A safe linkage system for remote exhaust and pile frame operation of a super large oil cylinder of a pile driver

Abstract

The application provides a safe linkage system for remote exhaust and pile frame operation of a super-large oil cylinder of a pile-driving ship, and relates to the technical field of ship operation safety. The system comprises: a data acquisition and signal preprocessing module for acquiring multi-source data and performing preprocessing operation on the multi-source data; a full-working-condition topology safety interlocking module for performing safety verification after exhaust, and restoring bus enable in time sequence; a feedforward compensation module for monitoring pressure drop rate of an exhaust cavity in a high frequency during the exhaust process and dynamically fitting bulk modulus; an environmental noise notch and full-deck cooperative early warning module for acquiring deck background noise, extracting notch points and synthesizing high-penetration early warning audio signals; and a self-checking module for intercepting signals to the pile-driving ship control system in a stuck state. Beneficial effects: the safety is effectively improved, full-working-condition safety isolation and permission recovery without mechanical impact are realized in the whole exhaust process, the problem of oil cylinder pressure loss is effectively solved, the notification range of clearing field warning and the accuracy of air valve detection can be improved.

Description

Technical Field

[0001] This invention relates to the field of ship operation safety technology, specifically to a safety linkage system for remote exhaust of ultra-large hydraulic cylinders and pile frame operation on a piling vessel. Background Technology

[0002] The ultra-large luffing cylinder of the ultra-large piling vessel is the core component of the piling frame luffing drive. Residual gas in its hydraulic system directly affects the cylinder's operational stability, requiring regular venting and maintenance. However, in long-term technical research and engineering practice, the following drawbacks of existing technologies have been identified: First, the safety interlock logic is simplistic, locking only the main actions such as pile frame lifting and lowering, without covering auxiliary procedures such as pile driving and hoisting, thus still posing a collision risk. Second, after adopting the improved exhaust efficiency, gas-liquid mixture discharge is prone to occur, leading to temporary loss of pressure in the hydraulic cylinder and affecting the safety of surrounding components. Third, there is a lack of an audible and visual warning mechanism, with an alarm distance of less than 30m, which cannot cover the entire working area of ​​the piling vessel deck. Fourth, the remote control terminal lacks a fault self-diagnosis function, and cannot provide timely feedback when the exhaust valve malfunctions, which can easily lead to misjudgment. Summary of the Invention

[0003] The main objective of this invention is to provide a safe linkage system for remote exhaust of the ultra-large hydraulic cylinder of a piling vessel and piling frame operation, thereby solving the problems mentioned in the background art.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a safety linkage system for remote exhaust of ultra-large hydraulic cylinders and pile frame operation on a piling vessel, comprising: The data acquisition and signal preprocessing module is used to acquire multi-source data and perform preprocessing operations on the multi-source data; The full-condition topology safety interlock module communicates with the data acquisition and signal preprocessing module to build an access control matrix before and during exhaust, perform low-level soft shielding and interception of operation control commands based on the access control matrix, and perform safety verification after exhaust and restore bus enable according to the timing sequence. The feedforward compensation module communicates with the data acquisition and signal preprocessing module to monitor the pressure drop rate of the exhaust chamber at high frequency and dynamically fit the bulk elastic modulus during the exhaust process. When the pressure drop threshold is detected, the feedforward compensation flow rate is calculated and high-pressure oil is injected into the cylinder without exhaust chamber through the piling vessel control system to establish support back pressure. The environmental noise notch and full deck coordinated early warning module is connected to the data acquisition and signal preprocessing module. It is used to collect deck background noise before exhaust and extract notch points to synthesize a high-penetration early warning audio signal. It also sends coordinated control messages to the ship's broadcast system and terminals to realize deck sound and light clearing warning throughout the exhaust process. The self-test module communicates with the data acquisition and signal preprocessing module. It is used to apply micropulses before exhaust to calculate the valve core displacement based on the back electromotive force, and to intercept signals to the piling vessel control system when stuck.

