Method for distributing and calculating supporting pile feet in balanced state of hoisting platform of wind power installation vessel

Abstract

The invention provides a supporting pile foot distribution calculation method for a wind power installation vessel hoisting platform in a balanced state, which comprises the following steps of: firstly, dividing the wind power installation vessel hoisting platform into eight sectors, and calculating expected theoretical stress of four pile feet when the wind power installation vessel hoisting platform is recovered from an unbalanced state to a stable state according to a statically determinate stable structure; then, according to the actual position of the gravity center in the unbalance state, the processing steps that the gravity center is located on the center line and the diagonal line and is neither located on the center line nor located on the diagonal line are designed, and for loads with variable gravity centers such as a movable wind power pile, the gravity center is changed by adjusting the lifting height of a pile foot to incline a hoisting platform. And finally realizing the stability and balance of the ship body through the balance convergence condition of the gravity center G of the wind power installation ship hoisting platform. According to the method, the supporting pile foot distribution calculation process is simpler, and balance adjustment of the ship body hoisting platform is faster.

Description

Technical Field

[0001] The present invention belongs to the field of calculation and analysis of the force balance of structures. Specifically, it relates to a calculation method for the distribution of support pile feet to quickly restore the balance state of a hoisting platform on a wind power installation vessel. Background Art

[0002] An offshore wind power installation vessel is a powerful tool for installing offshore wind turbines and effectively developing marine wind energy. Currently, offshore wind power installation equipment includes self-elevating offshore wind power installation vessels, which are composed of a hull, a thruster, pile legs, and lifting devices. During offshore operations, the pile legs rotate to a working position perpendicular to the hull, and each pile foot is rammed into the seabed through its lifting device. By adjusting the lifting devices of all pile feet, the hull is lifted to the required height. During this process, the lifting devices bear huge alternating loads. The center of gravity of a self-elevating offshore wind power installation vessel is usually designed on the central axis of the hull and preferably also at the geometric center point of the hoisting platform. However, hoisting wind power poles, unfixed equipment, and external wind and wave interference can all cause the center of gravity of the ship to shift. Although the hull design gives it a certain resistance to center of gravity shift, offshore wind power poles are generally quite tall, and it is very easy for the center of gravity of the ship to shift during hoisting. If the shift is large, the hull will capsize, resulting in catastrophic consequences.

[0003] When a self-elevating offshore wind power installation vessel performs wind power installation operations, it needs to lift the hull to a certain height. Different degrees of looseness of the seabed soil will result in two different states: a statically determinate stable structure state and an unbalanced state. The statically determinate stable structure state means that the self-elevating offshore wind power installation vessel lowers and compacts all pile feet, and only the equilibrium equations can be used to determine all the internal forces and constraints of the geometrically invariant structure of the hoisting platform. The unbalanced state means that the pile feet of the self-elevating offshore wind power installation vessel are not compacted or the pile feet encounter empty shells, resulting in the hull shaking out of the statically determinate stable structure state. The purpose of calculating the forces on the support pile feet of the hoisting platform of a wind power installation vessel is to quickly judge the inclination direction and degree of the hull hoisting platform according to a posture sensor, and quickly calculate the forces on the pile feet according to a simplified engineering calculation process, so as to provide a control basis for restoring the stability of the self-elevating offshore wind power installation vessel.

[0004] Common calculation methods for controlling the pile feet of an unbalanced platform are as follows:

[0005] (1) Unbalanced pile foot control calculation method based on the statically determinate stable structure state

[0006] The unbalanced pile foot force calculation method based on the statically determinate stable structure state first calculates the forces on all pile feet in the statically determinate stable structure state, and then calculates the forces on a certain pile foot in its unbalanced state according to its unbalanced situation. This method is only applicable to the force calculation in the unbalanced state of individual pile feet and is difficult to calculate the forces on the pile feet in the case of multiple pile feet being unbalanced.

[0007] (2) Finite Element Analysis - Based Pile Foot Control Calculation Method

[0008] The finite element - based pile foot force analysis calculation method first divides the pile foot force - bearing surface into segments, and then calculates the specific force conditions in each segment according to the fluid model of the external applied force, so as to complete the overall force analysis of the pile foot. This method is extremely accurate for force analysis, but is greatly affected by the accuracy of the external applied force fluid model. In addition, the calculation amount is extremely large and the real - time performance is poor.

