A dual-redundant valve group for hatch cover movement control and platform buoyancy adjustment and a control method thereof

Abstract

The application provides a dual-redundant valve group for hatch movement control and platform buoyancy adjustment and a control method thereof, and relates to the technical field of electromagnetic valve control.The application realizes multi-source data acquisition and preprocessing, dual-redundant valve group state monitoring and fault switching, hatch-buoyancy collaborative control decision, valve group driving and execution feedback closed loop.A dual-redundant valve group hot backup architecture is adopted, through real-time state monitoring and seamless switching technology, when the main valve group fails, the standby valve group can be quickly switched, the switching time is less than or equal to 50 ms, and control interruption is avoided.Compared with the existing single valve group scheme (function completely fails after failure) and the cold backup scheme (switching delay is greater than or equal to 3 s), the control continuity is significantly improved, the underwater platform operation risk can be effectively reduced, and the problem of poor reliability in the prior art is solved.

Description

Technical Field

[0001] This invention relates to a dual-redundant valve group and its control method for hatch motion control and platform buoyancy adjustment, belonging to the field of electromagnetic valve control technology. Background Technology

[0002] The deep-sea snorkeling platform consists of a sealed hull. Buoyancy is adjusted by adding or removing seawater into a water tank. Descending and surfacing are achieved by extending and retracting an anchor chain connected to the seabed. When the hull surfaces, the hatch on top can be opened significantly (over 90 degrees) by a piston cylinder (pneumatic or hydraulic pressure), allowing for the release and retrieval of probe balloons and drone swarms deployed inside. Once the hatch closes, the hull is sealed. Descending, combined with buoyancy adjustments via the anchor chain, allows the platform to avoid collisions with other vessels and disruptions to shipping lanes.

[0003] The hatch of a deep-sea snorkeling platform needs to withstand the high pressure environment on the seabed and is very heavy. When opened at a large angle, it will change the balance of the snorkeling platform when it floats on the sea surface, causing the snorkeling platform to tilt in the direction the hatch is open (tilting towards the hinged side of the hatch). Combined with the swaying of the snorkeling platform by the waves, if there are certain waves, it may cause water to enter the snorkeling platform, which is detrimental to the safety of the platform. Therefore, the hull is designed with multiple independent water storage tanks around it, arranged 360 degrees. When the hatch is opened, seawater is drained from several tanks on the hinged side and water is introduced into several tanks on the opposite side to maintain hull balance. (To allow for controllable hull balance, the platform design provides buoyancy redundancy, ensuring that when the platform rises to the surface, not all tanks are emptied; a certain amount of seawater remains for buoyancy adjustment. Conversely, if buoyancy redundancy is not provided, opening the hatch will introduce water into the tanks on the opposite side to maintain balance. Due to the anchor chain, a portion of buoyancy is reserved to balance the anchor chain tension, so the adjustment of water injection and drainage will not cause the hull to rise or submerge.) The same applies when the hatch is closed; water injection and drainage from different surrounding tanks must be adjusted simultaneously to maintain hull balance (water is introduced into the tanks on the hinged side, and drained from the opposite side).

[0004] The water tank is filled with water by opening the drain valve connected to the top of the tank in the buoyancy valve assembly, using water pressure to expel air from the top; and drained by using compressed air to expel seawater from the bottom of the tank. The injection of compressed air into the water tank is controlled by the air injection valve in the buoyancy valve assembly. Opening the air injection valve injects compressed air into the water tank, and closing it stops the injection. The control of the fluid medium in the piston cylinder that drives the hatch to open is also achieved through the valve assembly. When the hatch valve assembly on the pipeline connecting the pressure medium source and the rodless and rodless chambers of the piston cylinder is open, the fluid medium enters the rodless chamber, the rod chamber returns oil, the piston cylinder extends, and pushes the hatch open; when the hatch valve assembly is closed, the fluid medium enters the rod chamber, the rodless chamber returns oil, the piston cylinder shortens, and pulls the hatch closed.

[0005] Therefore, during the operation of deep-sea snorkeling platforms, hatch movement control (opening / closing / positioning) and platform buoyancy adjustment are the core links to ensure operational safety and reliability. Both rely on valve groups to realize the drive control of hydraulic / pneumatic actuators (hatch control) and the air intake control of water storage tanks (buoyancy adjustment).