[0005] Furthermore, the data acquisition and signal preprocessing module includes: a data acquisition unit and a preprocessing unit; The preprocessing unit is used to perform preprocessing operations on the collected multi-source data; the preprocessing operations include: filtering and noise reduction, normalization, and unified timestamp.

[0006] Furthermore, the all-condition topology safety interlock module includes: The permission matrix configuration unit is used to configure the permission matrix according to the current operating status of the piling vessel; the order of the operating status is: standby, exhaust, luffing, pile driving, pile hoisting, and pile clamping. The expression for the permission matrix is ​​as follows: (1); in, This is the permission matrix. For the first in the permission matrix Line 1 Column elements, such as This refers to the element in the 1st row and 6th column; in the permission matrix, the rows represent the current operating status of the piling vessel, and the columns represent the permissions corresponding to the operation control commands. The element values ​​in the permission matrix represent whether an operation control command entering a certain operation is allowed to execute in a certain operation status, with 0 indicating disallowed and 1 indicating allowed; the configured permission matrix is ​​expressed as follows: (2); in, The configured permission matrix; The locking and soft shielding unit is used to enter the locking state after receiving the exhaust command and to perform low-level soft shielding interception of the operation control command based on the state mask. A safety verification unit is used to perform safety verification after exhaust. The permission restoration unit is used to receive the end-lock signal and exit the locked state after a preset security delay period.

[0007] Furthermore, the specific process of safety verification is as follows: read the current pile frame inclination angle data and the real-time pressure data of the left and right dual hydraulic cylinders, and calculate the static support matching rate at the current inclination angle, as shown in the following expression: (3); in, For static support matching rate, The current tilt angle, For continuous time, , These are the real-time exhaust port pressures of the left and right dual hydraulic cylinders, respectively. This is the reference support pressure constant under the vertical state of the pile frame; The formula for calculating the asymmetric off-center load ratio of a twin-cylinder engine is as follows: (5); in, This refers to the asymmetric off-center load ratio of the dual-cylinder system. Determine the conditions for ending the lock, and when the conditions are met, issue an end-lock signal.

[0008] Furthermore, the expression for ending the locking condition is as follows: (6).

[0009] Furthermore, the feedforward compensation module includes: The pressure change rate monitoring unit is used to monitor the pressure change rate of the exhaust port of the exhaust chamber of all cylinders in the exhaust state. For any cylinder in the exhaust state, when the pressure change rate is greater than the pressure drop threshold, it is determined that the cylinder is about to lose pressure, and a warning signal is sent at this time. The bulk modulus fitting unit is used to fit the bulk modulus online, and its expression is as follows: (7); in, The exhaust port pressure of the exhaust chamber of any cylinder in the exhaust state. This is the real-time bulk modulus of elasticity corresponding to the hydraulic cylinder. The elastic modulus in the pure oil state. This is the gas content correction factor. For saturation dissolution pressure, The gas adiabatic index; The feedforward compensation flow calculation unit is used to calculate the feedforward compensation flow based on the real-time bulk elastic modulus after receiving the early warning signal. The oil replenishment request sending unit is used to send the feedforward compensation flow signal to the piling vessel control system, which then drives the main hydraulic pump to inject oil into the support chamber of the cylinder.

[0010] Furthermore, the expression for the feedforward compensation flow is as follows: (8); in, For feedforward compensation flow, For the exhaust chamber volume, For proportional feedback gain, The target back pressure.

[0011] Furthermore, the environmental noise notch and full-deck coordinated early warning module includes: The notch extraction unit is used to extract deck background noise and identify the minimum energy frequency band in high noise before exhaust preparation. The expression is as follows: (9); in, The notch point is the frequency of the energy minimum. For frequency, The function to find the minimum value The power spectral density of the deck background noise; The penetrating warning audio synthesis unit is used to synthesize a high-penetration warning audio signal with the frequency of minimum noise energy as the center frequency, as shown in the following expression: (10); in, To synthesize a high-penetration warning audio signal, For the first The amplitude of each harmonic component, The frequency offset set around the center frequency; The ship-wide network collaborative message distribution unit assembles the clearing instructions, sound frequencies, and light patterns into control messages and sends UDP collaborative control messages to the ship-wide broadcast system and SCADA monitoring terminal. The full deck linkage and clearing warning execution unit is used to retrieve the ship's broadcast system to play penetrating clearing audio in the notch point frequency band, while controlling the full deck work lights to switch to high-frequency pulse flashing mode and popping up a strong reminder window on the terminal.