[0009] (3) Pose Sensor - Based Pile Foot Control Calculation Method

[0010] The pose sensor - based pile foot force calculation method is a soft - measurement calculation method that only depends on the offset information sensed by the pose sensor. In essence, it is a hysteresis comparator. By continuously adjusting the lifting and lowering of the pile foot, the lifting platform is clamped in an oscillating equilibrium state, rather than truly sensing the force on the pile foot. Summary of the Invention

[0011] Aiming at the deficiencies in the prior art, the present invention provides a support pile foot distribution calculation method for the balance state of the lifting platform of a wind power installation ship. First, the lifting platform of the wind power installation ship is divided into 8 sectors, and the theoretical forces expected for the 4 pile feet to restore the stable state from the unbalanced state of the lifting platform of the wind power installation ship are calculated according to the statically - determinate stable structure. Then, according to the actual position of the center of gravity in the unbalanced state, the processing steps for the center of gravity on the center line, diagonal line, neither on the center line nor on the diagonal line (within the sector) are designed respectively. For loads with variable centers of gravity such as mobile wind power piles, the center of gravity is changed by adjusting the lifting height of the pile feet to tilt the lifting platform. Finally, the stability and balance of the hull are achieved through the balance convergence condition of the center of gravity G of the lifting platform of the wind power installation ship.

[0012] The present invention realizes the above - mentioned technical objectives through the following technical means.

[0013] Support pile foot distribution calculation method for the balance state of the lifting platform of a wind power installation ship:

[0014] First, a plane coordinate system is constructed based on the center line of the lifting platform. The lifting platform of the wind power installation ship is divided into 8 sectors based on the center line and diagonal line of the lifting platform, and the theoretical forces expected for pile feet A, B, C, and D to restore the stable state from the unbalanced state of the lifting platform are calculated according to the statically - determinate stable structure. Then, according to the actual position of the center of gravity G in the plane coordinate system in the unbalanced state, the pile foot balance control lifting height distribution methods for the center of gravity G on the center line, diagonal line, and within the sector are designed respectively. Finally, the stability and balance of the lifting platform of the wind power installation ship are achieved through the balance convergence condition of the center of gravity G of the lifting platform.

[0015] Further, the plane coordinate system takes the geometric center point of the hoisting platform as the origin O of the plane coordinate system, and two center lines of the hoisting platform are respectively used as the X-axis and the Y-axis.

[0016] Further, the judgment formula for the sector is:

[0017]

[0018] where θ is the included angle between the line connecting the centroid G and the origin O and the center line of the sector where the centroid G is located, α is the included angle between the two boundaries of the sector, x is the abscissa of the centroid G, y is the ordinate of the centroid G, S L is the length of the hoisting platform, S W is the width of the hoisting platform.

[0019] Further, the theoretical force is calculated through the position of the centroid G in the plane coordinate system, the length S L of the hoisting platform and the width S W and the gravity G' of the wind power installation vessel.

[0020] Further, the lifting height distribution of the pile footing balance control of the centroid G on the center line includes adjusting the lifting height of the hoisting platform around the X-axis and adjusting the lifting height of the hoisting platform around the Y-axis. The lifting height is calculated through the tilt angle β of the hoisting platform and the length S L or the width S W of the hoisting platform.

[0021] Further, the lifting height distribution of the pile footing balance control of the centroid G on the diagonal line includes adjusting the lifting height of the hoisting platform around the diagonal line AC and adjusting the lifting height of the hoisting platform around the diagonal line BD. The lifting height is calculated through the tilt angle β of the hoisting platform and the length S L and the width S W of the hoisting platform.

[0022] Further, the lifting height distribution of the pile footing balance control of the centroid G in the sector is specifically: when calculating the centroid G in different sectors, calculate the distances between the centroid G and the center line and the diagonal line in the sector; select the shortest distance between the centroid G and the center line or the diagonal line in the sector; according to the value of the shortest distance, formulate a lifting height distribution plan for the hoisting platform.