[0006] In existing technologies, valve group control has three major problems: First, single valve group control has low reliability. Underwater high pressure and seawater corrosion environment can easily lead to valve group jamming, leakage and other failures. Once the valve group fails, the hatch movement and buoyancy adjustment will be completely interrupted, causing risks such as loss of platform attitude control and equipment damage. Second, the valve group control of hatch movement and buoyancy adjustment are independent and not coordinated. If the hatch movement is pneumatic, that is, the piston cylinder is driven by air pressure, and since hatch control is inherently simultaneous with buoyancy adjustment, when the two use the same air source (high pressure air tank or air pump), simultaneous execution will cause pressure conflict in the pneumatic system, resulting in decreased hatch movement accuracy and delayed buoyancy adjustment response. Third, valve group switching and control parameters lack environmental adaptability. Under different water surface environments and water flow velocities, fixed valve group control parameters cannot match load changes, resulting in reduced control accuracy and efficiency. Summary of the Invention

[0007] The purpose of this invention is to provide a dual-redundant valve group and its control method for hatch movement control and platform buoyancy adjustment, in order to solve the problems of poor reliability, insufficient coordination and weak environmental adaptability of the valve group in the prior art when used for deep-sea snorkeling platform control, and to ensure the stable and accurate execution of hatch movement and buoyancy adjustment of deep-sea snorkeling platform.

[0008] To achieve the above objectives, the first aspect of the present invention provides a dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment, comprising the following steps:

[0009] 1) Acquire hatch control commands, platform buoyancy targets, and equipment status data, including actual hatch displacement, actual platform buoyancy, and current working valve group operating status parameters;

[0010] 2) Compare the current working status parameters of the valve group with the preset normal working threshold to determine whether the current working valve group is faulty; if the current working valve group is normal, generate a decision command to maintain the operation of the current valve group; if the current working valve group is faulty, generate a decision command to switch to another valve group.

[0011] 3) Compare the actual displacement of the hatch cover with the preset trajectory to calculate the hatch cover movement deviation; compare the actual buoyancy of the platform with the target buoyancy to calculate the buoyancy deviation; generate coordinated control commands based on the hatch cover movement deviation and buoyancy deviation; the coordinated control commands include valve group flow regulation parameters corresponding to controlling the hatch cover movement and valve group filling and draining control parameters corresponding to buoyancy regulation;

[0012] 4) Control the valve group corresponding to the decision command according to the collaborative control command; at the same time, collect the actual displacement after the hatch moves, the actual buoyancy after the platform is adjusted, and the working status parameters of the current working valve group, and return them as new equipment status data to step 1) until the hatch meets the hatch control command and the platform buoyancy reaches the platform buoyancy target.

[0013] According to the dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment described in the first aspect of this application, in one possible implementation, in step 1), environmental perception data is also acquired; in step 3), the buoyancy adjustment threshold and hatch motion speed limit parameter are dynamically adjusted based on the environmental perception data; the valve group filling and draining control parameter is used to correct the buoyancy deviation to within the buoyancy adjustment threshold range; and the valve group flow rate adjustment parameter is used to control the hatch within the range of the hatch motion speed limit parameter.

[0014] According to the dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment described in the first aspect of this application, in one possible implementation, step 3) further generates a cooperative control command based on the following priority rules: the emergency opening / closing task of the hatch has a higher priority than the regular buoyancy adjustment task, and the valve group flow adjustment parameters and filling / drainage control parameters are determined under the premise of satisfying the system pressure balance constraints.

[0015] According to the dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment described in the first aspect of this application, in one possible implementation, in step 2), the working state parameters include a pressure threshold and a flow threshold. If the valve group pressure exceeds the pressure threshold and / or the valve group flow is lower than the flow threshold, then the current working valve group is determined to be faulty.

[0016] According to the dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment described in the first aspect of this application, in one possible implementation, step 1) also collects water surface environmental parameters; and classifies the water surface environmental parameters into at least normal operating conditions and complex operating conditions; under normal operating conditions, another valve group other than the current working valve group is in a hot standby state; under complex operating conditions, when the working state parameters of the current working valve group reach certain conditions, but do not meet the conditions for switching to another valve group, the other valve group establishes pressure balance in advance to achieve rapid switching.

[0017] The second aspect of this invention provides a dual-redundant valve group for hatch motion control and platform buoyancy adjustment, including a data acquisition module for acquiring hatch control commands, platform buoyancy targets, and equipment status data, wherein the equipment status data includes the actual displacement of the hatch, the actual buoyancy of the platform, and the working status parameters of the current working valve group; a valve group status monitoring module for comparing the working status parameters of the current working valve group with a preset normal working threshold to determine whether the current working valve group is faulty; if the current working valve group is normal, generating a decision command to maintain the operation of the current valve group; if the current working valve group is faulty, generating a decision command to switch to another valve group; a collaborative decision module for comparing the actual displacement of the hatch with a preset trajectory to calculate the hatch motion deviation, comparing the actual buoyancy of the platform with the target buoyancy to calculate the buoyancy deviation, and generating collaborative control commands based on the hatch motion deviation and the buoyancy deviation; the collaborative control commands include valve group flow regulation parameters corresponding to controlling hatch motion and valve group filling and draining control parameters corresponding to buoyancy adjustment; and a valve group driving module for controlling the valve group actions corresponding to the decision commands according to the collaborative control commands.

