A method for attitude adjustment control of ultra-large luffing hydraulic cylinder and pile frame of a piling vessel

Abstract

This invention provides a method for attitude adjustment control of a piling vessel with a large-amplitude hydraulic cylinder and a piling frame during coordinated installation. This method achieves precise attitude adjustment: by constructing a nonlinear state-space mathematical model of the piling frame-hydraulic cylinder linkage attitude, combined with a rolling optimization algorithm, the attitude adjustment accuracy error is reduced and the attitude adjustment response time is improved. Compared with the errors of existing technologies, the attitude adjustment accuracy is significantly improved, meeting navigation standards and operational requirements. A linkage mechanism of sensors, control system, hydraulic cylinder actuator, and self-locking mechanism is established. Load and vibration data are fed back in real time during operation, hydraulic cylinder parameters are dynamically adjusted, and the time for correcting abnormal states is improved. This solves the problem of insufficient linkage in existing technology systems, improves operational stability and safety, and addresses the problems of lack of standardized adjustment and verification processes for key accuracy indicators and lack of a precise control model for hydraulic cylinder-piling frame linkage in existing technologies.

Description

Technical Field

[0001] This invention relates to the field of attitude adjustment of piling vessels, and in particular to a method for attitude adjustment control of a piling vessel with a large luffing cylinder and a pile frame working together. Background Technology

[0002] As the core equipment for offshore pile foundation construction, the performance of pile driving vessels directly determines the efficiency, accuracy, and safety of pile foundation construction. With the development of marine engineering construction towards deeper water and larger scale, major projects such as cross-sea channels and deep-sea wind power have placed higher demands on the specifications and operational capabilities of pile driving vessels. The height of the pile frame of pile driving vessels has exceeded 150 meters, and the supporting ultra-large luffing cylinders are characterized by large diameter and long stroke. The coordinated installation accuracy of the cylinders and pile frame, as well as the precision of attitude control, have become the key to determining the operational performance of pile driving vessels.

[0003] Existing technologies, such as the ultra-large and ultra-long digital hydraulic cylinder based on key components disclosed in CN119084397B, have achieved the localization of key hydraulic cylinder components and established a hydraulic cylinder status monitoring and adjustment system. However, this technical solution only focuses on the structural optimization and status monitoring of the hydraulic cylinder itself, and does not involve the coordinated installation and attitude control of the hydraulic cylinder and the pile frame. The docking installation of the hydraulic cylinder and the pile frame adopts the traditional rough operation.

[0004] The lack of precise control procedures for key accuracy indicators during the connection process between the two, the absence of a linkage model between cylinder control and pile frame attitude during attitude adjustment, and the reliance on simple pressure and stroke monitoring for cylinder control, makes it impossible to dynamically adjust cylinder parameters according to pile frame attitude, which is insufficient to meet the precise control requirements for piling vessel navigation attitude adjustment and pile driving operations.

[0005] Existing technologies have made certain breakthroughs in several aspects, including the structure of pile driving vessels, the localization of ultra-large luffing cylinders, and the monitoring of pile driving operation procedures. However, there is still a lack of coordinated installation precision control for the coordinated installation and attitude adjustment control of ultra-large luffing cylinders and detachable pile frames. Key precision indicators lack standardized adjustment and verification processes, the attitude adjustment control methods are crude, and a precise control model for cylinder-pile frame linkage has not been established.

[0006] Therefore, this application urgently needs to propose a collaborative installation attitude adjustment control method for ultra-large amplitude hydraulic cylinders and detachable pile frames, which addresses the lack of collaborative installation accuracy control, the lack of standardized adjustment and verification processes for key accuracy indicators, and the absence of a precise control model for the linkage between the hydraulic cylinder and the pile frame. Summary of the Invention

[0007] The main objective of this invention is to provide a method for coordinating the installation and attitude control of the ultra-large luffing hydraulic cylinder and the pile frame of a piling vessel, which solves the problems in the prior art of lacking standardized adjustment and verification processes for key accuracy indicators and lacking a precise control model for the linkage between the hydraulic cylinder and the pile frame.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for coordinated installation and attitude control of ultra-large luffing cylinder and pile frame of a piling vessel, the method comprising: S1. Pre-installation preparation: Verify the specifications of the ultra-large luffing cylinder and detachable pile frame; prepare and calibrate installation and testing fixtures; and clarify the threshold values ​​of core control parameters. S2. The hydraulic cylinder is positioned and connected to the pile frame. The hydraulic cylinder is hoisted to the installation position. The parallelism and horizontal deviation of the axis are adjusted. The foundation connection is completed through positioning and fastening. S3. Installation of the high auxiliary pile frame: After confirming that the main pile frame connection is qualified, hoist the high auxiliary pile frame and complete the coaxiality and structural fastening to meet the height operation requirements. S4. Debugging of the linkage attitude adjustment system, building a model predictive control system, installing attitude and displacement sensors, and completing the preset control parameters and system linkage debugging; S5. Navigation attitude adjustment execution: After receiving the navigation command, control the hydraulic cylinder to retract, monitor the verticality and height of the pile frame in real time, and dynamically fine-tune the attitude to the navigation standard. S6. Self-locking pressure holding start: Install a self-locking mechanism and pressure monitoring components, set the pressure monitoring interval, and trigger the pressure replenishment mechanism to maintain pressure stability; S7. Monitoring the operation process: Install load and vibration detection components to collect operation data in real time and adjust cylinder parameters in conjunction to correct abnormal conditions. S8. Data archiving and system maintenance: Store full-process operation data, regularly calibrate testing equipment and control components, and maintain the status of system hardware and software.

[0009] In the preferred scheme, the specific steps in step S1 are as follows: Step S1.1, verify the structural parameters, performance parameters and interface adaptation parameters of the ultra-large amplitude hydraulic cylinder item by item; Step S1.2: Check the overall structural parameters, connection and adaptation parameters, and mechanical performance parameters of the detachable pile frame to confirm that the parameters of the hydraulic cylinder and the pile frame are matched to meet the basic requirements for subsequent collaborative installation and attitude adjustment. Step S1.3: Based on the installation and testing requirements, equip the corresponding installation operation tooling and precision testing tooling respectively to ensure that the type and function of each tooling are adapted to the operation requirements of installation positioning, connection fastening, attitude detection, displacement monitoring and pressure detection. Step S1.4: Perform uniform precision calibration on all the equipped installation and testing fixtures, verify the working reliability and testing accuracy of various fixtures, confirm that the fixtures are qualified for calibration and form corresponding calibration records to ensure the accuracy basis for subsequent operations. Step S1.5: Combining the operational requirements of collaborative installation, posture adjustment, and self-locking pressure maintenance, the threshold values ​​of posture adjustment action parameters, pile frame posture parameters, hydraulic system control parameters, and operational safety management parameters are preset and defined to form a unified core control standard.