[0023] Furthermore, when the centroid G is in sectors 1, 4, 5, and 8, the calculation formula for the shortest distance L S is:

[0024]

[0025] where x is the abscissa of the centroid G, y is the ordinate of the centroid G, |y| is the distance from the centroid G to the center line in the sector, l GKis the distance from the centroid G to the diagonal line within the sector, S L is the length of the hoisting platform, S W is the width of the hoisting platform;

[0026] When the centroid G is in sectors 2, 3, 6, and 7, the formula for the shortest distance L S is as follows:

[0027]

[0028] where |x| is the distance from the centroid G to the center line within the sector.

[0029] Furthermore, when the value of the shortest distance is |y|, first adjust the hoisting platform's lifting height around the X-axis, move the centroid G parallel to the Y-axis onto the X-axis, then adjust the hoisting platform's lifting height around the Y-axis, and move the centroid G parallel to the X-axis to the origin O;

[0030] When the value of the shortest distance is |x|, first adjust the hoisting platform's lifting height around the Y-axis, move the centroid G parallel to the X-axis onto the Y-axis, then adjust the hoisting platform's lifting height around the X-axis, and move the centroid G parallel to the Y-axis to the origin O;

[0031] When the value of the shortest distance is if the centroid is in sector 1 or sector 5, first adjust the hoisting platform's lifting height around the diagonal BD, move the centroid G onto the diagonal BD, then adjust the hoisting platform's lifting height around the diagonal AC, and move the centroid G to the origin O; if the centroid is in sector 4 or sector 8, first adjust the hoisting platform's lifting height around the diagonal AC, move the centroid G onto the diagonal AC, then adjust the hoisting platform's lifting height around the diagonal BD, and move the centroid G to the origin O;

[0032] When the value of the shortest distance is if the centroid is in sector 2 or sector 6, first adjust the hoisting platform's lifting height around the diagonal BD, move the centroid G onto the diagonal BD, then adjust the hoisting platform's lifting height around the diagonal AC, and move the centroid G to the origin O; if the centroid is in sector 3 or sector 7, first adjust the hoisting platform's lifting height around the diagonal AC, move the centroid G onto the diagonal AC, then adjust the hoisting platform's lifting height around the diagonal BD, and move the centroid G to the origin O.

[0033] Furthermore, the balance convergence condition of the centroid G of the hoisting platform is:

[0034]

[0035] where t is the number of adjustments of the pile feet during the process of the hull hoisting platform achieving balance and stability, z represents the four pile feet A, B, C, and D, F real-zThe actual force on the pile leg collected by the pressure sensor, F z The theoretical force on the pile leg calculated according to the statically determinate stable structure, where x is the abscissa of the centroid G and y is the ordinate of the centroid G.

[0036] The beneficial effects of the present invention are as follows:

[0037] (1) The present invention constructs a plane rectangular coordinate system, and based on the gravity of the jack-up offshore wind turbine installation vessel and the position of the centroid of the lifting platform in the coordinate system, realizes the rapid calculation of the required pressure of each pile leg of the lifting platform of the wind turbine installation vessel under statically determinate stable conditions.

[0038] (2) The present invention divides the lifting platform into 8 sectors, and according to the actual centroid situation of the lifting platform under the unbalanced state, formulates the distribution of the lifting height for the pile leg balance control when the centroid is on the center line, diagonal line, neither on the center line nor on the diagonal line (within the sector), ensuring the rapidity of the balance control. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the coordinate system of the lifting platform of the jack-up offshore wind turbine installation vessel described in the present invention;

[0040] Figure 2(a) is a schematic diagram of the distribution of the lifting height for the pile leg balance control when the centroid G is on the Y-axis described in the present invention;

[0041] Figure 2(b) is a simplified schematic diagram of the distribution of the lifting height for the pile leg balance control when the centroid G is on the Y-axis described in the present invention;

[0042] Figure 3(a) is a schematic diagram of the distribution of the lifting height for the pile leg balance control when the centroid G is on the X-axis described in the present invention;

[0043] Figure 3(b) is a simplified schematic diagram of the distribution of the lifting height for the pile leg balance control when the centroid G is on the X-axis described in the present invention;

[0044] Figure 4 It is a schematic diagram of the centroid G in sector 1 described in the present invention;

[0045] Figure 5 It is a schematic diagram of the centroid G in sector 2 described in the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0046] The following further describes the present invention in conjunction with the drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0047] The calculation method for the distribution of the support pile legs in the balanced state of the lifting platform of the wind turbine installation vessel of the present invention specifically includes the following steps:

[0048] Step 1, establish a coordinate system for the lifting platform of the jack-up offshore wind turbine installation vessel.