[0012] Furthermore, the self-test module includes: The valve opening self-test unit is used to send a weak drive pulse before opening the valve, and then calculate the second derivative of the actual displacement of the valve core and the current with respect to time at the moment of valve opening to determine whether the high-altitude exhaust valve is stuck. The interception unit is used to send an exhaust termination signal to the piling vessel control system when the high-altitude exhaust valve is stuck, so that the control system can control the piling vessel to end the exhaust process.

[0013] Furthermore, the expression for the actual displacement of the valve core is as follows: (11); in, This refers to the real-time physical displacement of the valve core. The real-time terminal voltage of the driving pulse applied to the coil, DC resistance of the exhaust valve coil circuit These are the real-time currents of the coil circuit, For integration time, the variable is the integration variable. The duration of the pulse window. The static inductance of the coil when the valve core is in its initial zero position; The actual displacement of the valve core needs to be corrected, as shown in the following expression: (12); in, This is the corrected actual displacement of the valve core. This is the reference value for the DC resistance of the exhaust valve coil circuit; The diagnostic process for a stuck state is as follows: Set the valve core physical displacement threshold. and pulse mutation threshold ,when and When this happens, the valve core is determined to be stuck.

[0014] The beneficial effects are as follows: (1) Using a weight matrix to implement access control can effectively avoid auxiliary procedures such as pile driving and pile hoisting during the exhaust process, thus effectively improving the safety of exhaust; (2) Before the lockout state ends, a condition judgment is performed to achieve full-condition safety isolation and permission restoration without mechanical impact throughout the entire exhaust process; (3) Feedforward compensation can effectively solve the problem of cylinder pressure loss; (4) The combination of penetrating early warning audio with light and text can improve the notification range of clearing warnings; (5) In the self-test of the exhaust valve, the real-time physical displacement of the valve core and the second derivative of the current with respect to time are introduced to improve the accuracy of the exhaust valve test. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a connection block diagram of the system of the present invention. Detailed Implementation

[0016] Example 1 like Figure 1 As shown, a safety linkage system for remote exhaust of the ultra-large hydraulic cylinder of a piling vessel and piling frame operation includes: The data acquisition and signal preprocessing module is used to acquire multi-source data and perform preprocessing operations on the multi-source data; The data acquisition and signal preprocessing module includes: a data acquisition unit and a preprocessing unit; The data acquisition unit is used to acquire multi-source data signals; the multi-source data includes: exhaust port pressure data of the hydraulic cylinder exhaust chamber, pile frame tilt angle, high-frequency current attenuation data of the exhaust valve solenoid coil circuit, ambient sound and bus message monitoring data; Bus message monitoring data can be divided into control command message data, device status and working mode message data, process parameter and physical quantity message data, and security warning and network health message data. Control command messages include: pile frame luffing / lowering commands, pile driving hammer / hydraulic pressure start commands, pile hoisting winch lifting / lowering commands, and exhaust request commands issued by the remote control terminal; Equipment status and operating mode messages include: function code, which identifies the specific action of the current command; enable control word, which controls whether the actuator responds; source node ID, which identifies which control terminal the command comes from; control terminals include: cab, deck handheld terminal or remote control; The process parameters and physical quantity messages include: real-time operating current and torque of the pile driving winch motor / hydraulic motor, real-time hydraulic clamping pressure of the pile driving clamp, total pressure of the main oil supply pipeline of the hydraulic system, real-time oil temperature of the hydraulic tank, real-time engineering values ​​and signal quality bits; real-time engineering values ​​include: real-time values ​​of pressure, current and angle; signal quality bits are divided into 0 and 1, 0 indicates untrusted and 1 indicates trusted. Safety warning and network health messages include: deck / control room emergency stop button status, field safety door / hazardous area light curtain trigger status, heartbeat messages of critical control nodes, packet loss rate and communication delay of Profinet periodic data frames, heartbeat counter and emergency stop bit; critical control nodes include: high-altitude exhaust valve control node and main pump station node; heartbeat counter, incrementing every 10ms, is used to detect whether the bus is stuck; emergency stop bit is the highest priority safety flag bit; The preprocessing unit is used to perform preprocessing operations on the collected multi-source data; the preprocessing operations include: filtering and noise reduction, normalization, and unified timestamps; Filtering and noise reduction involves filtering data to reduce noise. Commonly used filtering methods, such as Kalman filtering, can be selected here. Normalization is the process of normalizing the range of data values ​​to the range of 0 to 1 in order to eliminate the influence of different units between multiple data sources. A unified timestamp assigns a millisecond-level timestamp to all data to achieve temporal alignment of multi-source data.