[0018] According to the dual-redundant valve group for hatch motion control and platform buoyancy adjustment described in the second aspect of this application, in one possible implementation, the data acquisition module further acquires environmental perception data; the collaborative decision-making module further dynamically adjusts the buoyancy adjustment threshold and hatch motion speed limit parameters based on the environmental perception data; the valve group filling and draining control parameters are used to correct the buoyancy deviation to within the buoyancy adjustment threshold range; and the valve group flow rate adjustment parameters are used to control the hatch within the range of the hatch motion speed limit parameters.

[0019] According to the dual redundant valve group for hatch motion control and platform buoyancy adjustment described in the second aspect of this application, in one possible implementation, the collaborative decision-making module further generates collaborative control commands based on the following priority rules: the emergency opening / closing task of the hatch has a higher priority than the regular buoyancy adjustment task, and the valve group flow regulation parameters and filling / drainage control parameters are determined under the premise of satisfying the system pressure balance constraints.

[0020] According to the dual redundant valve group for hatch motion control and platform buoyancy adjustment described in the second aspect of this application, in one possible implementation, the operating status parameters include a pressure threshold and a flow threshold. If the valve group pressure exceeds the pressure threshold and / or the valve group flow is lower than the flow threshold, the current operating valve group is determined to be faulty.

[0021] According to the dual redundant valve group for hatch motion control and platform buoyancy adjustment described in the second aspect of this application, in one possible implementation, water surface environmental parameters are also collected; and the water surface environmental parameters are divided into at least normal operating conditions and complex operating conditions; under normal operating conditions, the other valve group is in hot standby state, and under complex operating conditions, when the operating state parameters of the current working valve group reach certain conditions but do not meet the conditions for switching to the other valve group, the other valve group establishes pressure balance in advance to achieve rapid switching.

[0022] The beneficial effects of this invention are as follows:

[0023] This invention achieves a closed-loop control system encompassing multi-source data acquisition and preprocessing, dual-redundant valve group status monitoring and fault switching, hatch-buoyancy coordinated control decision-making, and valve group drive and execution feedback. Employing a dual-redundant valve group hot backup architecture, and utilizing real-time status monitoring and seamless switching technology, it can quickly switch to the backup valve group in case of a main valve group failure, with a switching time ≤50ms, avoiding control interruption. Compared to existing single-valve group solutions (complete functional failure after a fault) and cold backup solutions (switching delay ≥3s), control continuity is significantly improved, effectively reducing the operational risks of underwater platforms and solving the problem of poor reliability in existing technologies. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating the dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment of the present invention, including the connection relationship and data flow of each module of the dual-redundant valve group. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0026] Applying the existing valve group control scheme described in the background section to a deep-sea snorkeling platform would yield the following solution:

[0027] I. Single-valve-group independent control scheme. This scheme uses independent single-valve groups for hatch cover movement and platform buoyancy adjustment, with valve group actions controlled manually or through simple logic. The advantages are simple structure and low cost; the disadvantages are extremely poor reliability. A single-valve-group failure directly leads to the failure of the corresponding function, and independent control is prone to causing system pressure conflicts. When hatch cover opening and buoyancy adjustment occur simultaneously, hydraulic system pressure fluctuations exceed ±15%, and hatch cover opening positioning errors increase to over 20mm.

[0028] II. Simple Redundant Valve Group Parallel Control Scheme. This scheme sets up two valve groups to operate in parallel, using a "one-in-use, one-out-of-use" cold backup mode. If the main valve group fails, manual intervention is required to switch to the backup valve group. The advantage is improved reliability compared to a single valve group; the disadvantage is a delayed cold backup switching response (switching time ≥ 3s), control interruption during switching, which can easily lead to increased platform buoyancy deviation and hatch jamming. Furthermore, it does not consider the coordinated control of hatch movement and buoyancy adjustment, and pressure conflict issues still exist.

[0029] In summary, existing valve group control technology cannot meet the high-precision and high-reliability operational requirements of deep-sea snorkeling platforms.