[0010] In the preferred scheme, the specific steps in step S2 are as follows: Step S2.1, confirm that the hoisting equipment is compatible with the hydraulic cylinder hoisting conditions, set up corresponding protective measures at the hydraulic cylinder hoisting points, implement the safety control requirements for hoisting operations, and avoid the risk of component damage during hoisting. Step S2.1: Smoothly lift the hydraulic cylinder to the preset installation position, control the stability of the lifting posture during the lifting process, achieve precise alignment between the hydraulic cylinder and the pile frame installation interface, and monitor the lifting alignment process in real time. Step S2.2: Then, based on the corresponding detection parameters, adjust the relative position of the axes of the hydraulic cylinder and the pile frame, correct the parallelism of the axes, and after the adjustment is completed, verify the accuracy of the axis parallelism. Step S2.3: The installation level of the hydraulic cylinder is then tested using the adaptation detection method. The level deviation is corrected based on the test results. After the deviation is adjusted, the level is checked again to ensure that the level deviation is controlled within the preset range. Step S2.4 Next, the contact surfaces of the hydraulic cylinder and the pile frame are pre-treated to remove impurities that affect the docking accuracy. The precise assembly and positioning of the interface between the two is achieved through positioning components. After positioning, the fit of the interface is checked. Step S2.5: Perform connection and tightening according to the set tightening method and symmetrical tightening sequence, control the uniformity of the tightening operation, and avoid abnormal stress on the interface due to uneven tightening. Step S2.6: Perform an overall review of the connection status between the hydraulic cylinder and the pile frame, verify the coaxiality of the two after connection, check the tightness reliability of each fastening point, and check whether there is any additional torque at the connection. After confirming that there are no abnormalities, complete the foundation connection.

[0011] In the preferred scheme, the specific steps in step S3 are as follows: Step S3.1, conduct a reliability check on the connection between the main pile frame and the foundation, verify the tightness of the connecting components, confirm that the overall posture of the main pile frame is stable without deviation and the structure is uniformly stressed, and determine that the connection of the main pile frame is qualified before proceeding with subsequent installation work. Step S3.2: Mark the docking baseline in the docking area at the top of the main pile frame, complete the baseline alignment using positioning fixtures, determine the docking orientation and initial alignment position of the high auxiliary pile frame, and provide a baseline basis for subsequent precise docking and coaxiality adjustment; Step S3.3: Select appropriate hoisting equipment, take protective measures for the high auxiliary pile frame components to avoid hoisting damage, monitor the attitude of the high auxiliary pile frame in real time during hoisting and make dynamic fine adjustments to control the hoisting stability, hoist the high auxiliary pile frame to the docking position of the main pile frame and complete the initial precise alignment; Step S3.4: After the coaxiality adjustment meets the standard, temporary fixed limit is implemented at the docking part of the high auxiliary pile frame and the main pile frame to constrain the displacement and attitude deviation of the high auxiliary pile frame. The fasteners of the main and auxiliary pile frames are uniformly tightened according to the preset tightening sequence to control the balance of the tightening force. After completion, the fastener tightening status is checked. Step S3.5: After the fastening construction is completed, recheck the coaxiality accuracy of the main and auxiliary pile frames, simultaneously verify the fastening reliability of the fasteners and the overall stress balance of the structure, and check the overall height of the main and auxiliary pile frames after assembly to ensure that the pile frame system after installation meets the requirements for high-altitude operation. Step S3.6: Perform anti-corrosion treatment on the connection and fastening parts of the main and auxiliary pile frames to complete the overall installation process of the high auxiliary pile frame.

[0012] In the preferred scheme, the specific steps for debugging the linkage attitude adjustment system in step S4 are as follows: Step S4.1: Establish the model predictive control system and build a nonlinear state-space mathematical model of the pile frame-cylinder linkage attitude, as shown in the following formula: (1) (2) in, Let t be the attitude vector of the pile frame at time t, including verticality, height, and displacement; Let t be the cylinder control input vector; Output observation vectors for the system; The state matrix, For the input matrix, This is the output matrix; For system disturbance terms, For measuring the noise term; Step S4.2, design the model predictive controller and construct the rolling optimization objective function, the formula of which is: (3) in, To predict the time domain, To control the time domain; This serves as a reference value for the target attitude of the pile driver; The output error weight matrix is... To control the incremental weight matrix; For the increase of the control quantity of the hydraulic cylinder; Step S4.3: Set the system control constraints. The constraint formula is as follows: (4) (5) in, These are the upper and lower limits for the extension and retraction control of the hydraulic cylinder; The threshold for the verticality angle constraint of the pile frame; This is the current control moment.

[0013] In the preferred embodiment, step S4.4 involves installing attitude sensors at the connection point between the main pile frame and the secondary pile frame, and installing displacement sensors at the end of the cylinder rod. The sensors are rigidly fixed. Step S4.5: After analog-to-digital conversion, the output signal is directly connected to the model predictive control processor to form a closed-loop link for attitude-displacement data acquisition and control calculation. Step S4.6: Based on the aforementioned mathematical model and constraints, preset the core parameters for model prediction control: prediction time domain. Control Time Domain Output weight matrix Control weight matrix The target attitude threshold of the pile frame and the response gain of the hydraulic cylinder are configured and written to the control processor. Step S4.7 involves sequentially completing the sensor acquisition signal verification, MPC model calculation accuracy verification, hydraulic cylinder control output response test, and pile frame linkage attitude stability debugging. Step S4.8: Correct model bias and parameter error to ensure stable collaborative operation of the model predictive control system with sensors and hydraulic cylinder actuators.