[0017] The full-condition topology safety interlock module communicates with the data acquisition and signal preprocessing module to construct an access control matrix. Before and during exhaust, the module performs low-level soft shielding and interception of operation control commands based on the access control matrix. After exhaust, it performs safety verification and restores bus enable according to the timing sequence, thus achieving full-condition safety isolation and access control restoration without mechanical impact throughout the entire exhaust process. The all-condition topology safety interlock module includes: The permission matrix configuration unit is used to configure the permission matrix according to the current operating status of the piling vessel; the order of the operating status is: standby, exhaust, luffing, pile driving, pile hoisting, and pile clamping. Since there are 6 job statuses, the permission matrix has a dimension of 6×6. The expression for the permission matrix is ​​as follows: (1); in, This is the permission matrix. For the first in the permission matrix Line 1 Column elements, such as This refers to the element in the 1st row and 6th column. In the permission matrix, the rows represent the current operating status of the piling vessel, and the columns represent the permissions corresponding to the operation control commands. The order of rows from top to bottom and columns from left to right is consistent with the order of the operation statuses. Therefore, the element value in the permission matrix represents the permission value of whether an operation control command for a certain operation is allowed to be executed in a certain operation status. Generally, 0 represents not allowed and 1 represents allowed, such as: A value of 0 indicates that in standby mode, the operation control command for entering the clamping state is not allowed to be executed. To ensure safety under all operating conditions, the permission matrix configuration rule is as follows: in standby mode, all operation control commands are allowed; outside of standby mode, only operation control commands for standby and the corresponding operations in that state are allowed. Based on the permission matrix configuration rule, the configured permission matrix can be obtained, as shown in the following expression: (2); in, The configured permission matrix; The locking and soft shielding unit is used to enter the locking state after receiving the exhaust command and to perform low-level soft shielding interception of the operation control command based on the state mask; the sign of entering the locking state is that the state mask changes from the first row vector in the permission matrix to the second row vector. It should be noted that the permission matrix configured in this application is intended to avoid the influence of operation control commands such as luffing, pile driving, pile hoisting, and pile clamping during the venting state. Therefore, only the venting state is set to a locked state to manage the permissions of operation control commands. As for the permission management and setting of operation states such as luffing, pile driving, pile hoisting, and pile clamping, these are not within the scope of this application. The safety verification unit is used to perform safety verification after venting. The specific process is as follows: After the venting process is completed, although the gas in the cylinder chamber has been completely discharged, due to the slight difference in the venting rhythm of the left and right cylinders, unreleased asymmetric torsional residual stress may accumulate in the pile frame structure. If the locking state is blindly terminated at this time, allowing amplitude changes or pile driving, the instantaneous mechanical release will cause the pile frame to shake violently, or even damage the pin. Therefore, before terminating the locking state, the current pile frame inclination angle data and the real-time pressure data of the left and right cylinders are read first, and the static support matching rate at the current inclination angle is calculated. The expression is as follows: (3); in, For static support matching rate, The current tilt angle, For continuous time, , This refers to the real-time pressure at the exhaust port of the left and right dual hydraulic cylinders. The reference support pressure constant for the pile frame in a vertical state is determined by the self-weight of the pile frame system, and the specific relationship is as follows: (4); in, For the self-weight of the piling system, To determine the number of luffing cylinders, piling vessels typically have two luffing cylinders. This is the effective area of ​​the pressure chamber of a single hydraulic cylinder, which can be calculated using the formula for the area of ​​a circle. , The horizontal lever arm refers to the distance from the center of gravity of the pile frame to the main hinge axis of the pile frame base under the vertical reference posture, and the normal lever arm refers to the distance from the thrust line of the luffing cylinder to the main hinge axis of the pile frame base under the vertical reference posture. The formula for calculating the asymmetric off-center load ratio of a twin-cylinder engine is as follows: (5); in, This refers to the asymmetric off-center load ratio of the dual-cylinder system. Determine the lock termination condition, and when the lock termination condition is met, issue an lock termination signal; The expression for ending the locking condition is as follows: (6); The permission recovery unit is used to receive the end-lock signal and exit the lock state after a preset security delay period. The sign of exiting the lock state is that the state mask changes from the second row vector in the permission matrix to the first row vector. A security delay period of 30 seconds is preferred.

