Motion compensation type pile gripper perpendicularity adjustment control method

Abstract

The invention relates to a motion compensation type pile gripper perpendicularity adjustment control method which comprises the following steps: 1, mounting a tilt angle sensor and a displacement sensor on a pile gripper for detecting the tilt angle theta of a pile body and the position of a supporting arm in real time; step 2, acquiring a current inclination angle value theta c and a target value theta t through a control system, calculating a real-time perpendicularity deviation delta theta = theta c-theta t, and driving a servo mechanism to adjust the position of a supporting arm according to the perpendicularity deviation delta theta so as to perform motion compensation; and step 3, dynamically correcting the compensation process by using a closed-loop control algorithm until the condition that verticality adjustment is completed is met, namely delta theta is less than or equal to epsilon, and epsilon is an allowable error threshold. A high-precision inclination angle sensor and a displacement sensor are installed on the pile gripper, the inclination angle of a pile body and the position deviation of a supporting arm are detected in real time, and a control signal is dynamically generated through a closed-loop control algorithm to drive a servo mechanism to conduct adjustment. A dynamic parameter compensation mechanism is designed, control parameters are corrected in real time according to the inclination angle of the foundation and external force interference, the adjusting precision and stability under the conditions of complex terrains and dynamic external force are remarkably improved, a servo mechanism achieves precise action through a hydraulic driving system and a proportional control valve, the response time of the servo mechanism meets the engineering requirement, and the engineering cost is reduced. And the perpendicularity error of the pile body can be controlled within a preset range, the construction efficiency and the long-term stability are improved, and the problem that a traditional manual adjustment and mechanical auxiliary system is insufficient in precision is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power, and particularly to a method for adjusting and controlling the verticality of a motion compensation type pile gripper. Background Art

[0002] Pile foundation construction is one of the common foundation construction methods in offshore and coastal engineering, such as offshore wind power pile foundations, port and wharf pile foundations, and cross-sea bridge pile foundations. Such projects usually require driving piles into the seabed under marine environment or coastal soft soil foundation conditions to provide stable foundation support. However, due to the particularity of the construction environment (such as ocean waves, non-uniformity of the seabed foundation, and water flow interference), the adjustment of the pile verticality has become a key technical difficulty in construction.

[0003] Facing the complex construction environment of offshore pile foundation construction, especially in offshore and coastal areas, the seabed foundation is weak and non-uniform, the soft soil foundation has weak bearing capacity and obvious settlement, resulting in the pile body tilting or uneven settlement after being driven. Wave and tide interference, the periodic changes of waves and tides will generate dynamic forces on the construction equipment and the pile body itself, making the adjusted pile body prone to deviation. Offshore construction is often accompanied by strong winds and vibrations of ship mechanical equipment, and the external forces are complex and difficult to predict, posing higher real-time adjustment requirements for existing mechanical equipment.

[0004] In the prior art, a pile gripper is often used for construction operations, and the verticality maintenance technology of the pile body during the construction process is difficult to effectively control for the following reasons:

[0005] (1) Influence of the marine environment on construction: Offshore pile foundation construction is complexly interfered by environmental factors such as tides, water flows, and waves. The pile body is prone to deviation or tilt during the process of driving into the seabed, and is interfered by waves and water flows. In the marine environment, the dynamic action of the water flow will generate lateral forces and overturning forces on the pile body, resulting in the pile body tilting or even deviating from the designed position during the pile driving process.

[0006] (2) Non-uniformity of the seabed foundation: The seabed usually consists of soft soil, sandy or rocky foundations, and its non-uniformity will cause the pile body to tilt or have insufficient bearing capacity.

[0007] When the prior art faces the above problems, a static adjustment method is usually adopted, which is difficult to respond and correct the tilt state of the pile body in real time during the construction process, and the construction accuracy is difficult to meet the requirements.

[0008] In traditional offshore pile foundation construction, the adjustment of verticality usually relies on manual operation and is adjusted in combination with simple mechanical equipment (such as steel cables, guiding frames, etc.). This method has problems of insufficient detection and adjustment accuracy. The accuracy of manual measuring tools (such as spirit levels or visual measuring tools) is limited. Especially during underwater construction, the limitations of sea currents and visibility further increase the detection errors. Moreover, manual adjustment requires frequent measurement and adjustment. Especially in complex environments (such as areas with greater water depth and stronger waves), it takes a long time and has low efficiency, making it difficult to meet the requirements of large-scale construction. In addition, manual adjustment usually cannot dynamically respond to changes in environmental factors (such as instantaneous water flow pressure), and the pile body may still shift again due to environmental interference after adjustment.