[0049] The seabed in the sea area for offshore wind power installation is an irregular seabed, with different soil consistencies and topographies. To prevent the self-elevating offshore wind power installation vessel from capsizing due to the imbalance of the lifting platform, it is necessary to adjust the lifting speeds of the four pile legs in real time. As Figure 1 shown, in Solidworks, the lifting platform of the self-elevating offshore wind power installation vessel is simplified into a rectangular platform. Pile legs A, B, C, and D are installed at the four corners of the platform. The midpoints of the four sides of the rectangular lifting platform are 1, 2, 3, and 4; taking the geometric center point of the rectangular platform as the origin O, and taking the center lines of the rectangular platform as the X-axis and Y-axis to construct a plane coordinate system; the length of the lifting platform is S L and the width is S W , and the current position of the platform's center of gravity is G(x,y). Let the pressures of the four pile legs be F A , F B , F C , F D . Based on the diagonals and center lines of the rectangular platform, the lifting platform can be divided into 8 sectors. Starting from point 3, the connecting line division areas are marked counterclockwise and are defined as sector 1, sector 2, sector 3, sector 4, sector 5, sector 6, sector 7, and sector 8 in sequence.

[0050] Step 2, determine the sector where the current center of gravity G is located.

[0051] As Figure 1 shown, define the angle formed by the connection line between the center of gravity G(x,y) in the current sector and the origin O of the plane coordinate system and the center line of the sector where the center of gravity G is located as θ, and the included angle between the two boundaries of the sector as α. By calculating the magnitude of θ and combining the polarity of the horizontal and vertical coordinates x and y of the center of gravity, the sector where the current center of gravity G is located can be judged. The specific judgment formula is as follows:

[0052]

[0053] Step 3, calculate the pressures required for each pile leg to stabilize the lifting platform of the wind power installation vessel under the condition that the current center of gravity G (the center of gravity is offset and not at the origin O of the plane coordinate system).

[0054] When the center of gravity G is not at the origin O of the plane coordinate system of the lifting platform and the lifting platform of the wind power installation vessel is stable, at this time, the platform is in a statically determinate stable structure, and the pressures required for the four pile legs are:

[0055]

[0056] In formula (2), G’ is the gravity borne by the self-elevating offshore wind power installation vessel.

[0057] Step 4, the method for distributing the lifting height for the balance control of the pile legs when the current center of gravity G is on the center line or diagonal line.

[0058] If the current center of gravity G is on the center line or the diagonal line, the balance of the hoisting platform can be adjusted by raising or lowering the symmetric-direction pile feet with the center line or the diagonal line as the rotation axis.

[0059] Step 4.1, the lifting height distribution for the balance control of the pile feet when the current center of gravity G is on the center line.

[0060] (1) If θ≠α, x = 0 and y≠0, at this time, adjust the hoisting platform around the X-axis, as Figure 2(a) 、 2(b) shown.

[0061] At this time, the force on the pile feet of the hoisting platform is F A = F B , F C = F D . Adjust the force on the pile feet to make the hoisting platform rotate around the X-axis. When the rotation does not exceed the threshold allowed by the hoisting platform, the control of the four pile feet can be redistributed, so as to achieve the stability of the hoisting platform. Adjusting the force on the pile feet means adjusting the lifting heights h A 、h B 、h C 、h D of the pile feet A, B, C, and D. The calculation formula is:

[0062]

[0063] In formula (3), β is the inclination angle of the hoisting platform. By raising and lowering the four pile feet and tilting the hoisting platform, the center of gravity G is restored to the origin O, and the balance state is restored from the unbalanced state.

[0064] (2) If θ≠α, x≠0 and y = 0, at this time, adjust the hoisting platform around the Y-axis, as Figure 3(a) 、 3(b) shown.