[0018] The feedforward compensation module communicates with the data acquisition and signal preprocessing module to monitor the pressure drop rate of the exhaust chamber at high frequency and dynamically fit the bulk elastic modulus during the exhaust process. When the pressure drop threshold is detected, the feedforward compensation flow rate is calculated and high-pressure oil is injected into the cylinder without exhaust chamber through the piling vessel control system to establish support back pressure. The feedforward compensation module includes: The pressure change rate monitoring unit is used to monitor the pressure change rate of the exhaust port of all cylinders in the exhaust state. For any cylinder in the exhaust state, when the pressure change rate is greater than the pressure drop threshold, it is determined that the cylinder is about to lose pressure and a warning signal is sent. The reason for judging whether the pressure is lost based on the pressure change rate is that a large amount of air dissolves in the oil under high pressure. The local pressure drop during the exhaust process causes the oil to boil violently and form gas-liquid mixed foam. When the foam is ejected, it causes the pressure drop rate to increase sharply. The bulk modulus fitting unit is used to fit the bulk modulus online, and its expression is as follows: (7); in, The exhaust port pressure of the exhaust chamber of any cylinder in the exhaust state. This is the real-time bulk modulus of elasticity corresponding to the hydraulic cylinder. This refers to the elastic modulus in the pure oil state, typically 1.5 GPa. This is the gas content correction factor, typically 0.05. The saturation dissolution pressure is typically taken as 0.8 MPa. The adiabatic index of the gas is typically taken as 1.4. The feedforward compensation flow calculation unit is used to calculate the feedforward compensation flow based on the real-time bulk elastic modulus after receiving the early warning signal. The expression is as follows: (8); in, For feedforward compensation flow, For the exhaust chamber volume, For proportional feedback gain, it is typically taken as 0.12m. 3 / (s MPa), The target back pressure is typically taken as 2.5 MPa. The oil replenishment request sending unit is used to send the feedforward compensation flow signal to the piling vessel control system, which then drives the main hydraulic pump to inject oil into the support chamber of the cylinder.

