CN104930000A - High-accuracy hydraulic synchronous lifting control system of wind installation vessel - Google Patents
High-accuracy hydraulic synchronous lifting control system of wind installation vessel Download PDFInfo
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- CN104930000A CN104930000A CN201510266671.7A CN201510266671A CN104930000A CN 104930000 A CN104930000 A CN 104930000A CN 201510266671 A CN201510266671 A CN 201510266671A CN 104930000 A CN104930000 A CN 104930000A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
Abstract
The invention provides a high-accuracy hydraulic synchronous lifting control system of a wind installation vessel. The high-accuracy hydraulic synchronous lifting control system of the wind installation vessel comprises a hydraulic transmission module, a hydraulic control module and an electric control module. The hydraulic transmission module comprises a base, a spud leg and four hydraulic transmission assemblies, wherein the spud leg is fixed to the base, and a lug seat is arranged on the base. The hydraulic transmission assemblies comprise the left transmission assembly, the rear transmission assembly, the right transmission assembly and the front transmission assembly of the same structure. The hydraulic control module comprises a hydraulic oil tank, hydraulic pipelines, an air filter, a motor, a hydraulic pump, a check valve, an overflowing valve, four hydraulic transmission control assemblies and four hydraulic bolt control assemblies, wherein the hydraulic pump is connected with the motor; one end of the hydraulic pump is connected with the oil tank through the hydraulic pipeline and the air filter; and the other end of the hydraulic pump is connected with the hydraulic transmission control assemblies and the hydraulic bolt control assemblies through the hydraulic pipelines. The high-accuracy synchronous lifting control system of the wind installation vessel resolves the problem of leakage of a hydraulic system, non-linear friction resistance of execution components and the like, and has good application prospects.
Description
Technical field
The present invention relates to self-lifting ocean installing engineering platform technology field, particularly relate to a kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system, be specially the highi degree of accuracy transmission side control case of self-lifting ocean installing engineering platform leg.
Background technique
The spud leg kind of drive of self-lifting ocean installing engineering platform comprises rack pinion and hydraulic transmission two type.Rack pinion structure is simple, control is convenient, and cylindrical leg generally adopts rack pinion, but tooth bar long period of soaking is easily corroded in the seawater, affects the working life of spud leg.Hydraulic transmission is often used on the spud leg of polygon structure, hydraulic transmission part is all arranged on more than sea level, therefore, not by the impact of sea water intrusion, but the impact of the factor such as the difference of load, the foozle of system components between the performance difference between the non-linear friction resistance existed due to the leakage, executive component etc. of hydraulic system, control unit, each executive component, to the synchronization error of many actuators be caused, thus make whole Control system architecture complicated, debug difficulties.
Such as, disclose a kind of hydraulic system of many spud leg lifting mechanisms in Chinese patent (application number is 201110079193.0), comprise working connection, latch oil circuit and oil circuit control, wherein: described working connection comprises high-pressure service pump, M type function 3-position 4-way electro-hydraulic reversing valve, the first lifting jar group and the second lifting jar group; Described latch oil circuit comprises latch medium pressure pump, two y-function three-position four-way electromagnetic directional valve, the first latch cylinder group and the second latch cylinder groups; Described oil circuit control comprises the hydraulicchange-over valve of control medium pressure pump, two-position four-way solenoid directional control valve and the band unidirectional damping connected successively.Although this technological scheme improves the formation of hydraulic system, but still there is the impact of the factor such as the difference of load, the foozle of system components between the performance difference between the non-linear friction resistance of the existence such as the leakage of hydraulic system, executive component, control unit, each executive component, cause the problem of the synchronization error of many actuators.
Summary of the invention
The problem such as the difference of load, the foozle of system components between the non-linear friction resistance existed for the leakage, executive component etc. that overcome the hydraulic system existed in prior art, the performance difference between control unit, each executive component, the invention provides a kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system.
