Modular mounting system and method for a pre-fabricated pod phase modifier

Abstract

The present application relates to phase modifier installation technical field, especially in a kind of prefabricated cabin type phase modifier's modular installation system and method, system includes datum cabin positioning module, temperature field monitoring module, cabin pose measurement module, cumulative error prediction module, dynamic compensation quantity calculation module and compensation execution and retest module.In the present application, the temperature distribution of temperature field monitoring module is sensed in real time and heat drift correction is carried out before pose deviation extraction, and the non-uniform drift of measurement datum caused by day-night temperature difference is excluded;Through cumulative error prediction module, the deviation sequence of installed cabin body is trend fitted, and the feedforward is introduced into compensation calculation to offset the error superposition trend of each cabin;Through dynamic compensation quantity calculation module, pose compensation vector is decomposed into the independent adjustment amount of each support and pushing device, combined with stroke constraint verification and retest closed loop, realize the precision control of the whole process of multi-cabin splicing, effectively guarantee the docking accuracy of end cabin body electrical interface.

Description

Technical Field

[0001] This invention relates to the field of synchronous condenser installation technology, and in particular to a modular installation system and method for a prefabricated cabin-type synchronous condenser. Background Technology

[0002] Currently, with the continuous expansion of ultra-high voltage direct current (UHVDC) transmission projects and the grid connection of new energy sources, the demand for dynamic reactive power compensation in the power grid is becoming increasingly urgent. As a key device for maintaining system voltage stability, the demand for synchronous condensers is growing rapidly. Traditional synchronous condenser stations adopt a combined on-site civil construction and separate equipment installation model, which suffers from long construction cycles, large on-site workload, and high difficulty in quality control. To shorten the construction cycle and improve installation quality, prefabricated modular synchronous condensers have become an important development direction in the industry. The core idea is to integrate and prefabricate the equipment and the cabin in the factory, with only cabin hoisting, splicing, and electrical connections completed on-site, thus achieving rapid station construction. In this construction model, multiple prefabricated cabins need to be hoisted and positioned sequentially along the foundation embedded parts. The electrical connection interfaces and busbar holes between each cabin need to be precisely aligned, placing high demands on installation positioning accuracy. In recent years, large-size spatial measurement instruments such as laser trackers have been gradually applied to the pose measurement of large equipment installation sites, providing the necessary hardware foundation for achieving high-precision positioning.

[0003] However, for the multi-compartment splicing installation of prefabricated modular synchronous condensers arranged sequentially along the foundation, random positioning deviations are inevitably introduced during the hoisting process because each compartment is hoisted and positioned independently. If each compartment is positioned based solely on theoretical design coordinates without considering the actual positions of the already installed compartments, the positioning deviation of the previous compartment will be directly superimposed on the next compartment, causing the error to accumulate compartment by compartment along the splicing direction. Ultimately, the cumulative deviation of the electrical interface of the end compartment relative to the first compartment far exceeds the allowable range. Even more challenging is the extreme diurnal temperature variation and uneven solar radiation in the Northwest Gobi Desert region, where there are significant differences in thermal expansion characteristics between the foundation embedded parts and the compartment steel structure, causing the measurement benchmark to drift non-uniformly at different times. Existing installation methods rely solely on temperature conditions at a single moment for positioning, which cannot eliminate the influence of temperature effects during deviation extraction, nor can it predict and compensate for the error accumulation trend. This leads to a continuous amplification of the cumulative error during compartment-by-compartment splicing, ultimately resulting in severe deviations in the alignment of the electrical connection holes of the end compartment, forcing repeated hoisting adjustments and even on-site hole enlargement, seriously affecting installation efficiency and project progress. To address the aforementioned issues, this application proposes a modular installation system and method for a prefabricated cabin-type synchronous condenser. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a modular installation system and method for a prefabricated cabin-type synchronous condenser, thereby solving the technical problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A modular installation system for a prefabricated cabin-type synchronous condenser includes:

[0007] The reference module is used to establish a global spatial coordinate system with the first cabin as the reference and to obtain the actual spatial pose parameters of the first cabin.

[0008] The temperature field monitoring module is used to acquire the temperature distribution of the foundation embedded parts and key areas of the installed cabin in real time, and convert the temperature data into thermal drift correction amounts for each optical target position.

[0009] The compartment-by-compartment attitude measurement module is used to obtain the pure geometric attitude deviation of each subsequent compartment after it has been hoisted and placed in place, and before the anchor bolts are tightened.

[0010] The cumulative error prediction module is used to receive the geometric deviation sequence of each installed cabin provided by the cabin-by-cabin attitude measurement module, and predict the cumulative error trend value that will be generated if the current cabin is not compensated.

[0011] The dynamic compensation calculation module is used to calculate the three-dimensional target adjustment amount required for each vertical adjustable support device and horizontal jacking device at the bottom of the cabin based on the measured geometric deviation of the current cabin and the predicted deviation provided by the cumulative error prediction module.

[0012] The compensation execution and retest module is used to convert the target adjustment amount into a drive command and control the action of each vertically adjustable support device and horizontal jacking device. After the adjustment is completed, the cabin position and attitude are retested to verify the compensation effect.

[0013] In one possible implementation, the reference cabin positioning module includes a spatial pose measurement unit and a reference coordinate system establishment unit;

[0014] The spatial pose measurement unit is used to determine the spatial coordinates of multiple feature points in the first cabin using a laser tracker and an optical target set at a preset position on the bottom of the cabin.