[0014] In the preferred scheme, the specific steps for general aviation attitude adjustment in step S5 are as follows: Step S5.1: The control system receives general aviation scheduling instructions through wired or wireless communication modules, verifies the validity of the instruction format and data integrity, parses the general aviation attitude target and execution time limit core information in the instruction, and transmits the instruction to the MPC controller after the verification is passed. Step S5.2: The MPC controller outputs dynamic control quantity according to the target attitude and current state, and adjusts the retraction rate and stroke of the hydraulic cylinder. The control process adopts a smooth output strategy to avoid sudden changes in the attitude of the pile frame caused by the impact of the hydraulic cylinder action. Step S5.3: The attitude and displacement sensors collect real-time data on the verticality and height of the pile frame at a high-frequency sampling rate. After filtering and noise reduction, the data is transmitted back to the model prediction and control system in real time to provide real-time data support for attitude correction. In step S5.4, the MPC controller, based on real-time acquired data, iteratively corrects the hydraulic cylinder control parameters through a rolling optimization algorithm, dynamically fine-tunes the verticality and height of the pile frame, and locks the current attitude when the pile frame attitude parameters fall within the navigation standard judgment threshold range, thus completing the navigation attitude adjustment execution.

[0015] In the preferred embodiment, the specific steps for the self-locking pressure holding start in step S6 are as follows: Step S6.1: Install the self-locking mechanism at the connection between the pile frame and the hydraulic cylinder, and confirm that the self-locking mechanism is well compatible with the existing linkage attitude adjustment system and meets the requirements for pile frame attitude locking. Step S6.2: Install pressure monitoring components at key pressure measurement points in the hydraulic system, and connect the signal output terminal of the pressure monitoring components to the model predictive control system to realize the linkage between monitoring data and signals of the self-locking mechanism and pressure compensation actuator; Step S6.3: Based on the self-locking pressure holding requirements, set the pressure monitoring interval, define the normal working pressure threshold and abnormal warning threshold, clarify the warning trigger logic for abnormal pressure, and ensure that the pressure monitoring component can collect hydraulic system pressure data in real time and can promptly feed back abnormal pressure signals. Step S6.4: Set the pressure compensation trigger threshold. When the pressure data collected by the pressure monitoring component is lower than the preset threshold, the pressure compensation mechanism is automatically triggered. During the pressure compensation process, the pressure monitoring component provides real-time feedback of the hydraulic system pressure data. Step S6.5: The control system dynamically adjusts the pressure compensation amount based on the feedback data. After the pressure compensation is completed, the system pressure is checked to ensure that the pressure is stably maintained within the normal operating threshold range, thereby achieving closed-loop control. Step S6.6: Perform coordinated debugging of the self-locking mechanism, pressure monitoring component, and pressure compensation mechanism to correct signal linkage deviations and maintain the pressure stability required for pile frame attitude locking.

[0016] In the preferred embodiment, the operation monitoring process in step S7 is as follows: Step S7.1: Install the load detection component and vibration detection component on the key stress-bearing parts and vibration-sensitive parts of the pile frame respectively, and use an appropriate sealing and fixing method to achieve a reliable connection between the components and the pile frame and hydraulic system; Step S7.2: Confirm that the component and the pile frame linkage attitude adjustment system and control system are well compatible. Connect the signal output terminal of the detection component to the model prediction control system, complete the signal access debugging, and ensure that the operation-related data can be collected stably. Step S7.3 During the operation, the load detection component and the vibration detection component synchronously collect relevant data in real time. The load data includes the working load of the pile frame and the stress load on the components, and the vibration data includes the overall vibration amplitude of the pile frame and the vibration frequency of key connection parts. Step S7.4: After data acquisition is completed according to the preset acquisition frequency, the acquired data is initially denoised and processed. At the same time, the processed real-time data is synchronously transmitted to the control system to provide data support for the adjustment of cylinder parameters.

[0017] In the preferred scheme, in step S7.5, after the control system receives the real-time transmitted load and vibration data, it analyzes and judges the data in conjunction with the preset operating standards, and adjusts the core parameters such as the cylinder extension and retraction amount and pressure output in a coordinated manner. Step S7.6: By adjusting the parameters, the system pressure is kept stable and the pile frame operation posture is accurately calibrated to ensure that the pile frame operation process meets the preset working condition requirements. Step S7.7: If the control system determines that the collected load and vibration data deviate from the preset threshold, the abnormal emergency handling mechanism is immediately activated, non-essential operation actions are cut off first, and the control system is linked to fine-tune the relevant parameters of the hydraulic cylinder to gradually correct the abnormal state. Step S7.8: After the load and vibration data return to the preset threshold range and the system is confirmed to be running stably, resume the normal operation process to avoid the abnormal state from escalating and causing equipment damage. Step S7.9: Completely retain the original load and vibration data collected during the operation, as well as relevant data such as cylinder parameter adjustment records and anomaly handling logs; Step S7.10: The retained data must be traceable to facilitate subsequent review of the operation process and optimization and adjustment of cylinder parameters and monitoring thresholds.

[0018] This invention provides a method for attitude adjustment control of a piling vessel with ultra-large luffing hydraulic cylinder and piling frame coordinated installation, which has the following beneficial effects: 1. Achieving precise attitude adjustment: By constructing a nonlinear state-space mathematical model of the linkage attitude of the piling frame and hydraulic cylinder, combined with a rolling optimization algorithm, the attitude adjustment accuracy error is reduced and the attitude adjustment response time is improved. Compared with the error of the prior art, the attitude adjustment accuracy is greatly improved, meeting navigation standards and operational requirements.

[0019] 2. A linkage mechanism was established between sensors, control system, hydraulic cylinder actuator, and self-locking mechanism. Load and vibration data are fed back in real time during operation, hydraulic cylinder parameters are dynamically adjusted, and the time for correcting abnormal states is improved. This solves the problem of insufficient linkage in existing technology systems and enhances operational stability and safety. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a flowchart of the steps of the present invention; Figure 2 This is the orientation adjustment logic structure diagram of the present invention. Detailed Implementation