[0009] Therefore, we urgently need to design a verticality adjustment control method for a motion compensation type pile gripper to solve the above problems. Summary of the Invention

[0010] The purpose of the present invention is to overcome the deficiencies existing in the above-mentioned prior art and provide a verticality adjustment control method for a motion compensation type pile gripper. The verticality adjustment control method of the motion compensation type pile gripper of the present invention should be able to achieve the adjustment of verticality during the installation of offshore wind power, ensure that the verticality can be maintained under offshore wind and wave conditions, and realize the smooth installation of wind power pipe piles through real-time adjustment, improving the installation efficiency and installation quality.

[0011] In order to achieve the above-mentioned invention purpose, the technical solution provided by the present invention for the patent is as follows:

[0012] A verticality adjustment control method for a motion compensation type pile gripper, the method comprising the following steps:

[0013] First step: Install an inclination sensor and a displacement sensor on the pile gripper to detect the inclination angle θ of the pile body and the position of the support arm in real time;

[0014] Second step: Obtain the current inclination angle value θ c and the target value θ t = 0, and calculate the real-time verticality deviation Δθ = θ c -θ t , and drive the servo mechanism to adjust the position of the support arm according to the verticality deviation Δθ for motion compensation;

[0015] Third step: Use a closed-loop control algorithm to dynamically correct the compensation process until the condition for the completion of verticality adjustment |Δθ| ≤ ε is met, where ε is the allowable error threshold.

[0016] As a preferred technical solution of the present invention, the control input u(t) of the servo mechanism is calculated by a PID control algorithm and satisfies the following formula:

[0017]

[0018] Where: u(t): control input of the servo mechanism; proportional gain, K p : used to adjust the deviation in real time; K i : integral gain, used for the compensation of cumulative error; derivative gain, K d : used to suppress the rate of change of the deviation; Δθ(t): real-time verticality deviation value, and the calculation formula is Δθ(t) = θ c (t) - θ t , where θ c (t) is the tilt angle detected in real time, and θ t is the target angle; t0: integral start time; The cumulative deviation from the integral start time t0 to the current time t; The rate of change of the real-time deviation with time, used to predict the deviation trend.

[0019] As a preferred technical solution of the present invention, the control system adjusts the position of the support arm by calculating the compensation distance d, and the compensation distance d s satisfies the following formula:

[0020] d s = L·sin(Δθ)

[0021] Where: d s : adjustment distance of the support arm; L: total length of the pile; Δθ: real-time verticality deviation value, in radians (rad).

[0022] As a preferred technical solution of the present invention, the data of the inclination sensor and the displacement sensor are optimized by the Kalman filtering algorithm, and the state update formula of the Kalman filtering algorithm is:

[0023] x k|k = x k|k-1 + K k ·(z k - H·x k|k-1 )

[0024] Where: x k|k : current state estimate value; x k|k-1 : previous state prediction value; z k : current sensor observation value; H: observation matrix; K k : Kalman gain, and the calculation formula is:

[0025]

[0026] Where: P k|k-1 : state prediction covariance matrix; R: observation noise covariance.

[0027] As a preferred technical solution of the present invention, the control system introduces an environmental compensation strategy, and according to the foundation tilt angle α and the external force disturbance F e , dynamically adjusts the PID control gain parameters K p and K i , and the adjustment formula is as follows:

[0028] K p ′ = K p ·(1 + κ α ·sinα), K i ′ = K i ·(1 + κ F ·F e )

[0029] Where: K′ p : The adjusted proportional gain; K′ i : The adjusted integral gain; κ α , κ F : Compensation correction coefficient; α: Foundation tilt angle (unit: radian); F e : External force disturbance (unit: Newton, N).

[0030] As a preferred technical solution of the present invention, the servo mechanism adopts a hydraulic drive system, and the opening degree φ of the hydraulic proportional valve satisfies the following formula:

[0031] φ = k u ·u(t)

[0032] Where: φ: The opening degree of the hydraulic proportional valve; k u : Proportional constant (dimensionless); u(t): Control input output by PID control.