[0030] Implementation of a dual-redundant valve group for hatch motion control and platform buoyancy adjustment:

[0031] The present invention relates to a dual redundant valve group for hatch motion control and platform buoyancy adjustment, comprising a hatch valve group for controlling the piston cylinder connected to the hatch, including one main and one backup valve group. The main and backup valve groups have identical structural principles and are connected in parallel. For example, a main valve (belonging to the main valve group) is connected in series on the connecting pipeline between the pressure source and the rod chamber, the pressure source and the rodless chamber, the rod chamber and the return oil circuit, and the rodless chamber and the return oil circuit. At the same time, a corresponding backup valve (belonging to the backup valve group) is also connected in parallel on each main valve. Similarly, it also includes the buoyancy valve group of the air injection valve installed on the air injection pipeline between the air pressure source and the top of the water storage tank, and the air exhaust valve installed on the air exhaust pipeline between the top of the water storage tank and the outside atmosphere. It also includes two sets of valve groups, one main and one backup. The main and backup valve groups have the same structure and principle and are set in parallel. That is, the main air injection valve (belonging to the main valve group) connected in series on the air injection pipeline is connected in parallel with the backup air injection valve (belonging to the backup valve group), and the main air exhaust valve (belonging to the main valve group) connected in series on the air exhaust pipeline is connected in parallel with the backup air exhaust valve (belonging to the backup valve group).

[0032] The dual-redundant valve group of this invention further includes a data acquisition module, a data preprocessing module, a valve group status monitoring module and a collaborative control decision module, a valve group switching control module, a collaborative control decision module, and a valve group drive module. These modules work together to control the hatch cover valve group and the buoyancy valve group, thereby realizing the dual-redundant valve group control method of this invention for hatch cover motion control and platform buoyancy adjustment.

[0033] The dual-redundant valve group control method of this invention mainly includes four core processes: data acquisition and preprocessing, valve group status monitoring and redundancy switching decision, hatch cover-buoyancy coordinated control decision, and valve group drive and execution feedback. Figure 1 As shown, the specific steps and corresponding modules involved are as follows:

[0034] Step 1: Data Acquisition and Preprocessing. The data acquisition module receives multi-source input data, including: ① Hatch cover control commands (preset motion trajectory, velocity parameters), issued by the shore control center or the platform main control system; ② Platform buoyancy target parameters (preset according to the operating depth), issued by the platform attitude control system; ③ Environmental perception data (water surface environment, water flow velocity, water temperature), collected in real time by depth sensors, flow sensors, and temperature sensors; ④ Equipment status data (actual hatch cover displacement, actual platform buoyancy, valve group inlet and outlet pressure / flow rate), collected by displacement sensors, buoyancy sensors, and pressure / flow sensors, respectively.

[0035] The data acquisition module sends the above source data (①②③④) to the data preprocessing module. After receiving the source data, the data preprocessing module performs filtering and noise reduction (using the Kalman filter algorithm to eliminate sensor noise) and format standardization (converting different types of data into a unified decimal numerical format) to obtain standardized control command data, environmental data and equipment status data (formatted data), which are then transmitted to the valve group status monitoring module and the collaborative control decision module.

[0036] Step 2: Valve Group Status Monitoring and Redundancy Switching Decision. The valve group status monitoring module receives pre-processed valve group pressure / flow data from the hatch cover valve group and buoyancy valve group. It compares the operating parameters of the valves in the currently operating valve group with preset normal operating thresholds (e.g., pressure threshold: 5-15MPa, flow threshold: 10-50L / min) to determine the operating status (normal / fault) of the main / standby valve group in the hatch cover valve group and buoyancy valve group, respectively. If the main valve group is currently operating and its status is normal, a maintenance decision command to "maintain main valve group operation" is generated; if a fault occurs in the main valve group, such as pressure exceeding the threshold or flow interruption, a switching decision command to "switch to standby valve group" is generated. Conversely, the same applies when the standby valve group is operating. This decision command is transmitted to the valve group switching control module and simultaneously synchronized to the collaborative control decision module.

[0037] When the commands for opening the cover and adjusting buoyancy are first issued, the relevant valve groups have not yet started to operate. The valve groups are all in a closed state with no pressure or flow. Therefore, the redundant switching decision in step 2 is not performed when the command is first issued. It is only started when the system is running stably.

[0038] Step 3: Hatch Cover-Buoyancy Coordinated Control Decision. The coordinated control decision module receives pre-processed control command data, environmental data, and equipment status data (formatted data). First, based on the environmental data (depth, water flow velocity), it dynamically adjusts the buoyancy adjustment threshold and hatch cover movement speed limit parameters. To ensure safety, drainage stops when the buoyancy value exceeds the buoyancy adjustment threshold; hatch opening stops when the hatch cover movement speed value exceeds the hatch cover movement speed limit parameter. Then, it compares the actual hatch cover displacement with the preset trajectory to calculate the hatch cover movement deviation; it compares the actual buoyancy of the platform with the target buoyancy to calculate the buoyancy deviation; finally, based on priority rules (hatch cover opening / closing tasks have higher priority than regular buoyancy adjustment) and system pressure balance constraints, it generates coordinated control commands. These commands include valve group flow adjustment parameters corresponding to hatch cover movement and valve group filling / drainage control parameters corresponding to buoyancy adjustment, and are transmitted to the valve group drive module.