[0015] The reference coordinate system establishment unit is used to write the measured pose parameters of the first cabin as the initial conditions of the global coordinate system into the industrial control computer, so as to serve as a reference for subsequent pose comparison of each cabin.

[0016] In one possible implementation, the temperature field monitoring module includes a temperature sensing array and a thermal deformation correction unit;

[0017] The temperature sensing array consists of a resistive temperature sensor attached to the surface of the foundation embedded part and an armored thermocouple embedded in the bottom beam of the cabin. Each sensor is arranged at a set interval along the splicing direction.

[0018] The thermal deformation correction unit is used to receive the real-time temperature values ​​of each temperature measuring point, and calculate the positional drift of each optical target caused by thermal deformation based on the pre-stored linear expansion coefficient of the foundation concrete and the linear expansion coefficient of the cabin steel structure, and form a correction vector.

[0019] In one possible implementation, the cabin-by-cabin pose measurement module includes a feature point recognition unit and a deviation calculation unit;

[0020] The feature point recognition unit is used to simultaneously determine the spatial coordinates of the optical target at the bottom of the current cabin using a laser tracker.

[0021] The deviation calculation unit is used to receive the target thermal drift correction amount provided by the temperature field monitoring module, correct the measured coordinates to the equivalent coordinates under the reference temperature field, and then compare them with the theoretical design coordinates to calculate the geometric deviation components of the cabin in the three degrees of freedom of translation in the X-axis direction, translation in the Y-axis direction, and rotation around the Z-axis.

[0022] In one possible implementation, the cumulative error prediction module includes an error sequence storage unit and a trend extrapolation unit;

[0023] The error sequence storage unit is used to store the X-direction deviation, Y-direction deviation, and deflection angle deviation of the installed cabins in the installation order;

[0024] The trend extrapolation unit is used to calculate the trend slope of the deviation sequence with the cabin number in the three degrees of freedom directions using the least squares linear fitting method, and extrapolates the predicted deviation value of the current cabin based on the nearest neighbor deviation.

[0025] In one possible implementation, the dynamic compensation calculation module includes a compensation strategy generation unit and a constraint verification unit;

[0026] The compensation strategy generation unit is used to establish the rigid body kinematic relationship between the adjustment amount of each vertical adjustable support device and the horizontal jacking device and the cabin posture compensation amount, with the goal of making the current cabin posture after compensation tend to the theoretical design position and offsetting the cumulative trend, and to solve the three-dimensional adjustment amount of each component.

[0027] The constraint verification unit is used to verify whether each adjustment quantity falls within the mechanical stroke limit of the corresponding device, and triggers a secondary planning redistribution calculation that satisfies the kinematic constraints in the case of exceeding the limit.

[0028] In one possible implementation, the compensation execution and retesting module includes an execution instruction generation unit and a retesting verification unit;

[0029] The execution instruction generation unit is used to convert the target adjustment amount of each device into the number of rotations of the corresponding adjustment mechanism or the number of pulses of the servo motor, and generate a drive sequence;

[0030] The retesting and verification unit is used to remeasure the coordinates of the optical target on the current cabin using a laser tracker, calculate the residual deviation and compare it with a preset accuracy threshold. If the deviation exceeds the threshold, a recompensation request is generated and returned to the dynamic compensation calculation module.

[0031] In one possible implementation, a modular installation method for a prefabricated cabin-type synchronous condenser includes the following steps:

[0032] S1. Hoist the first cabin above the foundation embedded parts and put it in place. Establish a global spatial coordinate system based on the first cabin and obtain the actual spatial pose parameters of the first cabin. Record the temperature field at this moment as a reference temperature field.

[0033] S2, when installing the first When there are individual cabins, among them The cabin was lowered onto the foundation's embedded parts, with the anchor bolts kept loose. Simultaneously, current temperature field data was collected. Based on the linear expansion coefficients of the foundation concrete and the cabin's steel structure, the thermal drift correction for each optical target was calculated. The measured coordinates were corrected to equivalent coordinates under the reference temperature field and compared with the theoretical design coordinates to obtain the cabin's translational deviation along the X-axis. Y-axis translational deviation and the deviation of the Z-axis angle ;

[0034] S3, before acquisition The geometric deviation sequence of the installed hulls was used to calculate the slope of the deviation trend as a function of the hull number in each of the three degrees of freedom directions using the least squares linear fitting method. The current hull number was then extrapolated based on the nearest neighbor deviation. The prediction bias that will occur if individual cabins are not compensated , , ;

[0035] S4, based on the measured geometric deviation of the current cabin , , and prediction bias , , Determine the pose compensation vector, substitute the pose compensation vector into the cabin kinematics relationship, solve the three-dimensional adjustment amount of each vertical adjustable support device and horizontal jacking device, and verify the stroke constraint of each adjustment amount.

[0036] S5 converts the target adjustment amount of each vertical adjustable support device and horizontal jacking device into a drive command, controls the action of each adjustment mechanism in a preset sequence, and remeasures the current position and attitude of the cabin after adjustment and calculates the residual deviation. If the residual deviation exceeds the preset threshold, S4 and S5 are repeated for a second compensation cycle.

[0037] S6: After the current cabin's positional deviation is compensated and retested to confirm that it meets the standard, tighten the anchor bolts to fix the cabin to the foundation embedded parts. After updating the deviation sequence of the installed cabins, return to S2 to install the next unit until all cabins are installed.