[0065] At this time, the force on the pile feet of the hoisting platform is F A = F D , F B = F C . Adjust the force on the pile feet to make the hoisting platform rotate around the Y-axis. When the rotation does not exceed the threshold allowed by the hoisting platform, the control of the four pile feet can be redistributed, so as to achieve the stability of the hoisting platform. Adjusting the force on the pile feet means adjusting the lifting heights h A 、h B 、h C 、h D of the pile feet A, B, C, and D. The calculation formula is:

[0066]

[0067] In formula (4), β is the inclination angle of the hoisting platform. By lifting the four pile feet and tilting the hoisting platform, the center of gravity G is restored to the origin O, and the balance state is restored from the unbalanced state.

[0068] Step 4.2, distribution of the lifting height for balance control of the pile feet when the current center of gravity G is on the diagonal.

[0069] If θ = α, x ≠ 0 and y ≠ 0, at this time, adjust the hoisting platform around the diagonal.

[0070] (1) When x > 0, y > 0, or x < 0, y < 0, and θ = α, at this time, adjust the hoisting platform around the diagonal AC.

[0071] At this time, adjusting the forces on pile feet B and D can make the hoisting platform rotate around the diagonal AC. When the rotation does not exceed the threshold allowed for the hoisting platform, the control of the four pile feet can be redistributed, thus achieving the stability of the hoisting platform. Adjusting the forces on pile feet B and D, that is, adjusting the lifting heights of pile feet B and D:

[0072]

[0073] (2) When x < 0, y > 0, or x > 0, y < 0, and θ = α, at this time, adjust the hoisting platform around the diagonal BD.

[0074] At this time, adjusting the forces on pile feet A and C can make the hoisting platform rotate around the diagonal BD. When the rotation does not exceed the threshold allowed for the hoisting platform, the control of the four pile feet can be redistributed, thus achieving the stability of the hoisting platform. Adjusting the forces on pile feet A and C, that is, adjusting the lifting heights of pile feet A and C:

[0075]

[0076] Step 5, method for distributing the lifting height for balance control of the pile feet when the current center of gravity G is in any area (sector) other than the center line and the diagonal.

[0077] Step 5.1, calculate the distances between the center of gravity G and the center line and the diagonal in the sector when the center of gravity G is in different sectors.

[0078] When , the situations of sectors 1, 4, 5, and 8 are the same, and the situations of sectors 2, 3, 6, and 7 are the same.

[0079] The following takes sectors 1 and 2 as examples for illustration.

[0080] (1) When 0 ≤ θ < α, take sector 1 as an example for illustration. As Figure 4As shown, it is a schematic diagram of the center of gravity G in sector 1. The line connecting the origin O and the center of gravity G is OG. A perpendicular line is drawn from the center of gravity G to the line OB connecting the origin O and the pile foot B, and the foot of the perpendicular is K. A perpendicular line is drawn from the center of gravity G to the line O3 connecting the origin O and the midpoint 3, and the foot of the perpendicular is Q. γ is the angle between OG and the diagonal line in the sector, and l OG is the length from the origin O to the center of gravity G. The distance l from the center of gravity G to OB is solved according to formula (7) GK :

[0081]

[0082] Then the distance l from the center of gravity G to O3 GQ is y, and the distance l from the center of gravity G to OB GK is:

[0083]

[0084] (2) When α ≤ θ, take sector 2 as an example for illustration. As Figure 5 shown, it is a schematic diagram of the center of gravity G in sector 2. A perpendicular line is drawn from the center of gravity G to OB, and the foot of the perpendicular is K. A perpendicular line is drawn from the center of gravity G to the line O4 connecting the origin O and the midpoint 4, and the foot of the perpendicular is Q. The distance l from the center of gravity G to OB is solved according to formula (9) GK :

[0085]

[0086] Then the distance l from the center of gravity G to O4 GQ is x, and the distance l from the center of gravity G to OB GK is:

[0087]

[0088] In the above two cases, in sectors 1, 4, 5, and 8, the distance between the center of gravity and the center line in the sector is |y|, and the distance between the center of gravity and the diagonal line in the sector is In sectors 2, 3, 6, and 7, the distance between the center of gravity and the center line in the sector is |x|, and the distance between the center of gravity and the diagonal line in the sector is

[0089] Step 5.2, select the shortest distance between the center of gravity G and the center line or diagonal line in the sector.