[0021] Example 1 like Figure 1-2 As shown, a method for attitude adjustment control of a piling vessel's ultra-large luffing cylinder and pile frame during coordinated installation is described. The method includes: S1. Pre-installation preparation: Verify the specifications of the ultra-large luffing cylinder and detachable pile frame; prepare and calibrate installation and testing fixtures; and clarify the threshold values ​​of core control parameters. S2. The hydraulic cylinder is positioned and connected to the pile frame. The hydraulic cylinder is hoisted to the installation position. The parallelism and horizontal deviation of the axis are adjusted. The foundation connection is completed through positioning and fastening. S3. Installation of the high auxiliary pile frame: After confirming that the main pile frame connection is qualified, hoist the high auxiliary pile frame and complete the coaxiality and structural fastening to meet the height operation requirements. S4. Debugging of the linkage attitude adjustment system, building a model predictive control system, installing attitude and displacement sensors, and completing the preset control parameters and system linkage debugging; S5. Navigation attitude adjustment execution: After receiving the navigation command, control the hydraulic cylinder to retract, monitor the verticality and height of the pile frame in real time, and dynamically fine-tune the attitude to the navigation standard. S6. Self-locking pressure holding start: Install a self-locking mechanism and pressure monitoring components, set the pressure monitoring interval, and trigger the pressure replenishment mechanism to maintain pressure stability; S7. Monitoring the operation process: Install load and vibration detection components to collect operation data in real time and adjust cylinder parameters in conjunction to correct abnormal conditions. S8. Data archiving and system maintenance: Store full-process operation data, regularly calibrate testing equipment and control components, and maintain the status of system hardware and software.

[0022] In the preferred scheme, the specific steps in step S1 are as follows: Step S1.1, verify the structural parameters, performance parameters and interface adaptation parameters of the ultra-large amplitude hydraulic cylinder item by item; Step S1.2: Check the overall structural parameters, connection and adaptation parameters, and mechanical performance parameters of the detachable pile frame to confirm that the parameters of the hydraulic cylinder and the pile frame are matched to meet the basic requirements for subsequent collaborative installation and attitude adjustment. Step S1.3: Based on the installation and testing requirements, equip the corresponding installation operation tooling and precision testing tooling respectively to ensure that the type and function of each tooling are adapted to the operation requirements of installation positioning, connection fastening, attitude detection, displacement monitoring and pressure detection. Step S1.4: Perform uniform precision calibration on all the equipped installation and testing fixtures, verify the working reliability and testing accuracy of various fixtures, confirm that the fixtures are qualified for calibration and form corresponding calibration records to ensure the accuracy basis for subsequent operations. Step S1.5: Combining the operational requirements of collaborative installation, posture adjustment, and self-locking pressure maintenance, the threshold values ​​of posture adjustment action parameters, pile frame posture parameters, hydraulic system control parameters, and operational safety management parameters are preset and defined to form a unified core control standard.

[0023] In the preferred scheme, the specific steps in step S2 are as follows: Step S2.1, confirm that the hoisting equipment is compatible with the hydraulic cylinder hoisting conditions, set up corresponding protective measures at the hydraulic cylinder hoisting points, implement the safety control requirements for hoisting operations, and avoid the risk of component damage during hoisting. The crane and hydraulic cylinder are matched for the lifting conditions. The rated load of the lifting equipment is ≥ 1.5 times the weight of the hydraulic cylinder. Rubber protective sleeves and anti-slip pads are installed on the flange end face and the lifting lug in the middle of the cylinder at the lifting point. Step S2.1: Smoothly lift the hydraulic cylinder to the preset installation position, control the stability of the lifting posture during the lifting process, achieve precise alignment between the hydraulic cylinder and the pile frame installation interface, and monitor the lifting alignment process in real time using a laser rangefinder; Step S2.2: Then, based on the detection parameters corresponding to the laser rangefinder, the relative position of the axes of the hydraulic cylinder and the pile frame is adjusted to correct the parallelism of the axes. After the adjustment is completed, a laser interferometer is used to verify the accuracy of the axis parallelism. Step S2.3: Use an electronic level to check the installation level of the hydraulic cylinder, correct the level deviation based on the test results, and check the level after the deviation is adjusted to ensure that the level deviation is controlled within the preset range. Step S2.4: Use sandpaper to polish away surface rust, oil stains and other impurities that affect the docking accuracy, pre-treat the docking contact surface of the hydraulic cylinder and the pile frame, and achieve precise assembly and positioning of the interface between the two through positioning components. After positioning, check the fit of the interface. Step S2.5: Perform connection and tightening according to the set tightening method and symmetrical tightening sequence, control the uniformity of the tightening operation, and avoid abnormal stress on the interface due to uneven tightening. Step S2.6: Perform an overall review of the connection status between the hydraulic cylinder and the pile frame. Use a laser rangefinder to verify the coaxiality of the connection between the two, use a torque wrench to check the tightness reliability of each fastening point, and use a stress sensor to check whether there is any additional torque at the connection. After confirming that there are no abnormalities, complete the foundation connection. In the preferred scheme, the specific steps in step S3 are as follows: Step S3.1, conduct a reliability check on the connection between the main pile frame and the foundation, use a torque wrench to verify the tightness of the connection components, confirm that the overall posture of the main pile frame is stable without deviation and the structure is uniformly stressed, and determine that the connection of the main pile frame is qualified before proceeding with subsequent installation work. Step S3.2: Use a scriber to mark the docking baseline in the docking area at the top of the main pile frame, and complete the benchmark alignment using positioning fixtures to determine the docking orientation and initial alignment position of the high auxiliary pile frame, providing a benchmark basis for subsequent precise docking and coaxiality adjustment; Step S3.3: Select a hoisting device with a rated load ≥ 1.2 times the self-weight of the secondary pile frame. Wrap rubber protective sleeves around the easily damaged parts such as the docking end face and flange edge of the secondary pile frame components to avoid hoisting damage. During the hoisting process, monitor the attitude of the secondary pile frame in real time through attitude sensors and make dynamic fine adjustments through the control system of the hoisting device to control the hoisting stability. Hoist the secondary pile frame to the docking position of the main pile frame and complete the initial accurate alignment. Step S3.4: Use a laser interferometer to detect the coaxiality of the main and auxiliary pile frames. Adjust the coaxiality by adjusting shims according to the detection results. After the coaxiality adjustment meets the standard, use temporary positioning pins to temporarily fix and limit the connection between the high auxiliary pile frame and the main pile frame to constrain the displacement and attitude deviation of the high auxiliary pile frame. Perform uniform tightening of the fasteners connecting the main and auxiliary pile frames according to the preset tightening sequence to control the balance of tightening force. After completion, check the tightness of the fasteners. Step S3.5: After the fastening construction is completed, the coaxiality accuracy of the main and auxiliary pile frames is checked again using a laser interferometer. The reliability of the fasteners and the overall stress balance of the structure are verified simultaneously. A laser rangefinder is used to check the overall height of the main and auxiliary pile frames after assembly, ensuring that the pile frame system after installation meets the requirements for high-altitude operation. Step S3.6: Perform anti-corrosion treatment on the main and auxiliary pile frame connection and fastening parts by sandblasting to Sa2.5 grade, applying two coats of epoxy zinc-rich primer with a dry film thickness ≥80μm and two coats of polyurethane topcoat with a dry film thickness ≥60μm, thus completing the overall installation process of the high auxiliary pile frame.