The technical solution used in the present invention is: a kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system, comprise hydraulic transmission module, hydraulic control module and electric control module, its innovative point is: described hydraulic transmission module comprises base, spud leg and four hydraulic transmission assemblies, spud leg is fixed on base, is provided with several ear seats above this base; Described hydraulic transmission assembly comprises the identical Left Drive assembly of structure, rear transmitting assemblies, right transmitting assemblies and driving front assembly, described hydraulic control module comprises hydraulic oil container, hydraulic pipe line, air filter, motor, oil hydraulic pump, one-way valve, relief valve, four hydraulic pressure drive control system assemblies and four hydraulic bolt control units, described oil hydraulic pump is connected with motor, one end of described oil hydraulic pump is connected with fuel tank by hydraulic pipe line, air filter, and the other end is connected with hydraulic pressure drive control system assembly and hydraulic bolt control unit by hydraulic pipe line.
On this basis, described Left Drive assembly comprises left lateral journey feel cylinder, left oil cylinder, centre arrange round-meshed left slider, upper pin, the next pin, left bolt device, and this left bolt device comprises support, left plugging pin oil cylinder, latch; Concrete linkage structure is: the upper oil cavitie of described left lateral journey feel cylinder, lower oil cavitie respectively with the upper oil cavitie of left oil cylinder, lower oil cavitie by hydraulic pipe line UNICOM, an oil hydraulic cylinder group, i.e. left hydraulic cylinder group is formed after the upper lower oil cavitie UNICOM of this left lateral journey feel cylinder and left oil cylinder; The left slider of described left lateral journey feel cylinder is connected with piston rod by upper pin, the cylinder body of described left lateral journey feel cylinder is connected with the ear seat on base through bottom pin, the piston rod of described left oil cylinder is connected with left slider through upper pin, and the cylinder body of described left oil cylinder is connected with the ear seat on base through bottom pin; Support in described left bolt device is connected with left slider; Described left plugging pin oil cylinder is arranged in the circular hole in the middle of left slider, realizes moving left and right in circular hole; The piston rod of described left plugging pin oil cylinder is connected with support, and the cylinder body of described left plugging pin oil cylinder is connected with latch.
On this basis, described rear transmitting assemblies comprises rear stroke sensing oil cylinder, rear oil cylinder, centre arrange round-meshed rear slider, upper pin, the next pin and rear bolt device, this rear bolt device comprises support, rear plugging pin oil cylinder and latch, concrete linkage structure is: the upper oil cavitie of rear stroke sensing oil cylinder, lower oil cavitie respectively with the upper oil cavitie of rear oil cylinder, lower oil cavitie by hydraulic pipe line UNICOM, an oil hydraulic cylinder group is formed, oil hydraulic cylinder group namely after the upper lower oil cavitie UNICOM of described rear stroke sensing oil cylinder and rear oil cylinder; The piston rod of described rear stroke sensing oil cylinder is connected with rear slider through upper pin, and the cylinder body of described rear stroke sensing oil cylinder is connected with the ear seat on base through bottom pin; The piston rod of described rear oil cylinder is connected with rear slider by upper pin, and the cylinder body of described rear oil cylinder is connected with the ear seat on base through bottom pin; Support in described rear bolt device is connected with rear slider; Described rear plugging pin oil cylinder is arranged in the circular hole in the middle of rear slider, can move forward and backward in circular hole; The piston rod of described rear plugging pin oil cylinder is connected with support, and the cylinder body of described rear plugging pin oil cylinder is connected with latch.
On this basis, described right transmitting assemblies comprises right lateral journey feel cylinder, right oil cylinder, right slide block, upper pin, the next pin and right pin device, this right pin device is made up of support, right pin oil cylinder and latch, concrete linkage structure is: the upper oil cavitie of right lateral journey feel cylinder, lower oil cavitie respectively with the upper oil cavitie of right oil cylinder, lower oil cavitie by hydraulic pipe line UNICOM, an oil hydraulic cylinder group, i.e. right oil hydraulic cylinder group is formed after the upper lower oil cavitie UNICOM of right lateral journey feel cylinder and right oil cylinder; The piston rod of described right lateral journey feel cylinder is connected with right slide block through upper pin, and the cylinder body of described right lateral journey feel cylinder is connected with the ear seat on base through bottom pin; The piston rod of described right oil cylinder is connected with right slide block through upper pin, and the cylinder body of right oil cylinder is connected with the ear seat on base through bottom pin; Support in described right pin device is connected with right slide block; Described right pin oil cylinder is arranged in the circular hole in the middle of right slide block, can move left and right in circular hole; The piston rod of described right pin oil cylinder is connected with support, and the cylinder body of right pin oil cylinder is connected with latch.