[0039] If both hatch opening and drainage are pneumatic, and hatch control and buoyancy control use the same air source (e.g., an air tank), simultaneous hatch control and buoyancy adjustment will cause pressure conflicts, leading to reduced control accuracy. If the hatch is hydraulically driven, drainage is pneumatic, and both the hydraulic pump and air pump are driven by diesel engines, or separately by electric motors, but the generator is driven by the same diesel engine, conflicts will also occur during simultaneous operation, leading to reduced control accuracy. Since hatch movement itself requires buoyancy adjustment to maintain balance, simultaneous control of hatch and buoyancy is unavoidable. Therefore, this invention generates coordinated control commands through priority and system pressure balance constraints in step 3. When hatch control and buoyancy adjustment occur simultaneously and pressure conflicts arise (the current system pressure and the pressure generated by the prime mover are insufficient to simultaneously meet the needs of hatch control and buoyancy adjustment), the valve group corresponding to the hatch is controlled first to allow the hatch to complete a certain movement, and then the valve groups corresponding to inlet and outlet are controlled to complete the corresponding buoyancy adjustment. A certain movement must satisfy the condition that the impact of the corresponding hatch movement on the hull balance is within an acceptable range.

[0040] Step 4: Valve Group Drive and Execution Feedback. The valve group drive module receives valve group switching commands and coordinated control commands, and drives the relevant valve actions in the corresponding hatch cover valve group and buoyancy valve group: according to the hatch cover movement valve group adjustment parameters, it controls the hydraulic / pneumatic actuators of the hatch cover (the valves between the pressure medium source and the rod chamber and rodless chamber, and between the rod chamber, rodless chamber and the return oil line), driving the hatch cover to move along a preset trajectory; according to the buoyancy adjustment valve group control parameters, it controls the filling and draining actuators (draining valve and air injection valve, etc.) to adjust the platform buoyancy.

[0041] Meanwhile, the equipment status sensors collect real-time data on the actual displacement of the hatch after its movement, the actual buoyancy of the platform after adjustment, and the working status of the valve assembly. This data is then transmitted as feedback to the data acquisition module, forming a closed-loop control system of "acquisition-decision-execution-feedback". Finally, the platform's main control system transmits the hatch movement completion status and buoyancy adjustment results to the shore control center via satellite communication module for real-time monitoring by users.

[0042] As another implementation method, a valve assembly initialization calibration step is also included: after the system's initial startup or maintenance, the pressure and flow reference parameters of the main / standby valve assemblies are calibrated to ensure that the parameters of the two valve assemblies match and to generate standardized normal operating thresholds for the valve assemblies. This step is a preparatory step and is only performed at the initial stage of system startup or after maintenance; it does not need to be repeated during subsequent routine operations.

[0043] As another implementation method, an environmental parameter benchmark calibration step is also included: when the deep-sea snorkeling platform is deployed to a new operating area, environmental data under different depths and current conditions in that area are collected, and the mapping relationship between the buoyancy adjustment threshold and the hatch movement speed limit parameter is calibrated and optimized. This step is an auxiliary step and is only performed when changing operating areas; it does not need to be repeated for routine operations in the same area.

[0044] As another implementation method, a faulty valve group reset and maintenance prompt step is also included: When the standby valve group is put into use, the system generates a faulty valve group maintenance prompt signal, transmits it to the shore-based control center, and performs a reset attempt on the faulty valve group when conditions permit (the platform is in a safe berthing state). This step is a cleanup step and is only performed after a valve group switchover; it is not required under normal operating conditions.

[0045] As another implementation, the present invention also includes an environmental adaptive scheme for valve group switching. An environmental perception-decision-execution end-to-end adaptive switching mechanism is designed for dual-redundant valve groups, specifically implemented as follows:

[0046] 1. Environmental perception and parameter acquisition.

[0047] Real-time and accurate perception of the water surface environment is achieved through multi-sensor fusion: Deploy flow velocity sensors, wave height sensors, attitude sensors, and water pressure sensors to collect environmental parameters such as water flow velocity (v), wave height (h), platform pitch angle (θ), and water pressure (P) in real time; Sensor data is synchronously uploaded to the valve group control unit at a sampling frequency of 100Hz, and noise is removed by Kalman filtering algorithm to output stable environmental characteristic quantities.

[0048] 2. Adaptive decision-making logic for valve group switching.

[0049] A hierarchical decision-making model for valve group switching is established based on environmental parameters to achieve seamless switching of redundant valve groups.

[0050] Under normal operating conditions (e.g., water flow velocity (v < 0.5m / s), wave height (h < 0.3m)): the main valve group (valve group A) is in working condition, the redundant valve group (valve group B) is in hot standby condition, and the control unit monitors the pressure, flow rate, response time and other status parameters of the main valve group in real time. When the parameters of the main valve group are normal, the current working condition is maintained.