[0090] (1) In sectors 1, 4, 5, and 8, the distance between the center of gravity and the center line in the sector is |y|, and the distance between the center of gravity and the diagonal line in the sector is Compare the distances between the two according to formula (11) and select the shortest distance:[[]]

[0091]

[0092] (2) Sectors 2, 3, 6, 7, the distance between the centroid and the center line within the sector is |x|, and the distance between the centroid and the diagonal within the sector is Compare the two distances according to formula (12) and select the shortest distance:

[0093]

[0094] Step 5.3, the method for allocating the lifting height of the centroid G pile foot balance control.

[0095] (1) If the shortest distance L s is |y|, jump to the case of (1) in Step 4.1 where θ≠α, x = 0 and y≠0. At this time, adjust the lifting platform around the X-axis. After execution, then execute the case of (2) in Step 4.1 where θ≠α, x≠0 and y = 0. At this time, adjust the lifting platform around the Y-axis. That is, first adjust the lifting platform around the X-axis, move the centroid G parallel to the Y-axis to the X-axis (y = 0), and then adjust the lifting platform around the Y-axis, move the centroid G parallel to the X-axis to the origin O.

[0096] (2) If the shortest distance L s is |x|, jump to the case of (2) in Step 4.1 where θ≠α, x≠0 and y = 0. At this time, adjust the lifting platform around the Y-axis. After execution, then execute the case of (1) in Step 4.1 where θ≠α, x = 0 and y≠0. At this time, adjust the lifting platform around the X-axis. That is, first adjust the lifting platform around the Y-axis, move the centroid G parallel to the X-axis to the Y-axis (x = 0), and then adjust the lifting platform around the X-axis, move the centroid G parallel to the Y-axis to the origin O.

[0097] (3) If the shortest distance L s is At this time, the centroid G is in sectors 1, 4, 5, 8 and is closer to the diagonal.

[0098] ① If the centroid is in sector 1 or sector 5, jump to the case of (2) in Step 4.2 where x < 0, y > 0, or x > 0, y < 0, and θ = α. At this time, adjust the lifting platform around the diagonal BD. After execution, then execute the case of (1) in Step 4.2 where x > 0, y > 0, or x < 0, y < 0, and θ = α. At this time, adjust the lifting platform around the diagonal AC. That is, when the centroid G is in sector 1 or sector 5, first adjust the lifting platform around the diagonal BD, move the centroid G to the diagonal BD, and then adjust the lifting platform around the diagonal AC, move the centroid G to the origin O.

[0099] ② If the center of gravity is in sector 4 or sector 8, jump to step 4.2. (1) When x > 0, y > 0, or x < 0, y < 0, and θ = α, adjust the lifting platform around the diagonal AC at this time. After completion, then execute (2) When x < 0, y > 0, or x > 0, y < 0, and θ = α, adjust the lifting platform around the diagonal BD at this time. That is, when the center of gravity G is in sector 4 or sector 8, first adjust the lifting platform around the diagonal AC to move the center of gravity G to the diagonal AC, and then adjust the lifting platform around the diagonal BD to move the center of gravity G to the origin O.

[0100] (4) If the shortest distance L s is At this time, the center of gravity G is in sectors 2, 3, 6, 7 and is close to the diagonal.

[0101] ① If the center of gravity is in sector 2 or sector 6, jump to step 4.2. (2) When x < 0, y > 0, or x > 0, y < 0, and θ = α, adjust the lifting platform around the diagonal BD at this time. After completion, then execute (1) When x > 0, y > 0, or x < 0, y < 0, and θ = α, adjust the lifting platform around the diagonal AC at this time. That is, when the center of gravity G is in sector 2 or sector 6, first adjust the lifting platform around the diagonal BD to move the center of gravity G to the diagonal BD, and then adjust the lifting platform around the diagonal AC to move the center of gravity G to the origin O.

[0102] ② If the center of gravity is in sector 3 or sector 7, jump to step 4.2. (1) When x > 0, y > 0, or x < 0, y < 0, and θ = α, adjust the lifting platform around the diagonal AC at this time. After completion, then execute (2) When x < 0, y > 0, or x > 0, y < 0, and θ = α, adjust the lifting platform around the diagonal BD at this time. That is, when the center of gravity G is in sector 3 or sector 7, first adjust the lifting platform around the diagonal AC to move the center of gravity G to the diagonal AC, and then adjust the lifting platform around the diagonal BD to move the center of gravity G to the origin O.