[0038] In one possible implementation, step S2, which involves calculating the thermal drift correction for each optical target based on the linear expansion coefficient of the foundation concrete and the linear expansion coefficient of the cabin steel structure, includes:

[0039] For the The first cabin For an optical target, the X-direction displacement correction caused by changes in base temperature is calculated as follows:

[0040]

[0041] in, The coefficient of linear expansion of the base concrete. This is the distance in the X direction from the base temperature measuring point corresponding to the target to the base fixed reference point, where the base fixed reference point is located at the first end of the foundation embedded part along the splicing direction. This refers to the temperature value of the baseline temperature measurement point corresponding to the location of the target. The reference temperature field temperature value;

[0042] The correction for target drift in the X direction caused by changes in the cabin's own temperature is calculated as follows:

[0043]

[0044] in, The coefficient of linear expansion of the cabin steel is given. This refers to the characteristic dimension of the target relative to the center of the cabin in the X direction. This refers to the temperature value at the temperature measuring point on the bottom beam where the target is located.

[0045] The total temperature correction vector of the target is obtained by superimposing the basic deformation correction component and the cabin deformation correction component. The corrected equivalent coordinates of the target are obtained by subtracting the corresponding temperature correction vector from each measured coordinate.

[0046] In one possible implementation, step S4, determining the pose compensation vector based on the measured geometric deviation and predicted deviation of the current cabin, includes:

[0047] Take the translation compensation amount in the X direction , Directional translation compensation , around Shaft rotation angle compensation ,in The trend compensation coefficient is used to obtain the vertical translation compensation amount based on the difference between the equivalent height (corrected from the current reference point on the bottom of the cabin) and the theoretical height. This constitutes the pose compensation vector. ;

[0048] Vertical target adjustment amount of each vertically adjustable support device ,in , This represents the total number of vertically adjustable support devices;

[0049] The horizontal target adjustment of each horizontal jacking device satisfies:

[0050]

[0051]

[0052] in , This represents the total number of horizontal jacking devices. and The first The horizontal and vertical coordinates of the force application points of the horizontal jacking device in the local coordinate system of the cabin. For the first The pushing adjustment amount of each horizontal jacking device along the length of the hull. For the first The pushing adjustment amount of each horizontal jacking device along the width direction of the cabin;

[0053] When any adjustment exceeds the mechanical travel range of the corresponding device, the excess adjustment is truncated at the corresponding travel boundary and fixed as a boundary value, which is then used as an equality constraint. A quadratic programming problem is constructed with the objective of minimizing the sum of the squares of the remaining degrees of freedom of adjustment.

[0054]

[0055] The constraints include rigid body kinematic equations and upper and lower bound inequalities for the adjustment amounts of each device. Solving this quadratic programming model yields a set of adjustment amounts that satisfy all travel constraints.

[0056] Beneficial effects compared to existing technologies:

[0057] 1. In this scheme, by setting up a compartment-by-compartment attitude measurement module and introducing thermal deformation correction of the temperature field monitoring module, the pure geometric attitude deviation that has eliminated the influence of temperature is obtained after each compartment is hoisted and placed. This solves the problem of distortion in deviation extraction caused by non-uniform drift of the measurement reference due to the temperature difference between day and night, and enables the actual position deviation of each compartment to be accurately obtained for subsequent compensation calculation.

[0058] 2. In this scheme, the cumulative error prediction module performs trend fitting on the deviation sequence of each installed module, and introduces the fitted feedforward quantity into the compensation strategy generation stage, so that the compensation action of the current module takes into account both the existing cumulative deviation and the trend that has not yet occurred. This avoids the inherent defect of the deviation continuously accumulating and amplifying along the splicing direction under the traditional module-by-module independent placement method.

[0059] 3. In this scheme, the cabin attitude compensation vector is decomposed into independent adjustment amounts of each vertical adjustable support device and horizontal jacking device, and a stroke verification and secondary planning redistribution process is set up so that the adjustment command that exceeds the mechanical stroke is automatically corrected into a feasible command that meets the boundary constraints, ensuring that the compensation action is executable under actual physical conditions. The retesting and verification process confirms the compensation result and can trigger a secondary cycle until the target is met. Attached Figure Description

[0060] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0061] Figure 1 This is a schematic diagram of the modular installation system framework of the present invention;

[0062] Figure 2 This is a schematic diagram of the entire process of the modular installation method of the present invention. Detailed Implementation

[0063] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0065] This invention provides a modular installation system and method for prefabricated cabin-type synchronous condensers. More specifically, it addresses the problem of cumulative positioning errors caused by the independent hoisting and positioning of each cabin during multi-cabin assembly, as well as the non-uniform drift of the measurement benchmark due to the difference in thermal deformation between the foundation and the cabin caused by the significant diurnal temperature difference in the Gobi Desert region of Northwest China, which ultimately leads to the deviation of the electrical connection hole position of the end cabin exceeding the allowable range. This invention provides an installation method for cumulative error control that integrates temperature field sensing and dynamic compensation.

[0066] In this embodiment, the installation system includes a reference chamber positioning module, a temperature field monitoring module, a chamber-by-chamber attitude measurement module, a cumulative error prediction module, a dynamic compensation calculation module, and a compensation execution and retesting module.