[0019] The environmental noise notch and full deck coordinated early warning module is connected to the data acquisition and signal preprocessing module. It is used to collect deck background noise before exhaust and extract notch points to synthesize high-penetration early warning audio signals. It also sends coordinated control messages to the ship's broadcast system and terminals before and during exhaust, so as to realize deck sound and light clearing warning throughout the exhaust process. The environmental noise notch and full deck coordinated early warning module includes: The notch extraction unit is used to extract deck background noise and identify the minimum energy frequency band in high noise before exhaust preparation. The expression is as follows: (9); in, The notch point is the frequency of the energy minimum. For frequency, To find the minimum value of a function, that is, to find a function that minimizes the minimum value. The independent variable in parentheses is the dependent variable that has reached its minimum value. The power spectral density of the deck background noise is, i.e. In order to make Take the frequency corresponding to the minimum value; The penetrating warning audio synthesis unit is used to synthesize a high-penetration warning audio signal with the frequency of minimum noise energy as the center frequency, as shown in the following expression: (10); in, To synthesize a high-penetration warning audio signal, For the first The amplitude of each harmonic component, The frequency offset set around the center frequency; The ship-wide network collaborative message distribution unit assembles the clearing instructions, sound frequencies, and light patterns into control messages and sends UDP collaborative control messages to the ship-wide broadcast system and SCADA monitoring terminal. The full-deck linkage and clearing warning execution unit is used to retrieve the ship's broadcast system to play penetrating clearing audio in the notch point frequency band, while controlling the full-deck work lights to switch to high-frequency pulse flashing mode and popping up a strong reminder window on the terminal; the flashing frequency of the high-frequency pulse flashing mode can be 5Hz.

[0020] The self-test module is connected to the data acquisition and signal preprocessing module. It is used to apply micropulses before the exhaust starts to calculate the valve core displacement based on the back electromotive force, and to intercept signals to the piling vessel control system when stuck. The self-test module includes: The valve opening self-test unit is used to send a weak drive pulse before opening the valve, and then calculate the second derivative of the actual displacement of the valve core and the current with respect to time at the moment of valve opening to determine whether the high-altitude exhaust valve is stuck. According to the electromagnetic induction formula, the ratio of back electromotive force to valve core velocity is the back electromotive force structural constant. Combining this with the formula for velocity and displacement during motion, the expression for the actual displacement of the valve core can be obtained as follows: (11); in, This refers to the real-time physical displacement of the valve core. The real-time terminal voltage of the driving pulse applied to the coil is typically 24V. DC resistance of the exhaust valve coil circuit These are the real-time currents of the coil circuit, For integration time, the variable is the integration variable. This refers to the pulse window duration, typically 30ms. The static inductance of the coil when the valve core is in its initial zero position is typically 0.45H. The actual displacement of the valve core needs to be adjusted to eliminate the interference of temperature drift. Therefore, the actual displacement of the valve core needs to be corrected, as shown in the following expression: (12); in, This is the corrected actual displacement of the valve core. The reference value for the DC resistance of the exhaust valve coil circuit is typically 12 ohms. The diagnostic process for a stuck state is as follows: Set the valve core physical displacement threshold. and pulse mutation threshold ,when and When the valve core is fully engaged, it is determined that the valve core is stuck. The second derivative of the current with respect to time is introduced here to determine the stuck state because the process before the solenoid valve core is fully engaged is as follows: when initially energized, the current rises rapidly and the first derivative of the current is positive; as the back electromotive force increases, the current decreases and the first derivative of the current becomes negative; when the solenoid valve core is engaged, the valve core speed suddenly drops to 0, the back electromotive force also suddenly drops to 0, the current suddenly increases, and the first derivative of the current becomes positive again. Therefore, determining the stuck state based on the current and its first derivative is rather cumbersome. However, for the second derivative of the current, its absolute value is relatively small before the solenoid valve core is engaged, while when the solenoid valve core is engaged, there is a pulse peak, that is, the value of the second derivative of the current when the solenoid valve core is engaged is much larger than the absolute value of the second derivative of the current before the solenoid valve core is engaged. Therefore, it is easier to find a pulse sudden change threshold as the basis for determining the stuck state. The interception unit is used to send an exhaust termination signal to the piling vessel control system when the high-altitude exhaust valve is stuck, so that the control system can control the piling vessel to end the exhaust process.