[0024] In the preferred scheme, the specific steps for debugging the linkage attitude adjustment system in step S4 are as follows: Step S4.1: Establish the model predictive control system and build a nonlinear state-space mathematical model of the pile frame-cylinder linkage attitude, as shown in the following formula: (1) (2) in, Let t be the attitude vector of the pile frame at time t, including verticality. ,high Displacement ,Right now ; for The constant-time cylinder control input vector includes the pressure in the rodless chamber of the cylinder. hydraulic cylinder extension / retraction rate ,Right now ; The system outputs observation vectors, including the verticality of the pile frame measured by the sensors. Pile frame height Cylinder displacement ,Right now ; The state matrix is ​​3×3, obtained by least squares fitting based on the simulation results of the pile frame-cylinder linkage dynamics, reflecting the influence of the state vector at time t on the state vector at time t+1; The input matrix is ​​a 3×2 dimensional matrix, derived from the coupling relationship between the hydraulic cylinder output force and the pile frame attitude change, reflecting the influence of the control input on the state vector; It is a 3×3 dimensional output matrix used to convert the state vector into an observation vector, since the observation value directly corresponds to the state value; The disturbance term for the 3×1 dimension system includes external disturbances such as wind and wave loads and marine environmental vibrations; The measurement noise term is a 3×1 dimensional matrix, introduced by sensor measurement error. Step S4.2, design the model predictive controller and construct the rolling optimization objective function, the formula of which is: (3) in, To predict the time domain, Selected based on attitude adjustment accuracy requirements, representing the prediction of future... The system output at each moment; To control the time domain, , This indicates that it only applies to the future. Optimize the control input at each moment; The system output observation vector at time t+k is predicted at time t. The reference vector for the target attitude of the pile frame at time t+k is determined by navigation instructions or operational requirements. The output error weight matrix is ​​a 3×3 diagonal matrix used to adjust the error weights of different output quantities. The larger the weight, the higher the control accuracy requirement of that output quantity. To control the incremental weight matrix, a 2×2 diagonal matrix is ​​used to suppress drastic changes in the control input. Example: ; The increment of the cylinder control quantity at time t+k is the decision made at time t. , .

[0025] Step S4.3: Set the system control constraints. The constraint formula is as follows: (4) (5) in, These are the upper and lower limits for the extension and retraction control of the hydraulic cylinder; The threshold for the verticality angle constraint of the pile frame; This is the current control moment; This is the lower limit of the hydraulic cylinder control input. , , ; This is the upper limit of the hydraulic cylinder control input. , , ; The threshold for the verticality angle constraint of the pile frame. (The corresponding rad value is ±0.0087 rad); , where is the prediction step size corresponding to the current control time.

[0026] In the preferred embodiment, step S4.4 involves installing attitude sensors at the connection point between the main pile frame and the secondary pile frame, using fiber optic gyroscopes suitable for the high humidity and salt spray environment of the ocean, and installing wire-type displacement sensors at the end of the cylinder rod of the hydraulic cylinder, with the sensors being rigidly fixed. Step S4.5: The output signals of the attitude sensor and displacement sensor are directly connected to the model predictive control processor after analog-to-digital conversion. An industrial-grade PLC with a computing speed of ≥1GHz is selected to form a closed-loop link for attitude-displacement data acquisition and control calculation. Step S4.6: Based on the aforementioned mathematical model and constraints, preset the core parameters for model prediction control: prediction time domain. Control time domain Output weight matrix Control weight matrix Target attitude threshold of the pile frame Hydraulic cylinder response gain The parameters are configured and then written to the storage unit of the control processor.

[0027] Step S4.7 involves sequentially completing the sensor acquisition signal verification, MPC model calculation accuracy verification, hydraulic cylinder control output response test, and pile frame linkage attitude stability debugging. Step S4.8: Correct model bias and parameter error. If the deviation between the model prediction and the measured value is > ±2%, then refit the state matrix. and input matrix ; If the hydraulic cylinder control response time is greater than 100ms, adjust the hydraulic cylinder response gain. This ensures that the model predictive control system works stably in coordination with sensors and hydraulic cylinder actuators.

[0028] In the preferred scheme, the specific steps for general aviation attitude adjustment in step S5 are as follows: Step S5.1: The control system receives general aviation dispatch instructions via a wired or wireless communication module, using Modbus TCP as the communication protocol and a transmission rate of 100Mbps. It then verifies the validity of the instruction format and data integrity, including the target verticality. Target height Execution time limit Core fields; The core information of navigation attitude target and execution time limit in the parsing command is transmitted to the MPC controller after verification. Step S5.2, the MPC controller determines the target attitude based on the target attitude, i.e. , , and the current state , The objective function is solved using a rolling optimization algorithm. The minimum value is used to output the dynamic control quantity. ( , Adjust the retraction speed and stroke of the hydraulic cylinder; The control process adopts a smooth output strategy, with the rate of change of the hydraulic cylinder retraction rate ≤0.05m / s², to avoid sudden changes in the posture of the pile frame caused by the impact of the hydraulic cylinder action. Step S5.3, the attitude and displacement sensor uses a high-frequency sampling rate, Collect the verticality of the pile frame ,high Real-time data, filtered by the Kalman filter algorithm, with filter coefficients... After filtering and noise reduction, the data is transmitted back to the model prediction and control system in real time to provide real-time data support for attitude correction.

[0029] Step S5.4: Based on real-time acquired data, the MPC controller iteratively corrects the cylinder control parameters using a rolling optimization algorithm, with an iteration step size of... Convergence conditions ), dynamically fine-tune the verticality and height of the pile frame; When the pile driver attitude parameters are... , When the current attitude falls within the threshold range of the general aviation standard, the current attitude is locked and the general aviation attitude adjustment is completed.

