CN104865967A - Offshore platform compensation integrated redundancy control - Google Patents
Offshore platform compensation integrated redundancy control Download PDFInfo
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- CN104865967A CN104865967A CN201510292736.5A CN201510292736A CN104865967A CN 104865967 A CN104865967 A CN 104865967A CN 201510292736 A CN201510292736 A CN 201510292736A CN 104865967 A CN104865967 A CN 104865967A
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- ocean platform
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- actuating cylinder
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Abstract
The invention relates to an offshore platform compensation integrated redundancy control system, which comprises a redundancy controller, a sampling module, a driving control module, a monitoring module, and a communication control module, wherein the redundancy controller acquires heaving acceleration and displacement signals of the offshore platform from an MRU sensor of the sampling module and active oil cylinder displacement signals acquired from an oil cylinder displacement sensor, the signals are processed, position closed-loop control is then carried out, control signals of a servo valve are outputted, the servo valve is driven through driving a control module, the active oil cylinder is pushed to act, and wave compensation is carried out on drilling working conditions of the offshore platform. Through an experiment and system simulation, the final wave compensation effects of an offshore platform wave compensation integrated redundancy control mechanic-electric-hydraulic system are verified to reach more than 90%, and the redundancy control is high in reliability.
Description
Technical field
The present invention relates to the electric, mechanical of a kind of ocean platform and hydraulic system, particularly relate to a kind of control system compensating integrated redundancy control for ocean platform.
Background technology
Because ocean platform compensation technique difficulty is large, for a long time its technology always monopolize by developed countries.The present stage research of China's ocean platform bucking-out system is in the basic research stage mostly.
Low and the high risk of deep ocean work process efficiency is made for causing platform to produce motion heave due to wave motion, a kind of ocean platform is needed to compensate integrated redundancy control system, realize the compensation of the heave movement to platform by controlling topworks, its high control precision and Redundant Control ensure high efficiency and the reliability of platform operations.
Summary of the invention
The present invention will provide a kind of ocean platform to compensate integrated redundancy control system, this control system comprises deep-sea wave, ocean platform heave characteristic used and marine drilling platform operating mode by analysis and research input signal source, and topworks comprises the electric liquid characteristic of large discharge servo-valve, the characteristic etc. of hydraulic jack, also has the research of drilling platform reliability, the control station that to set up with PLC redundancy control system be core.
For achieving the above object, technical scheme of the present invention is: a kind of ocean platform compensates integrated redundancy control system, by redundant manipulator, sampling module, drive control module, monitoring modular, communication control module forms, described redundant manipulator collects the acceleration of ocean platform heave from the MRU sensor of sampling module, displacement signal, actuating cylinder displacement signal is collected from oil cylinder displacement transducer, carry out position-force control after treatment, export the control signal of servo-valve, servo-valve is driven by drive control module, promote actuating cylinder action, compensation of undulation is carried out to ocean platform drilling condition.
The communications protocol of described communication control module comprises ProfiBus DP, RS232, RS485, TCP/IP, MPI, for described control system and HMI and the data information exchange between control system and external equipment.
The duty that monitoring modular is used for the hydraulic system of actuating cylinder is monitored, and shows in real time in HMI display frame to the principal pressure of hydraulic system, oil compensation pressure, actuating cylinder pressure, actuating cylinder displacement.
MRU sensor is three axis attitude sensor, gathers the upper and lower heave displacement of ocean platform, trim, angle of heel for high precision.
Beneficial effect of the present invention:
The present invention comprises deep-sea wave, ocean platform heave characteristic used and marine drilling platform operating mode by analysis and research input signal source, and topworks comprises the electric liquid characteristic of large discharge servo-valve, the characteristic etc. of hydraulic jack, also has the research of drilling platform reliability, the control station that to set up with PLC redundancy control system be core.
The present invention reaches more than 90% through the final compensation of undulation effect of the mechanical electrical and hydraulic system that experiment and system emulation checking ocean platform compensation of undulation integrated redundancy control.This Redundant Control has high reliability.
Accompanying drawing explanation
Fig. 1 is closed loop theory diagram of the present invention;
Fig. 2 is the core control station that ocean platform compensation of undulation integrated redundancy of the present invention controls.
Embodiment
Bright below in conjunction with accompanying drawing and embodiment furtherly to the present invention.
As Fig. 1, shown in 2, a kind of ocean platform compensates integrated redundancy control system, is made up of redundant manipulator, sampling module, drive control module, monitoring modular, communication control module.
Redundant manipulator from the MRU sensor of sampling module collect ocean platform heave acceleration, displacement signal, collect actuating cylinder displacement signal from oil cylinder displacement transducer, carry out position-force control after treatment, export the control signal of servo-valve, servo-valve is driven by drive control module, promote actuating cylinder action, compensation of undulation is carried out to ocean platform drilling condition.