[0021] 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 safety linkage system for remote exhaust of ultra-large hydraulic cylinders and pile frame operation on a piling vessel, characterized in that, include: The data acquisition and signal preprocessing module is used to acquire multi-source data and perform preprocessing operations on the multi-source data; The full-condition topology safety interlock module communicates with the data acquisition and signal preprocessing module to build an access control matrix before and during exhaust, perform low-level soft shielding and interception of operation control commands based on the access control matrix, and perform safety verification after exhaust and restore bus enable according to the timing sequence. The feedforward compensation module communicates with the data acquisition and signal preprocessing module and is used to monitor the pressure drop rate of the exhaust chamber at high frequency and dynamically fit the bulk elastic modulus during the exhaust process. When the pressure drop threshold is detected, the feedforward compensation flow is calculated and high-pressure oil is injected into the cylinder's non-exhaust chamber via the piling vessel control system to establish support back pressure. The environmental noise notch and full deck coordinated early warning module is connected to the data acquisition and signal preprocessing module. It is used to collect deck background noise before exhaust and extract notch points to synthesize high-penetration early warning audio signals, and send coordinated control messages to the ship's broadcast system and terminals. The self-test module communicates with the data acquisition and signal preprocessing module. It is used to apply micropulses before exhaust to calculate the valve core displacement based on the back electromotive force, and to intercept signals to the piling vessel control system when stuck.

2. The safety linkage system for remote exhaust of the ultra-large hydraulic cylinder and pile frame operation of a piling vessel according to claim 1, characterized in that, The data acquisition and signal preprocessing module includes: a data acquisition unit and a preprocessing unit; The preprocessing unit is used to perform preprocessing operations on the collected multi-source data; the preprocessing operations include: filtering and noise reduction, normalization, and unified timestamp.

3. The safety linkage system for remote exhaust of the ultra-large hydraulic cylinder and pile frame operation of a piling vessel according to claim 2, characterized in that, The all-condition topology safety interlock module includes: The permission matrix configuration unit is used to configure the permission matrix according to the current operating status of the piling vessel; the order of the operating status is: standby, exhaust, luffing, pile driving, pile hoisting, and pile clamping. The expression for the permission matrix is ​​as follows: （1）； in, This is the permission matrix. The first in the permission matrix Line 1 Column elements, such as This refers to the element in the 1st row and 6th column; in the permission matrix, the rows represent the current operating status of the piling vessel, and the columns represent the permissions corresponding to the operation control commands. The element values ​​in the permission matrix represent whether an operation control command entering a certain operation is allowed to execute in a certain operation status, with 0 indicating disallowed and 1 indicating allowed; the configured permission matrix is ​​expressed as follows: （2）； in, The configured permission matrix; The locking and soft shielding unit is used to enter the locking state after receiving the exhaust command and to perform low-level soft shielding interception of the operation control command based on the state mask. A safety verification unit is used to perform safety verification after exhaust. The permission restoration unit is used to receive the end-lock signal and exit the locked state after a preset security delay period.

4. The safety linkage system for remote exhaust of the ultra-large hydraulic cylinder and pile frame operation of a piling vessel according to claim 3, characterized in that, The specific process of safety verification is as follows: read the current pile frame inclination angle data and the real-time pressure data of the left and right dual hydraulic cylinders, and calculate the static support matching rate at the current inclination angle, as shown in the following expression: （3）； in, For static support matching rate, The current tilt angle, For continuous time, , These are the real-time exhaust port pressures of the left and right dual hydraulic cylinders, respectively. This is the reference support pressure constant under the vertical state of the pile frame; The formula for calculating the asymmetric off-center load ratio of a twin-cylinder engine is as follows: （5）； in, This refers to the asymmetric off-center load ratio of the dual-cylinder system. Determine the conditions for ending the lock, and when the conditions are met, issue an end-lock signal.