[0067] The reference module is used to establish a global spatial coordinate system with the first cabin as the reference and to obtain the actual spatial attitude parameters of the first cabin. This module includes a spatial attitude measurement unit and a reference coordinate system establishment unit.

[0068] The spatial pose measurement unit uses a laser tracker and an optical target set at a preset position on the bottom of the cabin to determine the spatial coordinates of multiple feature points in the first cabin.

[0069] The reference coordinate system establishment unit writes the measured pose parameters of the first cabin as the initial conditions of the global coordinate system into the industrial control computer, and uses this as a reference for subsequent pose comparisons of each cabin.

[0070] The temperature field monitoring module is used to acquire the temperature distribution of the foundation embedded parts and key areas of the installed hull in real time, and provides the temperature data to the hull-by-hull attitude measurement module for thermal deformation correction. This module includes a temperature sensor array and a thermal deformation correction unit.

[0071] The temperature sensing array consists of resistive temperature sensors attached to the surface of the foundation embedded parts and armored thermocouples embedded in the bottom beam of the cabin. The sensors are arranged at a set interval along the splicing direction.

[0072] The thermal deformation correction unit receives the real-time temperature values ​​of each temperature measuring point, and calculates the positional drift of each optical target caused by thermal deformation based on the linear expansion coefficient of the foundation concrete and the linear expansion coefficient of the cabin steel structure pre-stored in the industrial control computer, forming a correction vector.

[0073] The compartment-by-compartment attitude measurement module is used to obtain the pure geometric attitude deviation of each subsequent compartment after it has been hoisted and positioned, and before the anchor bolts are tightened. This module includes a feature point recognition unit and a deviation calculation unit.

[0074] The feature point recognition unit synchronously determines the spatial coordinates of the optical target at the bottom of the cabin using a laser tracker.

[0075] The deviation calculation unit receives the target thermal drift correction amount provided by the temperature field monitoring module, corrects the measured coordinates to the equivalent coordinates under the reference temperature field, and then compares them with the theoretical design coordinates to calculate the geometric deviation components of the cabin in the three degrees of freedom of translation in the X-axis direction, translation in the Y-axis direction, and rotation around the Z-axis.

[0076] The cumulative error prediction module receives the geometric deviation sequence of each installed module from the module-by-module attitude measurement module and predicts the cumulative error trend value that will occur if the current module is not compensated. This module includes an error sequence storage unit and a trend extrapolation unit.

[0077] The error sequence storage unit stores the X-direction deviation, Y-direction deviation, and deflection angle deviation of the installed hulls in the installation order.

[0078] The trend extrapolation unit uses the least squares linear fitting method to calculate the trend slope of the deviation sequence with the cabin number in the three degrees of freedom directions, and extrapolates the predicted deviation value of the current cabin based on the nearest neighbor deviation.

[0079] The dynamic compensation calculation module calculates the required three-dimensional target adjustment amounts for each vertically adjustable support device and horizontal jacking device at the bottom of the cabin, based on the measured geometric deviation of the current cabin and the predicted deviation provided by the cumulative error prediction module. This module includes a compensation strategy generation unit and a constraint verification unit.

[0080] The compensation strategy generation unit aims to make the current cabin's compensated posture approach the theoretical design position and appropriately offset the cumulative trend. It establishes the rigid body kinematic relationship between the adjustment amount of each support and jacking device and the cabin posture compensation amount, and solves the three-dimensional adjustment amount of each component.

[0081] The constraint verification unit verifies whether each adjustment quantity falls within the mechanical travel limit of the corresponding device, and triggers a secondary planning redistribution calculation that satisfies the kinematic constraints in the case of exceeding the limit.

[0082] The compensation execution and retest module converts the target adjustment amount into drive commands and controls the actions of each vertically adjustable support device and horizontal jacking device. After adjustment, the cabin attitude is retested to verify the compensation effect. This module includes an execution command generation unit and a retest verification unit.

[0083] The execution instruction generation unit converts the target adjustment amounts in the three directions of each device into the number of rotations of the corresponding adjustment mechanism or the number of pulses of the servo motor, and generates a drive sequence.

[0084] The retesting and verification unit remeasures the coordinates of the optical target on the cabin using a laser tracker, calculates the residual deviation and compares it with a preset accuracy threshold. If the deviation exceeds the threshold, a recompensation request is generated and returned to the dynamic compensation calculation module.

[0085] The installation method of this embodiment will be described in detail below with reference to the aforementioned system. The specific steps are as follows:

[0086] S1 reference cabin positioning system

[0087] The first module was hoisted above the foundation embedded parts and initially positioned. The spatial attitude measurement unit acquired the spatial coordinates of the optical targets at the four corners of the first module's bottom surface using a laser tracker. The reference coordinate system establishment unit used the geometric center of the first module's bottom surface as the origin of the global coordinate system. ,make The axis points towards the subsequent compartment along the splicing direction. The axis is perpendicular to the horizontal plane. And the axis satisfies the right-hand rule. The axis is vertically upward. The measured coordinates of the four targets are used to fit the plane of the first cabin's bottom surface, and its normal vector is calculated to determine the orbital direction. The deflection angle of the axis is calculated simultaneously, along with the center of the first cabin in the global coordinate system. Offset , Offset and around Shaft deflection angle deviation Here Indicates the actual geometric center of the first cabin along The offset distance of the axis relative to the theoretical position; Indicates along Offset distance in the axial direction; This indicates that the actual longitudinal axis of the first cabin is around The angle of rotation of the shaft relative to its theoretical axis. The industrial control computer will... , , The data is written into the system as a global benchmark for subsequent attitude comparisons of each compartment. Simultaneously, the temperature sensor array of the temperature field monitoring module records the temperature values ​​at various measuring points on the foundation embedded parts and the temperature value of the first compartment's bottom beam. The industrial control computer uses the temperature field at the moment the first compartment is in place as a reference temperature field. All subsequent thermal deformation corrections are performed relative to this reference temperature field.