The controller that ocean platform compensation of undulation integrated redundancy controls adopts " Hot Spare " Redundancy Design, automatically switches undisturbed, thus realize the high reliability of system when breaking down.Control section mainly can be divided into sampling module, drive control module, communication control module, monitoring modular functional module.Sampling module receives the work order of MRU motion platform parameter, oil cylinder displacement signal, each pressure signal and Local or Remote, controls the action of each valve member after treatment.The major function of communication module is for control station in switch board and HMI and carries out data information exchange between control station and external equipment, and communication function is powerful, and protocol package contains ProfiBus DP, RS232, RS485, TCP/IP, MPI etc.The major function of monitoring modular monitors the duty of hydraulic system, shows in real time in HMI display frame to hydraulic system main system pressure, oil compensation pressure, active cylinder pressure, active cylinder displacement etc.Also the states such as each main pump motor electric current of hydraulic system, by-pass valve, unloader, oil passage change-over valve, filter, oil level, oil temperature are shown in picture.Can protecting control and sound and light alarm be carried out when hydraulic system breaks down, point out corresponding trouble location in alarm screen and troubleshooting is instructed.
The controller that ocean platform compensation of undulation integrated redundancy controls collects acceleration, the displacement of platform heave from MRU, oil cylinder displacement signal is collected from oil cylinder displacement transducer, the laggard line position closed-loop control of the mathematics manipulation that these signals are carried out being correlated with, export the control signal of servo-valve, by driver drives servo-valve, promote actuating cylinder action.
MRU sensor can provide the upper and lower heave displacement of the platform of high precision, trim, angle of heel for three axis attitude sensor.Oil cylinder displacement transducer adopts ceramic integrated measurement system CIMS stroke measuring device, and reliable measuring data precision is high.Position-force control adopts Adaptive PID Control algorithm.This bucking-out system is very complicated nonlinear system, sets up mathematical models more difficult, and therefore we utilize expertise, and test figure carries out reasoning, adopts Adaptive PID Control algorithm to control.This controller passes through on-line identification, PID tri-parameters are adjusted in real time, to meet different displacement errors and error rate to the different requirements of controling parameters, the precision of the larger system that improves, decrease overshoot, static difference, make whole system have good dynamic and static performance.
Claims (4)
1. an ocean platform compensates integrated redundancy control system, by redundant manipulator, sampling module, drive control module, monitoring modular, communication control module forms, it is characterized in that: described redundant manipulator collects the acceleration of ocean platform heave from the MRU sensor of sampling module, displacement signal, actuating cylinder displacement signal is collected from oil cylinder displacement transducer, carry out position-force control after treatment, export the control signal of servo-valve, servo-valve is driven by drive control module, promote actuating cylinder action, compensation of undulation is carried out to ocean platform drilling condition.
2. ocean platform according to claim 1 compensates integrated redundancy control system, it is characterized in that: the communications protocol of described communication control module comprises ProfiBus DP, RS232, RS485, TCP/IP, MPI, for described control system and HMI and the data information exchange between control system and external equipment.
3. ocean platform according to claim 1 compensates integrated redundancy control system, it is characterized in that: the duty that described monitoring modular is used for the hydraulic system of actuating cylinder is monitored, and shows in real time in HMI display frame to the principal pressure of hydraulic system, oil compensation pressure, actuating cylinder pressure, actuating cylinder displacement.
4. ocean platform according to claim 1 compensates integrated redundancy control system, it is characterized in that: described MRU sensor is three axis attitude sensor, gathers the upper and lower heave displacement of ocean platform, trim, angle of heel for high precision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510292736.5A CN104865967A (en) | 2015-06-01 | 2015-06-01 | Offshore platform compensation integrated redundancy control |
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| CN201510292736.5A CN104865967A (en) | 2015-06-01 | 2015-06-01 | Offshore platform compensation integrated redundancy control |
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| CN104865967A true CN104865967A (en) | 2015-08-26 |
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Cited By (3)
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| CN106338275A (en) * | 2016-08-27 | 2017-01-18 | 中国石油大学(华东) | Intelligent marine platform system |
| CN111708274A (en) * | 2019-12-24 | 2020-09-25 | 上海海事大学 | Wave compensation control system based on feedforward PID control algorithm |
| CN112014065A (en) * | 2020-08-14 | 2020-12-01 | 合肥工业大学 | Wave energy conversion semi-physical simulation test bed |
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| CN111708274A (en) * | 2019-12-24 | 2020-09-25 | 上海海事大学 | Wave compensation control system based on feedforward PID control algorithm |
| CN112014065A (en) * | 2020-08-14 | 2020-12-01 | 合肥工业大学 | Wave energy conversion semi-physical simulation test bed |
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Application publication date: 20150826 |