5. The safety linkage system for remote exhaust of the ultra-large hydraulic cylinder and pile frame operation of a piling vessel according to claim 4, characterized in that, The expression for ending the locking condition is as follows: （6）。 6. The safety linkage system for remote exhaust of the ultra-large hydraulic cylinder and pile frame operation of a piling vessel according to claim 2, characterized in that, The feedforward compensation module includes: The pressure change rate monitoring unit is used to monitor the pressure change rate of the exhaust port of the exhaust chamber of all cylinders in the exhaust state. For any cylinder in the exhaust state, when the pressure change rate is greater than the pressure drop threshold, it is determined that the cylinder is about to lose pressure and a warning signal is sent. The bulk modulus fitting unit is used to fit the bulk modulus online, and its expression is as follows: （7）； in, The exhaust port pressure of the exhaust chamber of any cylinder in the exhaust state. This is the real-time bulk modulus of elasticity corresponding to the hydraulic cylinder. The elastic modulus in the pure oil state. This is the gas content correction factor. For saturation dissolution pressure, The gas adiabatic index; The feedforward compensation flow calculation unit is used to calculate the feedforward compensation flow based on the real-time bulk elastic modulus after receiving the early warning signal. The oil replenishment request sending unit is used to send the feedforward compensation flow signal to the piling vessel control system, which then drives the main hydraulic pump to inject oil into the support chamber of the cylinder.

7. The safety linkage system for remote exhaust of the ultra-large hydraulic cylinder and pile frame operation of a piling vessel according to claim 6, characterized in that, The expression for the feedforward compensation flow rate is as follows: （8）； in, For feedforward compensation flow, For the exhaust chamber volume, For proportional feedback gain, The target back pressure.

8. The safety linkage system for remote exhaust of the ultra-large hydraulic cylinder and pile frame operation of a piling vessel according to claim 2, characterized in that, The environmental noise notch and full deck coordinated early warning module includes: The notch extraction unit is used to extract deck background noise and identify the minimum energy frequency band in high noise before exhaust preparation. The expression is as follows: （9）； in, The notch point is the frequency of the energy minimum. For frequency, The function to find the minimum value The power spectral density of the deck background noise; The penetrating warning audio synthesis unit is used to synthesize a high-penetration warning audio signal with the frequency of minimum noise energy as the center frequency, as shown in the following expression: （10）； in, To synthesize a high-penetration warning audio signal, For the first The amplitude of each harmonic component, The frequency offset set around the center frequency; The ship-wide network collaborative message distribution unit assembles the clearing instructions, sound frequencies, and light patterns into control messages and sends UDP collaborative control messages to the ship-wide broadcast system and SCADA monitoring terminal. The full-deck linkage and clearance warning execution unit is used to retrieve the ship's broadcast system to play penetrating clearance audio in the notch point frequency band, while controlling the full-deck work lights to switch to high-frequency pulse flashing mode and popping up a strong reminder window on the terminal.

9. The safety linkage system for remote exhaust of the ultra-large hydraulic cylinder and pile frame operation of a piling vessel according to claim 2, characterized in that, The self-test module includes: The valve opening self-test unit is used to send a weak drive pulse before opening the valve, and then calculate the second derivative of the actual displacement of the valve core and the current with respect to time at the moment of valve opening to determine whether the high-altitude exhaust valve is stuck. The interception unit is used to send an exhaust termination signal to the piling vessel control system when the high-altitude exhaust valve is stuck, so that the control system can control the piling vessel to end the exhaust process.

10. The safety linkage system for remote exhaust of the ultra-large hydraulic cylinder and pile frame operation of a piling vessel according to claim 9, characterized in that, The expression for the actual displacement of the valve core is as follows: （11）； in, This refers to the real-time physical displacement of the valve core. The real-time terminal voltage of the driving pulse applied to the coil, DC resistance of the exhaust valve coil circuit These are the real-time currents of the coil circuit, For integration time, the variable is the integration variable. The duration of the pulse window. The static inductance of the coil when the valve core is in its initial zero position; The actual displacement of the valve core needs to be corrected, as shown in the following expression: （12）； in, This is the corrected actual displacement of the valve core. This is the reference value for the DC resistance of the exhaust valve coil circuit; The diagnostic process for a stuck state is as follows: Set the valve core physical displacement threshold. and pulse mutation threshold ,when and When this happens, the valve core is determined to be stuck.

Images