On this basis, described driving front assembly comprises front travel feel cylinder, front oil cylinder, front-slider, upper pin, the next pin and front bolt device, this front bolt device comprises support, front plugging pin oil cylinder and latch, concrete linkage structure is: the upper oil cavitie of front travel feel cylinder, lower oil cavitie respectively with the upper oil cavitie of front oil cylinder, lower oil cavitie by hydraulic pipe line UNICOM, an oil hydraulic cylinder group is formed, oil hydraulic cylinder group namely before the upper lower oil cavitie UNICOM of described front travel feel cylinder and front oil cylinder; The piston rod of described front travel feel cylinder is connected with front-slider through upper pin, and the cylinder body of described front travel feel cylinder is connected with the ear seat on base through bottom pin; The piston rod of described front oil cylinder is connected with front-slider through upper pin, and the cylinder body of described front oil cylinder is connected with the ear seat on base through bottom pin; Support in described front bolt device is connected with front-slider; Described front plugging pin oil cylinder is arranged in the circular hole in the middle of front-slider, can move forward and backward in circular hole; The piston rod of described front plugging pin oil cylinder is connected with support, and the cylinder body of described front plugging pin oil cylinder is connected with latch.
Wherein, left lateral journey feel cylinder, rear stroke sensing oil cylinder, right lateral journey feel cylinder, front travel feel cylinder can be chosen as built-in ultrasonic type stroke sensing oil cylinder.
On this basis, described hydraulic pressure drive control system assembly comprises left Hydraulic Conirol Unit, rear Hydraulic Conirol Unit, right Hydraulic Conirol Unit and front Hydraulic Conirol Unit respectively; Left Hydraulic Conirol Unit controls Left Drive assembly, transmitting assemblies after rear Hydraulic Conirol Unit controls, and right Hydraulic Conirol Unit controls right transmitting assemblies, and front Hydraulic Conirol Unit controls driving front assembly.
On this basis, described left Hydraulic Conirol Unit comprises left pressure transducer, is provided with the left selector valve of 4 ports, left series flow control valve, left pressure regulator valve, described one end of left pressure regulator valve is connected with the in-line of hydraulic pipe line, and the other end is connected with left selector valve by left series flow control valve; A port of described left selector valve is connected with left series flow control valve, and a port is connected with the return line of hydraulic pipe line, and a port is connected with the upper oil cavitie of left hydraulic cylinder group, and a port is connected with the lower oil cavitie of left hydraulic cylinder group; Left pressure transducer is connected on the upper oil cavitie of left hydraulic cylinder group by hydraulic pipe line.
On this basis, described rear Hydraulic Conirol Unit comprises rear pressure transducer, rear selector valve, rear series flow control valve and rear pressure regulator valve, and described one end of rear pressure regulator valve is connected with the in-line of hydraulic pipe line, and one end is connected with rear selector valve by rear series flow control valve; A port of described rear selector valve is connected with rear series flow control valve, a port is connected with the return line of hydraulic pipe line, a port is connected with the upper oil cavitie of rear oil hydraulic cylinder group, a port is connected with the lower oil cavitie of rear oil hydraulic cylinder group, and described rear pressure transducer is connected on the upper oil cavitie of rear oil hydraulic cylinder group by hydraulic pipe line.
On this basis, described right Hydraulic Conirol Unit comprises right pressure transducer, right selector valve, right series flow control valve and right pressure regulator valve, and described one end of right pressure regulator valve is connected with the in-line of hydraulic pipe line, and one end is connected with right selector valve by right series flow control valve; A port of described right selector valve is connected with right series flow control valve, and a port is connected with the return line of hydraulic pipe line, and a port is connected with the upper oil cavitie of right oil hydraulic cylinder group, and a port is connected with the lower oil cavitie of right oil hydraulic cylinder group; Described right pressure transducer is connected on the upper oil cavitie of right oil hydraulic cylinder group by hydraulic pipe line.