[0051] In complex operating conditions (e.g., water flow velocity (0.5m / s < v < 1.5m / s), wave height (0.3m < h < 1.0m)): the control unit triggers a pre-switching mechanism based on environmental parameters, ensuring that the hot standby valve group is ready for rapid switching. When certain conditions are met (but the conditions for switching the valve group are not met), such as the main valve group response delay exceeding 20ms or the flow deviation exceeding 5%, the pre-switching mechanism is triggered, and the redundant valve group B establishes pressure balance in advance (the valve group inlet and outlet pressures are kept as consistent as possible to reduce response time), completing a shock-free switching within 10ms to ensure the continuity of hatch movement and buoyancy adjustment.

[0052] Extreme operating conditions (water flow velocity (v > 1.5m / s), wave height (h > 1.0m)): Activate the parallel operation mode of the dual valve group, and establish collaborative control logic between valve groups. Avoid control conflicts through cross-verification and improve the system's anti-interference capability.

[0053] Fault conditions (main valve assembly experiences jamming, leakage, or other faults): The control unit identifies the fault within 5ms using a fault diagnosis algorithm (based on threshold judgment and trend prediction of valve assembly status parameters), immediately triggers full-power switching of redundant valve assembly B, and simultaneously locks the main valve assembly to ensure safe operation of the system under fault conditions.

[0054] The fault diagnosis algorithm here is based on historical data of valve group switching response time. If the valve group response time exceeds the time predicted by the historical model within a set number of switching times (e.g., 5 times), a fault is considered to have occurred.

[0055] 3. Execution and closed-loop verification of valve group switching.

[0056] The valve group drive module sends a switching command to the valve group, and drives the valve group to quickly open and close through the 24V digital output. At the same time, the position sensor feeds back the valve group opening degree to ensure that the switch is in place.

[0057] Closed-loop verification: After the switch is completed, the controlled variables such as the hatch movement speed and platform buoyancy are collected and compared with the target values. If the deviation exceeds the set threshold, the valve group control parameters are automatically adjusted until the controlled variables are stable within the target range, thus completing the switch closed loop.

[0058] Specifically, a detailed technical solution for dynamically adjusting the buoyancy adjustment threshold and hatch movement speed limit parameters based on environmental data (depth, water flow velocity) is proposed. This solution involves establishing an environment-parameter mapping model and a real-time dynamic optimization mechanism for the buoyancy adjustment threshold and hatch movement parameters, as detailed below:

[0059] 1. Adaptive optimization of buoyancy adjustment threshold.

[0060] (1) Threshold-optimized environmental association model.

[0061] Using water flow velocity (v) and wave height (h) as core inputs, a dynamic correction model for the buoyancy adjustment threshold is established:

[0062]

[0063] in:

[0064] The buoyancy adjustment reference threshold under standard operating conditions (determined by system calibration);

[0065] This is a correction factor for water flow velocity (based on experimental calibration, the value ranges from 0.1 to 0.3; the higher the water flow velocity, the larger the factor).

[0066] This is a wave height correction factor (based on experimental calibration, the value ranges from 0.2 to 0.4; the larger the wave height, the larger the factor).

[0067] (2) Dynamic adjustment to realize the process.

[0068] The control unit acquires water flow velocity and wave height data in real time, and substitutes them into the above model to calculate the buoyancy adjustment threshold under the current operating conditions. When the platform's buoyancy deviation exceeds When the buoyancy is adjusted, the valve group controls the water tank to fill / drain, correcting the buoyancy deviation to within the allowable range. To address the instantaneous buoyancy fluctuations caused by water flow impact, a hysteresis filtering mechanism is introduced: adjustment is only triggered if the buoyancy deviation lasts for more than 100ms to avoid malfunctions. At the same time, the hysteresis time is dynamically adjusted according to the water flow speed (the greater the water flow speed, the shorter the hysteresis time, ensuring a rapid response).

[0069] 2. Adaptive optimization of hatch motion parameters.

[0070] The hatch motion parameters include the speed of motion ( ), acceleration ( ), in place buffer threshold ( Dynamic optimization is achieved for different environmental parameters:

[0071] (1) Adaptive adjustment of motion speed and acceleration.

[0072] Water flow velocity correlation optimization:

[0073] When, for example, v < 0.5 m / s (still water / slow flow): use the rated motion parameters. = , = To ensure the hatch canopy opens and closes quickly;

[0074] When, for example, 0.5 m / s < v < 1.5 m / s (medium-speed flow): the motion parameters are reduced proportionally. , To prevent the hatch from jamming due to water flow (the water flow will rush towards the hatch and exert a reverse force).