[0030] In the preferred embodiment, the specific steps for the self-locking pressure holding start in step S6 are as follows: Step S6.1: Install the wedge-shaped self-locking mechanism at the connection between the pile frame and the hydraulic cylinder. Between the hydraulic cylinder flange and the pile frame mating surface, the wedge angle of the self-locking mechanism... Ensure that the self-locking coefficient is ≥1.5, confirm that the self-locking mechanism is well compatible with the existing linkage posture adjustment system, that the action stroke matches the extension and retraction stroke of the hydraulic cylinder, that there is no interference when locking, and that the requirements for pile frame posture locking are met. Step S6.2: Install pressure monitoring components at three key pressure measurement points in the hydraulic system: the oil inlet, the oil outlet, and the rodless chamber of the cylinder. Diffused silicon pressure sensors can be used, with a measurement range of 0-30MPa and an accuracy of ≤±0.5%FS. Connect the signal output of the pressure monitoring component to the model predictive control system to achieve signal linkage between the monitoring data and the self-locking mechanism and the pressure compensation actuator using the electromagnetic overflow valve, with a linkage delay of ≤50ms. Step S6.3: Set the pressure monitoring interval according to the self-locking pressure holding requirements. Set the sampling frequency to 10Hz and define the normal operating pressure threshold. With abnormal warning threshold Clearly define the early warning trigger logic for abnormal pressure; when pressure ≤ Furthermore, if the duration is ≥0.5s, an audible and visual alarm will be triggered to ensure that the pressure monitoring component can collect hydraulic system pressure data in real time and promptly report abnormal pressure signals.

[0031] Step S6.4: Set the pressure compensation trigger threshold. When the pressure monitoring component collects pressure data When the pressure is automatically triggered, the electromagnetic overflow valve is energized and opened. During the pressure replenishment process, the pressure monitoring component provides real-time feedback of hydraulic system pressure data, with a feedback cycle of [missing information]. .

[0032] Step S6.5: The control system dynamically adjusts the pressure compensation amount based on the feedback data. Initial flow rate for pressure replenishment ,when At that time, the pressure replenishment flow rate was adjusted to After the pressure is replenished and The system pressure is checked, and continuous monitoring is performed for 30 seconds to ensure that the pressure is stably maintained within the normal operating threshold range, thus achieving closed-loop control. Step S6.6: Conduct coordinated debugging of the self-locking mechanism, pressure monitoring component, and pressure compensation mechanism: test the locking reliability of the self-locking mechanism, the measurement accuracy of the pressure monitoring component, and the response timeliness of the pressure compensation mechanism; Correct signal linkage deviations to maintain the pressure stability required for pile frame attitude locking.

[0033] In the preferred embodiment, the operation monitoring process in step S7 is as follows: Step S7.1: Install the load detection component and vibration detection component at the key stress-bearing parts of the pile frame (lower chord of the main pile frame and the joint of the higher auxiliary pile frame) and vibration-sensitive parts, respectively. The load detection component uses a strain gauge load sensor with a measurement range of 0-2. Accuracy ≤ ±1%FS, vibration detection component uses piezoelectric accelerometer, measurement range 0-50g, frequency range 10-1000Hz, vibration sensitive parts include the connecting flange between the hydraulic cylinder and the pile frame, and the top hammer platform of the pile frame. A suitable sealing and fixing method is adopted to achieve a reliable connection between the component and the pile frame and hydraulic system, so as to avoid the marine environment from affecting the stability of the component's operation.

[0034] Step S7.2: Confirm that the component and the pile frame linkage attitude adjustment system and control system are well compatible, and that the signal output format is a 4-20mA standard current signal. Connect the signal output terminal of the detection component to the model prediction control system, complete the signal access debugging, and ensure that the operation-related data can be stably collected. Step S7.3: During the operation, the load detection component and vibration detection component synchronously collect relevant data in real time: the load data includes the pile frame operation load. Component load ; Vibration data includes the overall vibration amplitude of the pile frame. Vibration frequency of key connection parts ; Step S7.4, according to the preset sampling frequency After data acquisition, preliminary noise reduction is performed on the acquired data using a wavelet threshold noise reduction algorithm. The noise reduction threshold is set at... The data is then processed and transmitted to the control system in real time to provide data support for the adjustment of cylinder parameters. In the preferred embodiment, in step S7.5, after the control system receives the real-time transmitted load and vibration data, it combines it with the preset operating standards, i.e. , , The data is analyzed and judged to control the extension and retraction of the hydraulic cylinder. Pressure output Core parameters; Step S7.6: By adjusting the parameters, the system pressure is stabilized and maintained. and precise calibration of pile frame operation posture To ensure that the piling operation meets the preset working conditions; Step S7.7: If the control system determines that the collected load and vibration data deviate from the preset threshold, the abnormal emergency handling mechanism is immediately activated: non-essential operations such as pile hammer impact are cut off first, and the control system is linked to fine-tune the relevant parameters of the hydraulic cylinder to adjust the cylinder extension and retraction. Pressure output Reduce the pressure by 1-2 MPa to gradually correct the abnormal state; Step S7.8: Once the load and vibration data return to the preset threshold range and remain stable for 10 seconds, and the system is confirmed to be running stably, resume the normal operating procedure to avoid the abnormal state from escalating and causing equipment damage. Step S7.9: Completely retain the original load and vibration data collected during the operation, as well as relevant data such as cylinder parameter adjustment records and anomaly handling logs; Step S7.10: The retained data must be traceable to facilitate subsequent review of the operation process and optimization and adjustment of cylinder parameters and monitoring thresholds.

[0035] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A method for installing and adjusting the posture of a super-amplitude oil cylinder of a pile driver barge in cooperation with a pile rack, characterized in that: The method includes: S1. Pre-installation preparation: Verify the specifications of the ultra-large luffing cylinder and detachable pile frame; prepare and calibrate installation and testing fixtures; and clarify the threshold values ​​of core control parameters. S2. The hydraulic cylinder is positioned and connected to the pile frame. The hydraulic cylinder is hoisted to the installation position. The parallelism and horizontal deviation of the axis are adjusted. The foundation connection is completed through positioning and fastening. S3. Installation of the high auxiliary pile frame: After confirming that the main pile frame connection is qualified, hoist the high auxiliary pile frame and complete the coaxiality and structural fastening to meet the height operation requirements. S4. Debugging of the linkage attitude adjustment system, building a model predictive control system, installing attitude and displacement sensors, and completing the preset control parameters and system linkage debugging; S5. Navigation attitude adjustment execution: After receiving the navigation command, control the hydraulic cylinder to retract, monitor the verticality and height of the pile frame in real time, and dynamically fine-tune the attitude to the navigation standard. S6. Self-locking pressure holding start: Install a self-locking mechanism and pressure monitoring components, set the pressure monitoring interval, and trigger the pressure replenishment mechanism to maintain pressure stability; S7. Monitoring the operation process: Install load and vibration detection components to collect operation data in real time and adjust cylinder parameters in conjunction to correct abnormal conditions. S8. Data archiving and system maintenance: Stores full-process operation data, regularly calibrates testing equipment and control components, and maintains the status of system hardware and software.