[0088] S2 Temperature Measurement and Deviation Extraction

[0089] When installing the first Each cabin ( During this process, the hoisting equipment slowly lowers the cabin onto the foundation embedded parts, ensuring that the vertically adjustable supports at the bottom of the cabin contact the embedded parts while the anchor bolts remain loose. Each vertically adjustable support is in its middle stroke position, and a gap remains between the jacking end of the horizontal jacking device and the jacking stop block pre-reserved on the side of the cabin's bottom beam. The temperature sensor array of the temperature field monitoring module simultaneously collects the temperature values ​​at each measuring point along the splicing direction on the foundation embedded parts at this moment, and records them as follows: The temperature values ​​at various measuring points on the bottom beam of the cabin are recorded as follows: ,in The number of base temperature measuring points, This specifies the number of temperature measurement points for the cabin. The thermal deformation correction unit reads the linear expansion coefficient of the foundation concrete pre-stored in the industrial control computer. and the coefficient of linear expansion of the cabin steel Calculate the drift correction for each optical target position caused by foundation deformation and cabin deformation. For the first... The first cabin An optical target, whose performance is affected by changes in base temperature. The displacement correction in the direction is calculated as follows: based on the temperature of the base temperature measuring point corresponding to the location of the target. Compared with reference temperature The difference, combined with the distance from the measuring point to the fixed reference point on the foundation. Distance The foundation fixing reference point is located at the first end of the foundation embedded part along the splicing direction, and the foundation deformation correction component is obtained. Similarly, we can obtain To the correction component The target drift correction caused by the cabin's own temperature changes is handled in the same way, taking the temperature measurement value of the bottom beam where the target is located. Combining the target's position relative to the center of the cabin Feature size of direction ,have to The sum of the two values ​​yields the total temperature correction vector for the target. The thermal deformation correction unit sends the temperature correction vectors of all targets to the compartment-by-compartment attitude measurement module.

[0090] The feature recognition unit of the compartment-by-compartment attitude measurement module acquires the first... The measured coordinates of each optical target at the bottom of the cabin are used. The deviation calculation unit subtracts the corresponding target's temperature correction vector from each measured coordinate to obtain the corrected equivalent target coordinates. The actual geometric center coordinates and azimuth of the cabin are then calculated using these corrected equivalent target coordinates. Let the first... The theoretical center coordinates of the hull in the global coordinate system are: The theoretical azimuth is The geometric center coordinates calculated based on the corrected equivalent coordinates are: azimuth angle is Then, the geometric deviation of the cabin after excluding temperature effects is: ; ; .this , , This refers to the pure installation deviation, which does not involve thermal deformation interference, and is transmitted to the cumulative error prediction module and the dynamic compensation calculation module.

[0091] S3 Trend Fitting Prediction

[0092] The error sequence storage unit of the cumulative error prediction module has been saved before Geometric deviation sequence of an installed cabin , as well as The trend extrapolation unit, based on these deviation sequences, uses the least squares linear fitting method to calculate the slope of the trend of deviation in each of the three degrees of freedom as a function of the cabin number. Taking direction as an example, let the average number of the installed hull numbers be 1. The mean of the corresponding deviation is Then the trend slope Determined by the following formula:

[0093]

[0094] in This refers to the serial number of the installed compartment. (The result is...) Then, taking advantage of the deviation of the most recently installed hull... Extrapolation current number The predicted deviation value that will occur if the cabin is not compensated:

[0095]

[0096] Similarly, we obtain the results separately. Slope of the trend direction and prediction bias and the slope of the trend in the direction of the deflection angle. and prediction bias The trend extrapolation unit will... , , The output is sent to the dynamic compensation calculation module as a feedforward quantity that characterizes the evolution trend of the cumulative error.

[0097] S4 solves for compensation allocation

[0098] The dynamic compensation calculation module receives the current position and attitude measurement module's data. Actual measured geometric deviation of the cabin , , And the prediction bias provided by the cumulative error prediction module , , The compensation strategy generation unit determines the expected position compensation amount in each degree of freedom direction, taking into account both current deviation correction and cumulative trend offsetting. Directional translation compensation , Directional translation compensation , around Shaft rotation angle compensation ,in The trend compensation coefficient is set to a value of [value missing] in this embodiment. Simultaneously, the difference between the corrected equivalent height and the theoretical height of the current cabin bottom reference point is measured by a laser tracker to obtain the vertical translation compensation amount. This constitutes the pose compensation vector. Each compartment is equipped with a bottom A vertically adjustable support device and A horizontal jacking device. In this embodiment... , Each vertically adjustable support device is positioned in the local coordinate system of the cabin. The plane coordinates in the middle are as follows , The coordinates of the force application points of each horizontal jacking device are marked as follows: , Origin of coordinate system Take the geometric center of the bottom surface of the cabin. The axis is parallel to the length of the hull and points towards the splicing side. The axis is parallel to the width direction of the hull and satisfies the right-hand rule. Each vertically adjustable support device has a [missing information - likely a feature or function]. The independent mechanical adjustment capability in the vertical direction, whose vertical target adjustment amount is denoted as... Each horizontal jacking device has along To or The independent jacking stroke in the direction, and its horizontal target jacking amount are denoted as or In this embodiment, a vertically adjustable support device is arranged at each of the four corners of the cabin bottom surface, along... Two horizontal jacking devices are arranged on each side of the direction, along Two horizontal jacking devices are arranged at each end of the hull, and the jacking direction of the horizontal jacking devices is perpendicular to the corresponding side of the hull.