[0075] When, for example, v > 1.5 m / s (high-speed flow): activate low-speed steady-state mode. , At the same time, it increases the force compensation for the movement of the hatch cover to counteract the force of the water flow;

[0076] Wave height correlation optimization:

[0077] Wave height (e.g., h < 0.3m): Maintain rated parameters;

[0078] Wave height (e.g., 0.3m < h < 1.0m): Adjust the movement rhythm according to the wave height cycle, perform hatch opening and closing actions during wave troughs, and suspend actions during wave crests to avoid wave impact;

[0079] Wave height (e.g., h > 1.0m): Lock the hatch movement and wait for the wave height to decrease before proceeding with the action to ensure safety.

[0080] (2) Adaptive adjustment of the in-place buffer threshold.

[0081] Under standard operating conditions, the in-place buffer threshold ( (10% of the hatch cover travel)

[0082] Under complex operating conditions, dynamic adjustment is made based on the water flow velocity: The greater the water flow velocity, the longer the buffer stroke, to avoid impact when the hatch is in place;

[0083] At the same time, the buffer acceleration is adjusted in real time according to the speed of the hatch movement to ensure that the hatch is smoothly placed in position.

[0084] 3. Adaptive closed-loop iterative optimization.

[0085] The control unit collects the hatch's motion status (position, speed, force), platform buoyancy status, and environmental parameters in real time to build a feedback closed loop for parameter optimization;

[0086] Based on the model predictive control (MPC) algorithm, with "hatch cover motion stability + buoyancy stability" as the optimization objective, the control parameters are continuously optimized by rolling, and the parameters are updated every 100ms to achieve continuous optimization that is adaptive to the environment.

[0087] Establish a parameter self-learning library to store and iterate the optimal parameters under different environmental conditions, thereby improving the system's adaptability in complex environments.

[0088] The solution of the present invention has the following beneficial effects:

[0089] (1) Improved control reliability: This invention adopts a dual-redundant valve group hot backup architecture. Through real-time status monitoring and seamless switching technology, it can quickly switch to the backup valve group when the main valve group fails, with a switching time of ≤50ms, avoiding control interruption. Compared with the existing single valve group scheme (complete failure of function after failure) and cold backup scheme (switching delay ≥3s), the control continuity is significantly improved, which can effectively reduce the risk of underwater platform operation and solve the problem of poor reliability of existing technologies.

[0090] (2) Improved control accuracy and coordination: By adopting a hatch-buoyancy coordinated control strategy, the valve group actions are coordinated based on priority rules and pressure balance constraints, avoiding system pressure conflicts caused by independent control. Tests show that the hatch motion positioning error is ≤5mm and the buoyancy adjustment deviation is ≤0.5%. Compared with the existing independent control scheme (hatch positioning error ≥20mm, buoyancy deviation ≥2%), the control accuracy is greatly improved, solving the problem of insufficient coordination in the existing technology.

[0091] (3) Enhanced environmental adaptability: Based on environmental data such as underwater depth and water flow velocity, the control parameters are dynamically adjusted to enable the system to adapt to complex environments with depths of 0-500m and water flow velocities of 0-2m / s. Compared with existing fixed parameter control schemes (which are only suitable for a single depth and water flow condition), the applicable range is expanded by more than 3 times, solving the problem of weak environmental adaptability of existing technologies.

[0092] (4) Reduce maintenance costs: The new valve group fault early warning function can detect potential faults in advance and prompt maintenance, reducing equipment damage caused by the expansion of faults; the dual redundancy architecture reduces the frequency of downtime maintenance due to valve group faults, and the maintenance cost is reduced by more than 40% compared with the existing solution.

[0093] Implementation method of dual-redundant valve group control for hatch motion control and platform buoyancy adjustment:

[0094] The present invention provides a dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment. This method has been described sufficiently clearly in the implementation of dual-redundant valve groups for hatch motion control and platform buoyancy adjustment, and will not be repeated here.

Claims

1. A dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment, characterized in that, Includes the following steps: 1) Acquire hatch control commands, platform buoyancy targets, and equipment status data, including actual hatch displacement, actual platform buoyancy, and current working valve group operating status parameters; 2) Compare the current working status parameters of the valve group with the preset normal working threshold to determine whether the current working valve group is faulty; if the current working valve group is normal, generate a decision command to maintain the operation of the current valve group; if the current working valve group is faulty, generate a decision command to switch to another valve group. 3) Compare the actual displacement of the hatch cover with the preset trajectory to calculate the hatch cover movement deviation; compare the actual buoyancy of the platform with the target buoyancy to calculate the buoyancy deviation; generate coordinated control commands based on the hatch cover movement deviation and buoyancy deviation; the coordinated control commands include valve group flow regulation parameters corresponding to controlling the hatch cover movement and valve group filling and draining control parameters corresponding to buoyancy regulation; 4) Control the valve group corresponding to the decision command according to the collaborative control command; at the same time, collect the actual displacement after the hatch moves, the actual buoyancy after the platform is adjusted, and the working status parameters of the current working valve group, and return them as new equipment status data to step 1) until the hatch meets the hatch control command and the platform buoyancy reaches the platform buoyancy target.