[0033] As a preferred technical solution of the present invention, the response time T r of the hydraulic system satisfies the following constraints:

[0034]

[0035] Where: T r : The response time of the hydraulic system (unit: second); ω n : Natural frequency of the system (unit: radian / second); ζ: System damping ratio (dimensionless).

[0036] As a preferred technical solution of the present invention, the judgment condition for the completion of verticality adjustment is that the deviation value |Δθ| ≤ ε, where the allowable error threshold ε satisfies the following formula:

[0037]

[0038] Where: ε: Allowable error threshold (unit: degree); Δh: Maximum allowable displacement deviation at the top of the pile (unit: meter, m); L: Total length of the pile (unit: meter, m).

[0039] As a preferred technical solution of the present invention, the PID control algorithm adopts a fuzzy adaptive PID control algorithm, specifically including:

[0040] According to the real-time error Δθ and the error change rate Dynamically adjust the PID control gain parameters including K p 、K i and K d , where K p is the proportional gain, K i is the integral parameter, K d is the differential parameter, and the fuzzy logic rules include: when |Δθ| is large, increase K p , decrease K d ; when |Δθ| is small, increase K i , decrease K p .

[0041] As a preferred technical solution of the present invention, after the verticality adjustment is completed, the control system activates the automatic locking function, fixes the vertical state of the pile through the locking device of the pile gripper, and continuously monitors whether there is a new deviation value Δθ. When the detected deviation value |Δθ| > ε, the compensation control process is automatically restarted.

[0042] Based on the above technical solutions, when the verticality adjustment control method of a motion compensation type pile gripper of the present invention is used in offshore wind power installation, the following beneficial effects are obtained through practical applications:

[0043] 1. Through the high-precision detection of the inclination sensor and the displacement sensor, combined with the closed-loop control algorithm (such as PID control), the present invention can continuously obtain the deviation of the pile inclination angle and the position of the support arm, and dynamically generate a compensation signal to drive the servo mechanism for adjustment. Compared with the traditional manual adjustment and mechanical auxiliary system, the present invention greatly improves the adjustment accuracy, and can control the pile verticality error within the preset error threshold range (ε is less than 0.1°), meeting the requirements of modern engineering for high-precision construction.

[0044] 2. The present invention designs a dynamic parameter compensation mechanism, which can continuously adjust the control parameters according to the foundation inclination angle and external force disturbance (such as wind load, mechanical vibration) of the construction site, so as to achieve dynamic compensation control in complex environments. This technology effectively solves the site problems such as uneven settlement of the foundation and slope terrain, as well as the pile inclination caused by external interference, and significantly improves the environmental adaptability and adjustment stability of the equipment.

[0045] 3. Through the combination of the hydraulic drive system and the proportional control valve, the present invention achieves precise dynamic adjustment of the servo mechanism, and the adjustment response time meets the engineering requirements (response time is less than 0.2 seconds). At the same time, the verticality adjustment process is completely automated without manual intervention, significantly improving the construction efficiency. In addition, the system has a self-locking function and real-time monitoring ability to ensure that the vertical state of the pile body is maintained for a long time after adjustment, enhancing the stability of pile foundation construction and the engineering quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0047] Figure 1 It is a flowchart of a control method for verticality adjustment of a motion compensation type pile gripper. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0049] The following will Figure 1 , with reference to the attached drawings, describe in detail the specific embodiments of the present invention.

[0050] The present invention proposes a control method for verticality adjustment of a motion compensation type pile gripper, which is applicable to automatic verticality adjustment in pile foundation construction. The system for realizing the above operations consists of the following parts:

[0051] Hardware composition:

[0052] Inclinometer: Installed on the pile body to detect the real-time inclination angle θ c , with an accuracy better than ±0.01°;

[0053] Displacement sensor: Installed on the support arm to detect the position of the support arm, with an accuracy better than ±0.1 mm;

[0054] Servo mechanism: Composed of a hydraulic drive system and an electro-hydraulic proportional valve, which receives the control signal u(t) to adjust the position of the support arm;

[0055] Control system: Obtain the tilt angle and support arm displacement data through the data acquisition module, dynamically calculate the control signal, and adjust the output of the servo mechanism.