[0099] According to the relationship of rigid body small displacement motion, when the cabin undergoes a small translation... Time Revolving Small rotation angle of shaft At that time, the vertical displacement of each tandem adjustable support device and the horizontal displacement of each horizontal jacking device satisfy the following:

[0100]

[0101]

[0102]

[0103] The above relationship decomposes the overall three-dimensional pose compensation of the cabin into independent adjustment target values ​​for each vertically adjustable support device and horizontal jacking device. The compensation strategy generation unit directly substitutes the pose compensation vector into the above relationship to solve for the pose compensation vectors of each vertically adjustable support device. and each horizontal jacking device or The constraint verification unit obtains the data of each vertically adjustable support device at... The feasible travel range of the machine. and each horizontal jacking device in To or Top travel range and Check each obtained one by one. , , Whether it falls within the corresponding interval. If all are within the travel range, the group of adjustment quantities is directly passed to the compensation execution and retest module. If any adjustment quantity exceeds its allowed travel range, the constraint verification unit initiates the redistribution process: the over-limit adjustment quantity is truncated at its corresponding travel boundary and fixed as a boundary value, and included as an equality constraint in the subsequent solution. With the goal of minimizing the sum of the squares of the remaining degrees of freedom adjustment quantities, a quadratic programming problem is constructed:

[0104]

[0105] The constraints include rigid body kinematic equations and upper and lower bound inequalities for the adjustment amounts of each device. The quadratic programming model is solved using the activity set method to obtain a set of suboptimal adjustment amounts that satisfy all travel constraints, still allowing the cabin's attitude to approximate the theoretical position.

[0106] S5 Execution Adjustment and Retesting

[0107] The execution command generation unit of the compensation execution and retest module receives the final target adjustment amount determined by each vertically adjustable support device and each horizontal jacking device. Each vertically adjustable support device is a mechanical support device with vertical height adjustment function, used to bear the weight of the cabin and provide vertical displacement. Its adjustment mechanism can be any one of wedge shims, screw jacks, or hydraulic jacks; in this embodiment, wedge shims are used. Each horizontal jacking device is a mechanical transmission device with horizontal pushing and pulling function, used to apply horizontal force to the side of the cabin bottom beam to achieve horizontal translation and rotation around the vertical axis. Its adjustment mechanism can be any one of screw jacks or hydraulic push rods; in this embodiment, screw jacks are used. The above-mentioned vertically adjustable support devices and horizontal jacking devices are well-known devices in the field of large equipment installation and alignment. The execution command generation unit, based on the transmission parameters (e.g., pitch) of the vertically adjustable support device adjustment mechanism, will... Converted into the adjustment execution quantity of the device According to the transmission parameters of the horizontal jacking device adjustment mechanism, and Converted into the corresponding device's adjustment execution quantity and Each adjustment mechanism operates in the preset sequence of initial vertical adjustment, horizontal alignment, and final fine vertical adjustment: first, each vertically adjustable support device is driven to bring the cabin height to near the target value; then, each horizontal jacking device is driven to move and rotate the cabin in the horizontal plane to the target position; finally, each vertically adjustable support device is finely adjusted to eliminate residual vertical deviations, so that the overall position of the cabin converges to the theoretical position.

[0108] After all adjustments are completed, the retest verification unit is activated. The laser tracker then measures the current value again. The coordinate and temperature field monitoring modules of each optical target at the bottom of the cabin synchronously collect real-time temperature data. The thermal deformation correction unit recalculates the thermal drift correction amount based on the latest temperature data, and the deviation calculation unit corrects the measured coordinates to obtain the compensated equivalent coordinates. To residual deviation , To residual deviation and around Residual deflection angle deviation of shaft .Will , Compare each with a preset threshold (1 mm in this embodiment), and... The values ​​are compared with a preset threshold (0.5 mrad in this embodiment). If none of the three values ​​exceed the corresponding threshold, the compensation is deemed to meet the accuracy requirements, and a compliance signal is sent to the industrial control computer. If any value exceeds the threshold, the retest verification unit will check the residual deviation. , , The corrected pose is fed back to the dynamic compensation calculation module, and S4 and S5 are executed again to form a secondary compensation loop until all residual deviations meet the threshold requirements.

[0109] S6 fixes and updates the sequence.

