric signal, the control console (10) converts the electric signal into a digital signal, and then converts the digital signal into a command digital signal corresponding to the control instruction according to the control logic, the command digital signal is used to control the power transmission component of the lifting device, thereby controlling the lifting of the pile leg, and then the control console (10) sends the command digital signal to the simulation machine (40); Step 2: first loading the simulation model into the simulation machine (40), and setting the calculation parameters of the simulation model, wherein the calculation parameters include the calculation speed. After receiving the command digital signal, the simulation machine (40) first converts the command digital signal into a simulation digital signal, and then transmits it to the simulation model. The simulation model uses the simulation digital signal as a boundary condition to simulate the response process of the power transmission component and the pile leg to the control command. The simulation model includes a lifting device principle model, a platform model, a gravity model (402), a buoyancy model (401), and a soil model (404). The simulation model performs real-time simulation calculation and then outputs the simulation result. Step 3: The simulator (40) converts the simulation result into an output digital signal and sends the output digital signal to the control console (10). The output digital signal includes performance data of the simulated lifting device after responding to the control command. The control console (10) calculates and processes the output digital signal to obtain a result digital signal, and then displays the result digital signal on the control console (10). The result digital signal corresponds to the performance data. The result digital signal is then compared with the expected data and the theoretical data. When the result digital signal meets the design error requirement, the control logic test of the control console (10) is completed. When the result digital signal does not meet the design error requirement, the control logic of the control console (10) is optimized before the test is performed.

2. The semi-physical test method for a self-elevating platform lifting device according to claim 1 is characterized in that: In the first step, the working conditions of the lifting device include pile lowering condition, pre-pressurization condition, pre-jacking condition, platform raising condition, platform lowering condition, pile pulling condition, and emergency condition.

3. The semi-physical test method for a self-elevating platform lifting device according to claim 1 is characterized in that: The emulator (40) runs a Linux real-time operating system; In the second step, the calculation speed is faster than the running speed of the power transmission component of the lifting device and the pile legs.

4. The semi-physical test method for a self-elevating platform lifting device according to claim 1 is characterized in that: In the third step, the performance data includes but is not limited to the motor speed of the lifting device, the lifting speed of the pile legs, the pile leg load, the platform load, and the platform inclination angle.

5. A semi-physical test method for a self-elevating platform lifting device according to any one of claims 1 to 4, characterized in that: The equipment used in the semi-physical test method of the self-elevating platform lifting device also includes an animation computer (50), the animation computer (50) is connected to the switch (30), and an animation model is arranged in the animation computer (50); The semi-physical test method for the self-elevating platform lifting device also includes a fourth step: the simulator (40) simultaneously transmits part of the output digital signal to the animation computer (50), the output digital signal received by the animation computer (50) drives the animation model to move, and obtains a three-dimensional simulation view of the simulator (40) simulating the power transmission component and the pile leg response process to the control command; The fourth step is performed simultaneously with the third step of sending the output digital signal to the control console (10).

6. A semi-physical test method for a self-elevating platform lifting device according to claim 5, characterized in that: The simulation machine (40) and the animation computer (50) are both provided with a UDP interface program; The animation computer (50) and the simulation machine (40) perform data transmission via a UDP interface program; In the fourth step, the simulator (40) simultaneously transmits part of the output digital signal to the animation computer (50), which means that the simulator (40) transmits part of the output digital signal to the animation computer (50) in one direction through the UDP interface program; In the fourth step, the three-dimensional simulation view includes a global picture of the platform above water, a picture of the platform underwater, a picture of the lifting device action, and a data display.

7. A semi-physical test method for a self-elevating platform lifting device according to any one of claims 1 to 4, characterized in that: The control console (10) comprises an industrial computer, a controller, and an operation interface, wherein the industrial computer and the controller are connected via a TCP communication protocol; The control method of the operation interface of the control console (10) is consistent with the control method of the actual control console in the lifting device, and the control logic set in the controller of the control console (10) is consistent with the control logic of the actual control console of the lifting device.

8. A semi-physical test method for a self-elevating platform lifting device according to claim 7, characterized in that: In the first step, inputting a control instruction corresponding to the working condition into the control console (10) generates an electric signal, and the control console (10) converts the electric signal into a digital signal, which means: inputting a corresponding control instruction into the operation interface of the control console (10) to generate an electric signal, and then transmitting the electric signal to the industrial computer, and the industrial computer converts the electric signal into a digital signal according to the TCP communication protocol and sends it to the controller; In the first step, converting the digital signal into a command digital signal corresponding to the control instruction according to the control logic means: the controller converts the digital signal into a command digital signal corresponding to the control instruction according to the built-in control logic; In the first step, the control console (10) sends the command digital signal to the simulator (40), which means: the controller of the control console (10) sends the command digital signal to the simulator (40); In the third step, the control console (10) calculates and processes the output digital signal to obtain a result digital signal, which means that the controller in the control console (10) receives the output digital signal, calculates and processes it to obtain a result digital signal, and then transmits the result digital signal to the industrial computer.

9. A semi-physical test method for a self-elevating platform lifting device according to claim 7, characterized in that: The simulation machine (40) is also provided with a TCP interface program; Data is transmitted between the simulation machine (40) and the control console (10) via a TCP IP interface program.

10. A semi-physical test method for a self-elevating platform lifting device according to claim 9, characterized in that: In the second step, after receiving the command digital signal, the simulation machine (40) first converts the command digital signal into a simulation digital signal, which means that: the simulation machine (40) sets the IP address of the receiving data object to receive the command digital signal sent by the controller of the control console (10), and the simulation machine (40) first converts the received command digital signal into a simulation digital signal that can be recognized by the simulation model through the TCP interface program; In the third step, the simulator (40) first converts the simulation result into an output digital signal and then sends the output digital signal to the control console (10), which means that the simulator (40) first converts the simulation result into an output digital signal through a TCP interface program and sends the output digital signal to the controller of the control console (10).

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