[0056] The working principle of the control system for realizing kinematic compensation is as follows:

[0057] According to the detection result of the inclination sensor, calculate the real-time verticality deviation:

[0058] Δθ = θ c - θ t

[0059] where: θ c is the real-time tilt angle, and θ t is the target vertical angle (usually 0°). The control system calculates the servo control signal u(t) according to the verticality deviation, and the formula is as follows:

[0060]

[0061] where K p , K i , K d are the proportional, integral, and derivative gain parameters respectively. Adjustment of the support arm: According to the calculated verticality deviation, the control system calculates the adjustment distance d s :

[0062] d s = L·sin(Δθ)

[0063] where L is the total length of the pile body, and the unit is meter (m).

[0064] The control method of the hydraulic proportional valve is as follows:

[0065] The hydraulic proportional valve in the servo mechanism receives the control signal u(t), and its opening degree φ satisfies the following formula:

[0066] φ = k u ·u(t)

[0067] where k u is the proportional constant, dimensionless.

[0068] Response time of the hydraulic system:

[0069] The dynamic performance of the hydraulic system is characterized by the response time T r , and it satisfies the following formula:

[0070]

[0071] where: ω n is the natural frequency of the system, and the unit is radian per second; ζ is the damping ratio of the system.

[0072] Calculation of the allowable error threshold for perpendicularity:

[0073] The condition for the completion of the perpendicularity adjustment of the control system is |Δθ| ≤ ε, where the error threshold ε is calculated by the following formula:

[0074]

[0075] Where: Δh is the maximum allowable displacement deviation at the top of the pile, in meters (m); L is the total length of the pile, in meters (m).

[0076] The specific steps to achieve motion compensation-based perpendicularity adjustment are as follows:

[0077] Step 1: Data initialization;

[0078] The control system initializes the tilt sensor and displacement sensor to ensure accurate detection data; set the target angle θ t = 0° and the allowable error threshold ε o

[0079] Step 2: Real-time detection;

[0080] The tilt sensor detects the tilt angle θ of the pile in real time c , calculate the perpendicularity deviation Δθ = θ c - θ t ;

[0081] If |Δθ| > ε, enter the compensation control stage.

[0082] Step 3: Compensation control, calculate the adjustment distance d of the support arm s = L·sin(Δθ); generate a control signal u(t) according to the PID control algorithm to drive the servo mechanism to adjust the position of the support arm.

[0083] Step 4: Closed-loop control, continuously collect tilt and displacement data, and dynamically correct the control signal according to the closed-loop feedback until |Δθ| ≤ ε.

[0084] Step 5: Environmental compensation;

[0085] In the case of the foundation tilt angle α and external force interference F e , dynamically adjust the PID parameters:

[0086] K p ' = K p ·(1 + κ α ·sinα), K i ' = K i ·(1 + κ F ·F e )

[0087] Step 6: The verticality adjustment is completed.

[0088] When |Δθ| ≤ ε, lock the position of the support arm and monitor the deviation in real time.

[0089] The following is a specific description in combination with several embodiments;

[0090] Embodiment 1:

[0091] This embodiment is for dynamic verticality adjustment under foundation tilt and external force interference.

[0092] At a construction site in a wind farm, the total length of the pile is L = 12m. The detected tilt angle of the pile is θ c = 4°, and the target vertical angle is θ t = 0°. At the same time, the foundation tilt angle of the construction site is α = 6°, and it is affected by a lateral wind force interference of F e = 250N.

[0093] 1. System initialization and parameter setting

[0094] Initialize the tilt sensor and displacement sensor in the control system, and calibrate the detection data; set the target angle θ t = 0°; the allowable error threshold ε is calculated based on the maximum allowable displacement deviation Δh = 0.05m at the pile top:

[0095]

[0096] 2. Deviation calculation and compensation distance;

[0097] Convert the deviation to radians:

[0098] The detected tilt angle of the pile is θ c = 4°, calculate the real-time verticality deviation:

[0099] Δθ = θ c - θ t = 4° - 0° = 4°

[0100]

[0101] Calculate the compensation distance that the support arm needs to adjust:

[0102] d s = L·sin(Δθ) = 12·sin(0.0698) ≈ 0.838m

[0103] 3. Environmental compensation strategy;

[0104] According to the foundation tilt angle α = 6° and the lateral wind force interference The control system dynamically adjusts the PID parameters:

[0105] K p ′ = K p ·(1 + κ α ·sinα), K i ′ = K i· (1 + κ F ·F e )

[0106] Set the correction coefficient κ α = 0.2, κ F = 0.001;

[0107] Calculate the foundation tilt compensation:

[0108] K p ′ = K p ·(1 + 0.2·sin(6°)) = K p ·(1 + 0.2·0.1045)

[0109] = Kp·1.0209

[0110] Calculate the wind disturbance compensation:

[0111] K i ′ = K i ·(1 + 0.001·250) = K i ·1.25

[0112] 4. PID control signal generation;

[0113] According to the compensation distance d s = 0.838m and the real-time deviation Δθ = 0.0698rad, calculate the control signal u(t):

[0114]

[0115] K′ p and K′ i are the corrected gain parameters; Δθ(t) and are the real-time detection values; the control signal u(t) is used for the dynamic adjustment of the servo mechanism.

[0116] 5. Hydraulic proportional valve control;

[0117] The opening degree φ of the hydraulic proportional valve is calculated according to the control signal u(t) 2

[0118] φ = k u ·u(t)

[0119] The proportionality constant k u = 1.5 (set according to the equipment specifications).

[0120] 6. Judgment of adjustment completion;

[0121] Continuously monitor the verticality deviation Δθ. When |Δθ| ≤ ε, the system stops the servo mechanism and locks the position of the support arm. If a new deviation is detected subsequently, restart the adjustment process.

[0122] Embodiment 2:

[0123] This embodiment is for the analysis of multi-directional dynamic adjustment and response performance.

[0124] In a certain complex construction site, the pile is affected by the comprehensive influence of multi-directional external forces and foundation changes. Its total length is L = 15m. The initial inclination angle is θ c = 5°. During the construction process, the foundation inclination angle and external force change dynamically with time as follows:

[0125] Time t1 = 0s: α = 4°, F e = 100N; Time t2 = 5s: α = 6°, F e = 200N.

[0126] 1. Initialization and error setting;

[0127] The control system initializes the sensor and sets the target vertical angle θ t = 0°;

[0128] According to the maximum allowable displacement deviation Δh = 0.03m at the pile top, calculate the allowable error threshold:

[0129]

[0130] 2. Dynamic adjustment process;

[0131] Time t1 = 0s: Initial adjustment

[0132] Deviation calculation:

[0133] Δθ = θ c -θ t = 5°

[0134] Compensation distance calculation:

[0135]

[0136] PID parameter correction:

[0137] K p ′ = K p ·(1 + 0.2·sin(4°)), K i ′ = K i ·(1 + 0.001·100)

[0138] K p ′ = Kp ·(1 + 0.2·0.0698) = K p ·1.01396, K i ′ = K i ·1.1

[0139] Time t2 = 5s: New adjusted detection value after environmental change: α = 6°, F e = 200N; Dynamically corrected PID parameters:

[0140] K p ′ = K p ·(1 + 0.2·sin(6°)), K i ′ = K i ·(1 + 0.001·200)

[0141] K p ′ = K p ·1.0209, K i ′ = K i ·1.2

[0142] Continuously dynamically adjust the compensation distance d s and the control signal u(t).

[0143] 3. Response performance analysis;

[0144] The response time of the hydraulic system is calculated by the following formula:

[0145]

[0146] ω n = 10 rad / s, ζ = 0.7, then:

[0147]

[0148] The system responds quickly after each adjustment and controls the perpendicularity deviation within the allowable range.

[0149] Finally, it should be noted that: The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: They can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A motion compensation type pile gripper verticality adjustment control method, characterized in that: The method comprises the following steps: The first step is to install an inclination sensor and a displacement sensor on the pile gripper to detect the inclination angle θ of the pile body and the position of the support arm in real time; Step 2: Get the current tilt angle value θ through the control system c and the target value θ t And calculate the real-time verticality deviation Δθ=θ c -θ t ,According to the verticality deviation Δθ, the servo mechanism is driven to adjust the position of the support arm to perform motion compensation; The third step is to use a closed-loop control algorithm to dynamically correct the compensation process until the vertical adjustment condition |Δθ|≤ε is met, where ε is the allowable error threshold.