[0110] When the After the cabin's positional deviations were compensated and retested to confirm compliance, workers used torque wrenches to apply the specified pre-tightening torque to all anchor bolts, permanently fixing the cabin to the foundation's embedded parts. Once the anchor bolts were tightened, the jacking ends of each horizontal jacking device disengaged from the jacking blocks, and the horizontal jacking devices ceased operation. The horizontal constraint of the cabin was then borne by the anchor bolts and the grouting layer. Each vertically adjustable support device remained in its original position, forming the cabin's vertical load-bearing system together with the anchor bolts. The error sequence storage unit then updated the deviation sequence: reflecting the predicted deviation of the cabin before compensation. , , and the final residual deviation confirmed by retesting after compensation. , , Enter it, among which , , The updated deviation sequence is used as input for the next cabin trend analysis. Return to step S2, and perform the following analysis... Each cabin undergoes hoisting and positioning, temperature field acquisition, thermal deformation correction, deviation extraction, trend prediction, compensation solution, execution and retesting, and fixed updates until all are completed. The prefabricated cabins have been installed.

[0111] After the last compartment was fixed, a laser tracker was used to systematically test the straightness of the entire prefabricated modular splice of the condenser, the alignment of the flange interfaces of adjacent compartments, and the final deviation of the key electrical plug holes, confirming that all interface hole deviations met the installation specification limits.

[0112] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A modular installation system for a prefabricated cabin-type synchronous condenser, characterized in that, include: The reference module is used to establish a global spatial coordinate system with the first cabin as the reference and to obtain the actual spatial pose parameters of the first cabin. The temperature field monitoring module is used to acquire the temperature distribution of the foundation embedded parts and key areas of the installed cabin in real time, and convert the temperature data into thermal drift correction amounts for each optical target position. The compartment-by-compartment attitude measurement module is used to obtain the pure geometric attitude deviation of each subsequent compartment after it has been hoisted and placed in place, and before the anchor bolts are tightened. The cumulative error prediction module is used to receive the geometric deviation sequence of each installed cabin provided by the cabin-by-cabin attitude measurement module, and predict the cumulative error trend value that will be generated if the current cabin is not compensated. The dynamic compensation calculation module is used to calculate the three-dimensional target adjustment amount required for each vertical adjustable support device and horizontal jacking device at the bottom of the cabin based on the measured geometric deviation of the current cabin and the predicted deviation provided by the cumulative error prediction module. The compensation execution and retest module is used to convert the target adjustment amount into a drive command and control the action of each vertically adjustable support device and horizontal jacking device. After the adjustment is completed, the cabin position and attitude are retested to verify the compensation effect.

2. The modular installation system for a prefabricated cabin-type synchronous condenser as described in claim 1, characterized in that, The reference cabin positioning module includes a spatial pose measurement unit and a reference coordinate system establishment unit; The spatial pose measurement unit is used to determine the spatial coordinates of multiple feature points in the first cabin using a laser tracker and an optical target set at a preset position on the bottom of the cabin. The reference coordinate system establishment unit is used to write the measured pose parameters of the first cabin as the initial conditions of the global coordinate system into the industrial control computer, so as to serve as a reference for subsequent pose comparison of each cabin.

3. The modular installation system for a prefabricated cabin-type synchronous condenser as described in claim 1, characterized in that, The temperature field monitoring module includes a temperature sensor array and a thermal deformation correction unit; The temperature sensing array consists of a resistive temperature sensor attached to the surface of the foundation embedded part and an armored thermocouple embedded in the bottom beam of the cabin. Each sensor is arranged at a set interval along the splicing direction. The thermal deformation correction unit is used to receive the real-time temperature values ​​of each temperature measuring point, and calculate the positional drift of each optical target caused by thermal deformation based on the pre-stored linear expansion coefficient of the foundation concrete and the linear expansion coefficient of the cabin steel structure, and form a correction vector.

4. The modular installation system for a prefabricated cabin-type synchronous condenser as described in claim 1, characterized in that, The cabin-by-cabin attitude measurement module includes a feature point recognition unit and a deviation calculation unit; The feature point recognition unit is used to simultaneously determine the spatial coordinates of the optical target at the bottom of the current cabin using a laser tracker. The deviation calculation unit is used to receive the target thermal drift correction amount provided by the temperature field monitoring module, correct the measured coordinates to the equivalent coordinates under the reference temperature field, and then compare them with the theoretical design coordinates to calculate the geometric deviation components of the cabin in the three degrees of freedom of translation in the X-axis direction, translation in the Y-axis direction, and rotation around the Z-axis.

5. The modular installation system for a prefabricated cabin-type synchronous condenser as described in claim 1, characterized in that, The cumulative error prediction module includes an error sequence storage unit and a trend extrapolation unit; The error sequence storage unit is used to store the X-direction deviation, Y-direction deviation, and deflection angle deviation of the installed cabins in the installation order; The trend extrapolation unit is used to calculate the trend slope of the deviation sequence with the cabin number in the three degrees of freedom directions using the least squares linear fitting method, and extrapolates the predicted deviation value of the current cabin based on the nearest neighbor deviation.

6. The modular installation system for a prefabricated cabin-type synchronous condenser as described in claim 1, characterized in that, The dynamic compensation calculation module includes a compensation strategy generation unit and a constraint verification unit. The compensation strategy generation unit is used to establish the rigid body kinematic relationship between the adjustment amount of each vertical adjustable support device and the horizontal jacking device and the cabin posture compensation amount, with the goal of making the current cabin posture after compensation tend to the theoretical design position and offsetting the cumulative trend, and to solve the three-dimensional adjustment amount of each component. The constraint verification unit is used to verify whether each adjustment quantity falls within the mechanical stroke limit of the corresponding device, and triggers a secondary planning redistribution calculation that satisfies the kinematic constraints in the case of exceeding the limit.