On this basis, described front Hydraulic Conirol Unit comprises front pressure transducer, front selector valve, front series flow control valve, front pressure regulator valve, and described one end of front pressure regulator valve is connected with the in-line of hydraulic pipe line, and one end is connected with front selector valve by front series flow control valve; A port of described front selector valve is connected with front series flow control valve, and a port is connected with the return line of hydraulic pipe line, and a port is connected with the upper oil cavitie of front oil hydraulic cylinder group, and a port is connected with the lower oil cavitie of front oil hydraulic cylinder group; Described front pressure transducer is connected on the upper oil cavitie of front oil hydraulic cylinder group by hydraulic pipe line; Described four hydraulic bolt control units are respectively left hydraulic bolt control unit, rear hydraulic bolt control unit, right hydraulic bolt control unit, front hydraulic bolt control unit, described left hydraulic bolt control unit comprises left plugging pin oil cylinder selector valve and left plugging pin oil cylinder pressure regulator valve, described left one end of plugging pin oil cylinder pressure regulator valve is connected with the in-line of hydraulic pipe line, and one end is connected with left plugging pin oil cylinder selector valve; One end of described left plugging pin oil cylinder selector valve is connected with at plugging pin oil cylinder pressure regulator valve, and one end is connected with the return line of hydraulic pipe line, and one end is connected with oil pocket before left plugging pin oil cylinder, and one end is connected with the rear oil pocket of left plugging pin oil cylinder; Described rear hydraulic bolt control unit comprises rear plugging pin oil cylinder selector valve and rear plugging pin oil cylinder pressure regulator valve, and described rear one end of plugging pin oil cylinder pressure regulator valve is connected with the in-line of hydraulic pipe line, and one end is connected with rear plugging pin oil cylinder selector valve; One end of described rear plugging pin oil cylinder selector valve is connected with at plugging pin oil cylinder pressure regulator valve, and one end is connected with the return line of hydraulic pipe line, and one end is connected with oil pocket before rear plugging pin oil cylinder, and one end is connected with the rear oil pocket of rear plugging pin oil cylinder; Described right hydraulic bolt control unit comprises right pin oil cylinder selector valve and right pin oil cylinder pressure regulator valve, and one end of right pin oil cylinder pressure regulator valve is connected with the in-line of hydraulic pipe line, and one end is connected with right pin oil cylinder selector valve; One end of described right pin oil cylinder selector valve is connected with at plugging pin oil cylinder pressure regulator valve, and one end is connected with the return line of hydraulic pipe line, and one end is connected with oil pocket before right pin oil cylinder, and one end is connected with the right oil pocket of right pin oil cylinder; Described front hydraulic bolt control unit comprises front plugging pin oil cylinder selector valve and front plugging pin oil cylinder pressure regulator valve; Front one end of plugging pin oil cylinder pressure regulator valve is connected with the in-line of hydraulic pipe line, and one end is connected with front plugging pin oil cylinder selector valve; One end of described front plugging pin oil cylinder selector valve is connected with at plugging pin oil cylinder pressure regulator valve, and one end is connected with the return line of hydraulic pipe line, and one end is connected with oil pocket before front plugging pin oil cylinder, and one end is connected with oil pocket before front plugging pin oil cylinder.
Compared with prior art, the invention has the beneficial effects as follows:
(1) the present invention is directed to the features such as self-lifting ocean installing engineering platform Synchronous lifting hydraulic system is non-linear, time variation, heavy load change, have employed cross-coupling control mode, namely be divided into and organize hydraulic transmission assembly more, and often organize two oil hydraulic cylinders in hydraulic transmission assembly and all desirable be input as target with one, carry out real-Time Tracking Control; The output quantity of two executive components is compared simultaneously, improve the quiet dynamic precision of Synchronous lifting closed loop control system.