2. The method according to claim 1, characterized in that: In the second step, the control input u(t) of the servo mechanism is calculated by the PID control algorithm, satisfying the following formula: Where: u(t): control input of servo mechanism; proportional gain, K p : Used to adjust deviation in real time; K i : Integral gain, used to compensate for accumulated errors; differential gain, K d : used to suppress the rate of deviation change; Δθ(t): real-time verticality deviation value, calculated as Δθ(t)=θ c (t)-θ t , where θ c (t) is the tilt angle detected in real time, θ t is the target angle; t0: integration start time; The cumulative deviation from the integration start time t0 to the current time t; The rate of change of real-time deviation over time is used to predict deviation trends.

3. The method for controlling the verticality of a motion-compensated pile gripper according to claim 1, characterized in that: In the second step, the control system calculates the compensation distance d s Adjust the support arm position to compensate the distance d s Satisfies the following formula: d s =L sin(Δθ) Where: d s : Adjustment distance of the support arm; L: Total length of the pile; Δθ: Real-time verticality deviation value, in radians (rad).

4. The method for controlling the verticality of a motion-compensated pile gripper according to claim 1, characterized in that: The data of the inclination sensor and the displacement sensor are optimized by the Kalman filter algorithm. The state update formula of the Kalman filter algorithm is: x k|k =x k|k-1 +K k ·(z k -H·x k|k-1 ) Where: x k|k : Current state estimate; x k|k-1 : The predicted value of the previous state; z k : Current sensor observation value; H: Observation matrix; K k : Kalman gain, the calculation formula is: Where: P k|k-1 : state prediction covariance matrix; R: observation noise covariance.

5. The method for controlling the verticality of a motion-compensated pile gripper according to claim 1, characterized in that: The control system introduces an environmental compensation strategy based on the foundation inclination angle α and the external force disturbance F e , dynamically adjust the PID control gain parameter K p and K i , the adjustment formula is as follows: K p ′=K p ·(1+k α ·sina),K i ′=K i ·(1+k F ·F e ) Where: K′ p : Adjusted proportional gain; K′ i : Adjusted integral gain; κ α ,κ F : compensation correction coefficient; α: foundation inclination angle (in radians); F e : External force disturbance (in Newton, N).

6. The method for controlling the verticality of a motion-compensated pile gripper according to claim 1, characterized in that: The servo mechanism adopts a hydraulic drive system, and the opening φ of the hydraulic proportional valve satisfies the following formula: φ=k u ·u(t) Where: φ: opening of hydraulic proportional valve; k u : proportional constant (dimensionless); u(t): control input of PID control output.

7. The method for controlling the verticality of a motion-compensated pile gripper according to claim 1, characterized in that: The response time T of the hydraulic system r The following constraints are met: Where: T r : Response time of hydraulic system (in seconds); ω n : natural frequency of the system (in radians per second); ζ: damping ratio of the system (dimensionless).

8. The method for controlling the verticality of a motion-compensated pile gripper according to claim 1, characterized in that: The judgment condition for the completion of vertical adjustment is the deviation value |Δθ|≤ε, where the allowable error threshold ε satisfies the following formula: Where: ε: allowable error threshold (in degrees); Δh: maximum allowable displacement deviation at the top of the pile (in meters, m); L: total length of the pile (in meters, m).

9. The method for controlling the verticality of a motion-compensated pile gripper according to claim 1, characterized in that: The PID control algorithm adopts a fuzzy adaptive PID control algorithm, which specifically includes: According to the real-time error Δθ and error change rate Dynamically adjust PID control gain parameter K p , K i , K d ; The fuzzy logic rules include: when |Δθ| is large, increase K p , reduce K d ; When |Δθ| is small, increase K i , reduce K p。 10. The method for controlling the verticality of a motion-compensated pile gripper according to claim 1, characterized in that: After the verticality adjustment is completed, the control system starts the automatic locking function, fixes the vertical state of the pile body through the locking device of the pile gripper, and monitors in real time whether there is a new deviation value Δθ. When the deviation value |Δθ|>ε is detected, the compensation control process is automatically restarted.

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