2. The method according to claim 1, characterized in that step S1 The specific steps are as follows: Step S1.1, verify the structural parameters, performance parameters and interface adaptation parameters of the ultra-large amplitude hydraulic cylinder item by item; Step S1.2: Check the overall structural parameters, connection and adaptation parameters, and mechanical performance parameters of the detachable pile frame to confirm that the parameters of the hydraulic cylinder and the pile frame are matched to meet the basic requirements for subsequent collaborative installation and attitude adjustment. Step S1.3: Based on the installation and testing requirements, equip the corresponding installation operation tooling and precision testing tooling respectively to ensure that the type and function of each tooling are adapted to the operation requirements of installation positioning, connection fastening, attitude detection, displacement monitoring and pressure detection. Step S1.4: Perform uniform precision calibration on all the equipped installation and testing fixtures, verify the working reliability and testing accuracy of various fixtures, confirm that the fixtures are qualified for calibration and form corresponding calibration records to ensure the accuracy basis for subsequent operations. Step S1.5: Combining the operational requirements of collaborative installation, posture adjustment, and self-locking pressure maintenance, the threshold values ​​of posture adjustment action parameters, pile frame posture parameters, hydraulic system control parameters, and operational safety management parameters are preset and defined to form a unified core control standard.

3. The method according to claim 1, characterized in that step S2 The specific steps are as follows: Step S2.1, confirm that the hoisting equipment is compatible with the hydraulic cylinder hoisting conditions, set up corresponding protective measures at the hydraulic cylinder hoisting points, implement the safety control requirements for hoisting operations, and avoid the risk of component damage during hoisting; Step S2.1: Smoothly lift the hydraulic cylinder to the preset installation position, control the stability of the lifting posture during the lifting process, achieve precise alignment between the hydraulic cylinder and the pile frame installation interface, and monitor the lifting alignment process in real time. Step S2.2: Then, based on the corresponding detection parameters, adjust the relative position of the axes of the hydraulic cylinder and the pile frame, correct the parallelism of the axes, and after the adjustment is completed, verify the accuracy of the axis parallelism. Step S2.3: The installation level of the hydraulic cylinder is then tested using the adaptation detection method. The level deviation is corrected based on the test results. After the deviation is adjusted, the level is checked again to ensure that the level deviation is controlled within the preset range. Step S2.4 Next, the contact surfaces of the hydraulic cylinder and the pile frame are pre-treated to remove impurities that affect the docking accuracy. The precise assembly and positioning of the interface between the two is achieved through positioning components. After positioning, the fit of the interface is checked. Step S2.5: Perform connection and tightening according to the set tightening method and symmetrical tightening sequence, control the uniformity of the tightening operation, and avoid abnormal stress on the interface due to uneven tightening. Step S2.6: Perform an overall review of the connection status between the hydraulic cylinder and the pile frame, verify the coaxiality of the two after connection, check the tightness reliability of each fastening point, and check whether there is any additional torque at the connection. After confirming that there are no abnormalities, complete the foundation connection.

4. The method according to claim 1, characterized in that: In step S3, the specific steps are as follows: Step S3.1, conduct a reliability check on the connection between the main pile frame and the foundation, verify the tightness of the connecting components, confirm that the overall posture of the main pile frame is stable without deviation and the structure is uniformly stressed, and determine that the connection of the main pile frame is qualified before proceeding with subsequent installation work. Step S3.2: Mark the docking baseline in the docking area at the top of the main pile frame, complete the baseline alignment using positioning fixtures, determine the docking orientation and initial alignment position of the high auxiliary pile frame, and provide a baseline basis for subsequent precise docking and coaxiality adjustment; Step S3.3: Select appropriate hoisting equipment, take protective measures for the high auxiliary pile frame components to avoid hoisting damage, monitor the attitude of the high auxiliary pile frame in real time during hoisting and make dynamic fine adjustments to control the hoisting stability, hoist the high auxiliary pile frame to the docking position of the main pile frame and complete the initial precise alignment; Step S3.4: After the coaxiality adjustment meets the standard, temporary fixed limit is implemented at the docking part of the high auxiliary pile frame and the main pile frame to constrain the displacement and attitude deviation of the high auxiliary pile frame. The fasteners of the main and auxiliary pile frames are uniformly tightened according to the preset tightening sequence to control the balance of the tightening force. After completion, the fastener tightening status is checked. Step S3.5: After the fastening construction is completed, recheck the coaxiality accuracy of the main and auxiliary pile frames, simultaneously verify the fastening reliability of the fasteners and the overall stress balance of the structure, and check the overall height of the main and auxiliary pile frames after assembly to ensure that the pile frame system after installation meets the requirements for high-altitude operation. Step S3.6: Perform anti-corrosion treatment on the connection and fastening parts of the main and auxiliary pile frames to complete the overall installation process of the high auxiliary pile frame.

5. The method according to claim 1, characterized in that: In step S4, the specific steps for debugging the linkage attitude adjustment system are as follows: Step S4.1: Establish the model predictive control system and build a nonlinear state-space mathematical model of the pile frame-cylinder linkage attitude, as shown in the following formula: ；（1） ；（2） in, Let t be the attitude vector of the pile frame at time t, including verticality, height, and displacement; Let t be the cylinder control input vector; Output observation vectors for the system; The state matrix, For the input matrix, This is the output matrix; For system disturbance terms, For measuring the noise term; Step S4.2, design the model predictive controller and construct the rolling optimization objective function, the formula of which is: ；（3） in, To predict the time domain, To control the time domain; This serves as a reference value for the target attitude of the pile driver; The output error weight matrix is... To control the incremental weight matrix; For the increase of the control quantity of the hydraulic cylinder; Step S4.3: Set the system control constraints. The constraint formula is as follows: ；（4） ；（5） wherein, is the upper limit of the telescopic control amount of the oil cylinder; is the verticality angle constraint threshold of the pile frame; is the current control time.