2. The dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment according to claim 1, characterized in that, In step 1), environmental perception data is also acquired; in step 3), the buoyancy adjustment threshold and hatch movement speed limit parameters are dynamically adjusted based on the environmental perception data; the valve group filling and draining control parameters are used to correct the buoyancy deviation to the range of the buoyancy adjustment threshold; the valve group flow rate adjustment parameters are used to control the hatch within the range of the hatch movement speed limit parameters.

3. The dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment according to claim 1, characterized in that, In step 3), collaborative control commands are also generated according to the following priority rules: the emergency opening / closing of the hatch has a higher priority than the regular buoyancy adjustment task, and the valve group flow adjustment parameters and filling and draining control parameters are determined under the premise of satisfying the system pressure balance constraints.

4. The dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment according to claim 1, characterized in that, In step 2), the working status parameters include pressure threshold and flow threshold. If the valve group pressure exceeds the pressure threshold and / or the valve group flow is lower than the flow threshold, the current working valve group is judged to be faulty.

5. The dual-redundant valve group control method for hatch motion control and platform buoyancy adjustment according to claim 1, characterized in that, In step 1), water surface environmental parameters are also collected; and the water surface environmental parameters are divided into at least normal operating conditions and complex operating conditions; under normal operating conditions, another valve group other than the current working valve group is in hot standby state; under complex operating conditions, when the working state parameters of the current working valve group reach certain conditions, but do not meet the conditions for switching to another valve group, the other valve group establishes pressure balance in advance to achieve rapid switching.

6. A dual-redundant valve assembly for hatch motion control and platform buoyancy adjustment, characterized in that, The system includes a data acquisition module for acquiring hatch control commands, platform buoyancy targets, and equipment status data, including actual hatch displacement, actual platform buoyancy, and operating status parameters of the current working valve group; a valve group status monitoring module for comparing the operating status parameters of the current working valve group with a preset normal operating threshold to determine if the current working valve group is faulty; if the current working valve group is normal, generating a decision command to maintain the operation of the current valve group; if the current working valve group is faulty, generating a decision command to switch to another valve group; a collaborative decision module for comparing the actual hatch displacement with a preset trajectory to calculate the hatch movement deviation, comparing the actual platform buoyancy with the target buoyancy to calculate the buoyancy deviation, and generating collaborative control commands based on the hatch movement deviation and buoyancy deviation; the collaborative control commands include valve group flow regulation parameters corresponding to controlling hatch movement and valve group filling and draining control parameters corresponding to buoyancy regulation; and a valve group drive module for controlling the valve group actions corresponding to the decision commands according to the collaborative control commands.

7. The dual-redundant valve group for hatch motion control and platform buoyancy adjustment according to claim 6, characterized in that, The data acquisition module also acquires environmental perception data; the collaborative decision-making module also dynamically adjusts the buoyancy adjustment threshold and hatch movement speed limit parameters based on the environmental perception data; the valve group filling and draining control parameters are used to correct the buoyancy deviation to within the buoyancy adjustment threshold range; the valve group flow rate adjustment parameters are used to control the hatch within the range of the hatch movement speed limit parameters.

8. The dual-redundant valve group for hatch motion control and platform buoyancy adjustment according to claim 6, characterized in that, The collaborative decision-making module also generates collaborative control commands based on the following priority rules: the emergency opening / closing of the hatch has a higher priority than the regular buoyancy adjustment task, and the valve group flow adjustment parameters and filling / drainage control parameters are determined under the premise of satisfying the system pressure balance constraints.

9. The dual-redundant valve assembly for hatch motion control and platform buoyancy adjustment according to claim 6, characterized in that, The operating status parameters include pressure threshold and flow threshold. If the valve group pressure exceeds the pressure threshold and / or the valve group flow is lower than the flow threshold, the current operating valve group is judged to be faulty.

10. The dual-redundant valve group for hatch motion control and platform buoyancy adjustment according to claim 6, characterized in that, It also collects water surface environmental parameters; and divides them into at least normal operating conditions and complex operating conditions based on the water surface environmental parameters; under normal operating conditions, another valve group other than the current working valve group is in hot standby state; under complex operating conditions, when the working state parameters of the current working valve group reach certain conditions, but do not meet the conditions for switching to another valve group, the other valve group establishes pressure balance in advance to achieve rapid switching.

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