[0103] Apply steps 4 and 5 to the upper computer control system of the wind power installation ship (pressure sensors of the pile legs, PLC decentralized field control devices or single-chip microcomputer field control devices, data communication network) to realize the distribution calculation of the supporting pile legs under the stable control of the lifting platform.

[0104] Step 6, the balance convergence condition of the center of gravity G of the lifting platform of the wind power installation ship.

[0105]

[0106] Formula (13) is the balance convergence condition of the center of gravity G of the hoisting platform of the wind power installation vessel. t is the number of adjustments of the pile legs during the process of the hull hoisting platform achieving balance and stability. z represents the four pile legs A, B, C, and D. x is the abscissa of the center of gravity G, and y is the ordinate of the center of gravity G.

[0107] The present invention is suitable for being installed in the upper computer control system of a wind power installation vessel. It constitutes an implementation hardware platform for the force application distribution calculation method of the pile leg under the stable control of the hoisting platform through pressure sensors installed on the pile legs, a PLC decentralized field control device or a single-chip microcomputer field control device, and a data communication network.

[0108] Specifically, the PLC decentralized field control device or the single-chip microcomputer field control device controls the corresponding pile legs based on the above-mentioned pile leg balance control lifting height distribution method. Each pressure sensor senses the actual force F of each pile leg in real time real-z and transmits it to the upper computer control system. When the actual force F real-z tends to the theoretical force F of the pile legs in the statically stable state of the hoisting platform of the wind power installation vessel calculated in step 3 z , and the displacements of the center of gravity G of the hoisting platform of the wind power installation vessel in the X-axis direction and the Y-axis direction tend to the origin O point, the hoisting platform of the wind power installation vessel achieves balance and stability.

[0109] The described embodiment is the preferred implementation manner of the present invention, but the present invention is not limited to the above-mentioned implementation manner. Without departing from the essential content of the present invention, any obvious improvements, substitutions, or variations that those skilled in the art can make all belong to the protection scope of the present invention.

Claims

1. A method for calculating the distribution of supporting piles of a wind power installation vessel hoisting platform in a balanced state, characterized in that: Firstly, a plane coordinate system is constructed based on the center line of the lifting platform. The lifting platform of the wind turbine installation vessel is divided into 8 sectors based on the center line and diagonal of the lifting platform. The expected theoretical forces of the piles A, B, C, and D when the lifting platform recovers to a stable state from an unbalanced state are calculated according to the statically determinate stable structure. Then, according to the actual position of the center of gravity G in the plane coordinate system during the unbalanced state, the lifting height distribution method of the piles with balanced control of the center of gravity G in the center line, diagonal, and sector is designed respectively. Finally, the stability and balance of the lifting platform of the wind turbine installation vessel is achieved through the balance convergence condition of the center of gravity G of the lifting platform.

2. The method for calculating the distribution of supporting pile feet of the wind power installation vessel hoisting platform in a balanced state according to claim 1, characterized in that: The plane coordinate system takes the geometric center point of the hoisting platform as the origin O of the plane coordinate system, and the two center lines of the hoisting platform serve as the X-axis and the Y-axis respectively.

3. The method for calculating the distribution of supporting pile feet of the wind power installation vessel hoisting platform in a balanced state according to claim 1, characterized in that: The judgment formula of the sector is: Among them, θ is the angle between the line connecting the center of gravity G and the origin O and the center line of the sector where the center of gravity G is located, α is the angle between the two boundaries of the sector, x is the horizontal coordinate of the center of gravity G, y is the vertical coordinate of the center of gravity G, S L is the length of the lifting platform, S W is the width of the lifting platform.

4. The method for calculating the distribution of supporting pile feet of the wind power installation vessel hoisting platform in a balanced state according to claim 1, characterized in that: The theoretical force is calculated by the position of the center of gravity G in the plane coordinate system, the length of the lifting platform S L and width S W And the gravity G' acting on the wind turbine installation vessel is calculated.

5. The method for calculating the distribution of supporting pile feet of the wind power installation vessel hoisting platform in a balanced state according to claim 1, characterized in that: The center of gravity G is balanced on the center line of the pile foot to control the lifting height distribution, including adjusting the lifting height of the lifting platform around the X axis and adjusting the lifting height of the lifting platform around the Y axis. The lifting height is adjusted by the lifting platform inclination angle β and the lifting platform length S L or width S W Calculated.