6. The method according to claim 5, characterized in that: Step S4.4: Install attitude sensors at the connection point between the main pile frame and the secondary pile frame, and install displacement sensors at the end of the cylinder rod. The sensors are rigidly fixed. Step S4.5: After analog-to-digital conversion, the output signal is directly connected to the model predictive control processor to form a closed-loop link for attitude-displacement data acquisition and control calculation. Step S4.6, presetting model predictive control core parameters according to the aforementioned mathematical model and constraint conditions: prediction horizon , control horizon , output weight matrix , control weight matrix , pile frame target posture threshold, cylinder response gain, and parameters are written into the control processor after configuration. Step S4.7 involves sequentially completing the sensor acquisition signal verification, MPC model calculation accuracy verification, hydraulic cylinder control output response test, and pile frame linkage attitude stability debugging. Step S4.8: Correct model bias and parameter error to ensure stable collaborative operation of the model predictive control system with sensors and hydraulic cylinder actuators.

7. The method according to claim 1, characterized in that: In step S5, the specific steps for general aviation attitude adjustment are as follows: Step S5.1: The control system receives general aviation scheduling instructions through wired or wireless communication modules, verifies the validity of the instruction format and data integrity, parses the general aviation attitude target and execution time limit core information in the instruction, and transmits the instruction to the MPC controller after the verification is passed. Step S5.2: The MPC controller outputs dynamic control quantity according to the target attitude and current state, and adjusts the retraction rate and stroke of the hydraulic cylinder. The control process adopts a smooth output strategy to avoid sudden changes in the attitude of the pile frame caused by the impact of the hydraulic cylinder action. Step S5.3: The attitude and displacement sensors collect real-time data on the verticality and height of the pile frame at a high-frequency sampling rate. After filtering and noise reduction, the data is transmitted back to the model prediction and control system in real time to provide real-time data support for attitude correction. In step S5.4, the MPC controller, based on real-time acquired data, iteratively corrects the cylinder control parameters through a rolling optimization algorithm, dynamically fine-tunes the verticality and height of the pile frame, and locks the current attitude when the pile frame attitude parameters fall within the navigation standard judgment threshold range, thus completing the navigation attitude adjustment execution.

8. The method according to claim 1, characterized in that: In step S6, the specific steps for the self-locking pressure holding start are as follows: Step S6.1: Install the self-locking mechanism at the connection between the pile frame and the hydraulic cylinder, and confirm that the self-locking mechanism is well compatible with the existing linkage attitude adjustment system and meets the requirements for pile frame attitude locking. Step S6.2: Install pressure monitoring components at key pressure measurement points in the hydraulic system, and connect the signal output terminal of the pressure monitoring components to the model predictive control system to realize the linkage between monitoring data and signals of the self-locking mechanism and pressure compensation actuator; Step S6.3: Based on the self-locking pressure holding requirements, set the pressure monitoring interval, define the normal working pressure threshold and abnormal warning threshold, clarify the warning trigger logic for abnormal pressure, and ensure that the pressure monitoring component can collect hydraulic system pressure data in real time and can promptly feed back abnormal pressure signals. Step S6.4: Set the pressure compensation trigger threshold. When the pressure data collected by the pressure monitoring component is lower than the preset threshold, the pressure compensation mechanism is automatically triggered. During the pressure compensation process, the pressure monitoring component provides real-time feedback of the hydraulic system pressure data. Step S6.5: The control system dynamically adjusts the pressure compensation amount based on the feedback data. After the pressure compensation is completed, the system pressure is checked to ensure that the pressure is stably maintained within the normal operating threshold range, thereby achieving closed-loop control. Step S6.6: Perform coordinated debugging of the self-locking mechanism, pressure monitoring component, and pressure compensation mechanism to correct signal linkage deviations and maintain the pressure stability required for pile frame attitude locking.

9. The method according to claim 1, characterized in that: In step S7, the operation monitoring process steps are as follows: Step S7.1: Install the load detection component and vibration detection component on the key stress-bearing parts and vibration-sensitive parts of the pile frame respectively, and use an appropriate sealing and fixing method to achieve a reliable connection between the components and the pile frame and hydraulic system; Step S7.2: Confirm that the component and the pile frame linkage attitude adjustment system and control system are well compatible. Connect the signal output terminal of the detection component to the model prediction control system, complete the signal access debugging, and ensure that the operation-related data can be collected stably. Step S7.3 During the operation, the load detection component and the vibration detection component synchronously collect relevant data in real time. The load data includes the working load of the pile frame and the stress load on the components, and the vibration data includes the overall vibration amplitude of the pile frame and the vibration frequency of key connection parts. Step S7.4: After data acquisition is completed according to the preset acquisition frequency, the acquired data is initially denoised and processed. At the same time, the processed real-time data is synchronously transmitted to the control system to provide data support for the adjustment of cylinder parameters.

10. The method according to claim 9, characterized in that: Step S7.5: After receiving the real-time transmitted load and vibration data, the control system analyzes and judges the data in conjunction with the preset operating standards, and adjusts the core parameters such as the cylinder extension and retraction amount and pressure output in a coordinated manner. Step S7.6: By adjusting the parameters, the system pressure is kept stable and the pile frame operation posture is accurately calibrated to ensure that the pile frame operation process meets the preset working condition requirements. Step S7.7: If the control system determines that the collected load and vibration data deviate from the preset threshold, the abnormal emergency handling mechanism is immediately activated, non-essential operation actions are cut off first, and the control system is linked to fine-tune the relevant parameters of the hydraulic cylinder to gradually correct the abnormal state. Step S7.8: After the load and vibration data return to the preset threshold range and the system is confirmed to be running stably, resume the normal operation process to avoid the abnormal state from escalating and causing equipment damage. Step S7.9: Completely retain the original load and vibration data collected during the operation, as well as relevant data such as cylinder parameter adjustment records and anomaly handling logs; Step S7.10: The retained data must be traceable to facilitate subsequent review of the operation process and optimization and adjustment of cylinder parameters and monitoring thresholds.

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