7. The modular installation system for a prefabricated cabin-type synchronous condenser as described in claim 1, characterized in that, The compensation execution and retesting module includes an execution instruction generation unit and a retesting verification unit; The execution instruction generation unit is used to convert the target adjustment amount of each device into the number of rotations of the corresponding adjustment mechanism or the number of pulses of the servo motor, and generate a drive sequence; The retesting and verification unit is used to remeasure the coordinates of the optical target on the current cabin using a laser tracker, calculate the residual deviation and compare it with a preset accuracy threshold. If the deviation exceeds the threshold, a recompensation request is generated and returned to the dynamic compensation calculation module.

8. A modular installation method for a prefabricated cabin-type synchronous condenser using the system described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1. Hoist the first cabin above the foundation embedded parts and put it in place. Establish a global spatial coordinate system based on the first cabin and obtain the actual spatial pose parameters of the first cabin. Record the temperature field at this moment as a reference temperature field. S2, when installing the first When there are individual cabins, among them The cabin was lowered onto the foundation's embedded parts, with the anchor bolts kept loose. Simultaneously, current temperature field data was collected. Based on the linear expansion coefficients of the foundation concrete and the cabin's steel structure, the thermal drift correction for each optical target was calculated. The measured coordinates were corrected to equivalent coordinates under the reference temperature field and compared with the theoretical design coordinates to obtain the cabin's translational deviation along the X-axis. Y-axis translational deviation and the deviation of the Z-axis angle ; S3, before acquisition The geometric deviation sequence of the installed hulls was used to calculate the slope of the deviation trend as a function of the hull number in each of the three degrees of freedom directions using the least squares linear fitting method. The current hull number was then extrapolated based on the nearest neighbor deviation. The prediction bias that will occur if individual cabins are not compensated , , ; S4, based on the measured geometric deviation of the current cabin , , and prediction bias , , Determine the pose compensation vector, substitute the pose compensation vector into the cabin kinematics relationship, solve the three-dimensional adjustment amount of each vertical adjustable support device and horizontal jacking device, and verify the stroke constraint of each adjustment amount. S5 converts the target adjustment amount of each vertical adjustable support device and horizontal jacking device into a drive command, controls the action of each adjustment mechanism in a preset sequence, and remeasures the current position and attitude of the cabin after adjustment and calculates the residual deviation. If the residual deviation exceeds the preset threshold, S4 and S5 are repeated for a second compensation cycle. S6: After the current cabin's positional deviation is compensated and retested to confirm that it meets the standard, tighten the anchor bolts to fix the cabin to the foundation embedded parts. After updating the deviation sequence of the installed cabins, return to S2 to install the next unit until all cabins are installed.

9. The modular installation method for a prefabricated cabin-type synchronous condenser as described in claim 8, characterized in that, In step S2, the calculation of the thermal drift correction amount for each optical target based on the linear expansion coefficient of the foundation concrete and the linear expansion coefficient of the cabin steel structure includes: For the The first cabin For an optical target, the X-direction displacement correction caused by changes in base temperature is calculated as follows: in, The coefficient of linear expansion of the base concrete. This is the distance in the X direction from the base temperature measuring point corresponding to the target to the base fixed reference point, where the base fixed reference point is located at the first end of the foundation embedded part along the splicing direction. This refers to the temperature value of the baseline temperature measurement point corresponding to the location of the target. The reference temperature field temperature value; The correction for target drift in the X direction caused by changes in the cabin's own temperature is calculated as follows: in, The coefficient of linear expansion of the cabin steel is given. This refers to the characteristic dimension of the target relative to the center of the cabin in the X direction. This refers to the temperature value at the temperature measuring point on the bottom beam where the target is located. The total temperature correction vector of the target is obtained by superimposing the basic deformation correction component and the cabin deformation correction component. The corrected equivalent coordinates of the target are obtained by subtracting the corresponding temperature correction vector from each measured coordinate.

10. The modular installation method of a prefabricated cabin-type synchronous condenser as described in claim 8, characterized in that, In step S4, determining the pose compensation vector based on the measured geometric deviation and predicted deviation of the current cabin includes: Take the translation compensation amount in the X direction , Directional translation compensation , around Shaft rotation angle compensation ,in The trend compensation coefficient is used to obtain the vertical translation compensation amount based on the difference between the equivalent height (corrected from the current reference point on the bottom of the cabin) and the theoretical height. This constitutes the pose compensation vector. ; Vertical target adjustment amount of each vertically adjustable support device ,in , This represents the total number of vertically adjustable support devices; The horizontal target adjustment of each horizontal jacking device satisfies: in , This represents the total number of horizontal jacking devices. and The first The horizontal and vertical coordinates of the force application points of the horizontal jacking device in the local coordinate system of the cabin. For the first The pushing adjustment amount of each horizontal jacking device along the length of the hull. For the first The pushing adjustment amount of each horizontal jacking device along the width direction of the cabin; When any adjustment exceeds the mechanical travel range of the corresponding device, the excess adjustment is truncated at the corresponding travel boundary and fixed as a boundary value, which is then used as an equality constraint. A quadratic programming problem is constructed with the objective of minimizing the sum of the squares of the remaining degrees of freedom of adjustment. The constraints include rigid body kinematic equations and upper and lower bound inequalities for the adjustment amounts of each device. Solving this quadratic programming model yields a set of adjustment amounts that satisfy all travel constraints.

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