6. The method for calculating the distribution of supporting pile feet of the wind power installation vessel hoisting platform in a balanced state according to claim 1, characterized in that: The center of gravity G is balanced on the diagonal pile foot to control the lifting height distribution, including adjusting the lifting height of the lifting platform around the diagonal AC and adjusting the lifting height of the lifting platform around the diagonal BD. The lifting height is adjusted by the lifting platform inclination angle β and the lifting platform length S L 、Width S W Calculated.

7. The method for calculating the distribution of supporting pile feet of the wind power installation vessel hoisting platform in a balanced state according to claim 1, characterized in that: The lifting height distribution of the pile foot balance control of the center of gravity G in the sector is specifically: calculating the distance between the center of gravity G and the center line and diagonal line in the sector when the center of gravity G is in different sectors; selecting the shortest distance between the center of gravity G and the center line or diagonal line in the sector; and formulating the lifting height distribution plan of the lifting platform according to the value of the shortest distance.

8. The method for calculating the distribution of supporting pile feet of the wind power installation vessel hoisting platform in a balanced state according to claim 7, characterized in that: When the center of gravity G is in sectors 1, 4, 5, and 8, the shortest distance L S The calculation formula is: Among them, x is the horizontal coordinate of the center of gravity G, y is the vertical coordinate of the center of gravity G, |y| is the distance from the center of gravity G to the center line of the sector, l GK is the distance from the center of gravity G to the diagonal line in the sector, S L is the length of the lifting platform, S W is the width of the lifting platform; When the center of gravity G is in sectors 2, 3, 6, and 7, the shortest distance L S The calculation formula is: Among them, |x| is the distance from the center of gravity G to the center line of the sector.

9. The method for calculating the distribution of supporting pile feet of the wind power installation vessel hoisting platform in a balanced state according to claim 8, characterized in that: When the shortest distance is |y|, first adjust the lifting height of the hoisting platform around the X-axis, move the center of gravity G to the X-axis parallel to the Y-axis, and then adjust the lifting height of the hoisting platform around the Y-axis, and move the center of gravity G to the origin O parallel to the X-axis; When the shortest distance is |x|, first adjust the lifting height of the hoisting platform around the Y axis, move the center of gravity G to the Y axis parallel to the X axis, and then adjust the lifting height of the hoisting platform around the X axis, and move the center of gravity G to the origin O parallel to the Y axis; The shortest distance is When the center of gravity is in sector 1 or sector 5, first adjust the lifting height of the lifting platform around the diagonal BD, move the center of gravity G to the diagonal BD, and then adjust the lifting height of the lifting platform around the diagonal AC, and move the center of gravity G to the origin O; if the center of gravity is in sector 4 or sector 8, first adjust the lifting height of the lifting platform around the diagonal AC, move the center of gravity G to the diagonal AC, and then adjust the lifting height of the lifting platform around the diagonal BD, and move the center of gravity G to the origin O; The shortest distance is When the center of gravity is in sector 2 or sector 6, first adjust the lifting height of the lifting platform around the diagonal BD, move the center of gravity G to the diagonal BD, and then adjust the lifting height of the lifting platform around the diagonal AC, and move the center of gravity G to the origin O; if the center of gravity is in sector 3 or sector 7, first adjust the lifting height of the lifting platform around the diagonal AC, move the center of gravity G to the diagonal AC, and then adjust the lifting height of the lifting platform around the diagonal BD, and move the center of gravity G to the origin O.

10. The method for calculating the distribution of supporting pile feet of the wind power installation vessel hoisting platform in a balanced state according to claim 1, characterized in that: The balance convergence condition of the center of gravity G of the hoisting platform is: Among them, t is the number of times the pile feet are adjusted during the process of achieving balance and stability of the hull lifting platform, z represents the four pile feet A, B, C, and D, and F real-z is the actual force on the pile foot collected by the pressure sensor, F z is the theoretical force on the pile foot calculated based on the statically stable structure, x is the horizontal coordinate of the center of gravity G, and y is the vertical coordinate of the center of gravity G.

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