(2) structural design of hydraulic rotation assembly of the present invention, overcome the impact of the factor such as the difference of load, the foozle of system components between the performance difference between the non-linear friction resistance of the existence such as the leakage of conventional hydraulic, executive component, control unit, each executive component, the synchronization error of many actuators will be caused, thus make whole Control system architecture complicated, debug difficulties.
(3) by the pressure jump detecting oil cylinder upper oil cavitie, the present invention judges whether spud leg contacts sea bed, in pitching pile or pile pulling process, treat that latch or slide block to be pulled pin are synchronized with the movement with driving the slide block of support leg movement, latch or work of pulling pin is realized in motion, working principle is simply effective, and validity is high, is quick on the draw, and the complexity of structure own is not high, has large market prospect.
(4) the present invention regulates support leg movement speed by series flow control valve, the support leg movement speed that exceeds schedule time overcomes sea bed resistance by the working pressure of pressure regulator valve regulator solution cylinder pressure group when not reaching command value, thus improve support leg movement speed, reasonable in design ingenious, highly sensitive, automaticity is high, reduces the input of manpower and materials, save manpower and time cost, there is very high use value.
Accompanying drawing explanation
Fig. 1 is the integrally-built plan view of control system of the present invention;
Fig. 2 is the integrally-built A-A plan view of control system of the present invention;
Fig. 3 is the integrally-built B-B plan view of control system of the present invention;
Fig. 4 is hydraulic pressure pitching pile unit hydraulic transmission block diagram of the present invention;
Fig. 5 is the ocean installing engineering platform Synchronous lifting hydraulic system Fuzzy RBF Neural Network control system schematic diagram that IGA optimizes;
Fig. 6 is that IGA optimizes RBF neural flow chart.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The present invention relates to a kind of wind turbine installation vessel high-precision hydraulic Synchronous lifting control system, comprise hydraulic transmission module, hydraulic control module and electric control module, as shown in Figure 1, Figure 2, shown in Fig. 3 different visual angles: hydraulic transmission module comprises base 1, spud leg 2 and four hydraulic transmission assemblies, spud leg 2 is fixed on base 1, is provided with 4 ear seats 4 above this base 1, hydraulic transmission assembly comprises the identical Left Drive assembly of structure, rear transmitting assemblies, right transmitting assemblies and driving front assembly, hydraulic control module comprises hydraulic oil container 34, hydraulic pipe line 29, air filter 31, motor 30, oil hydraulic pump 32, one-way valve 28, relief valve 33, four hydraulic pressure drive control system assemblies and four hydraulic bolt control units, described oil hydraulic pump 32 is connected with motor 30, one end of oil hydraulic pump 32 is by hydraulic pipe line 29, air filter 31 is connected with fuel tank 34, the other end is connected with hydraulic pressure drive control system assembly and hydraulic bolt control unit by hydraulic pipe line 29.
Concrete, Left Drive assembly comprises left lateral journey feel cylinder 3, left oil cylinder 10, centre arrange round-meshed left slider 6, upper pin 5, the next pin 26, left bolt device, and this left bolt device comprises support 7, left plugging pin oil cylinder 8, latch 9; Concrete linkage structure is: the upper oil cavitie of left lateral journey feel cylinder 3, lower oil cavitie respectively with the upper oil cavitie of left oil cylinder 10, lower oil cavitie by hydraulic pipe line UNICOM, an oil hydraulic cylinder group, i.e. left hydraulic cylinder group is formed after the upper lower oil cavitie UNICOM of this left lateral journey feel cylinder 8 and left oil cylinder 10; The left slider 6 of left lateral journey feel cylinder 3 is connected with piston rod 27 by upper pin 5, the cylinder body of left lateral journey feel cylinder 3 is connected with the ear seat 4 on base 1 through the next pin 26, the piston rod 27 of left oil cylinder 10 is connected with left slider 6 through upper pin 5, and the cylinder body of left oil cylinder 10 is connected with the ear seat 4 on base 1 through the next pin 26; Support 7 in left bolt device is connected with left slider 6; Left plugging pin oil cylinder 8 is arranged in the circular hole in the middle of left slider 6, realizes moving left and right in circular hole; The piston rod 27 of left plugging pin oil cylinder 8 is connected with support 7, and the cylinder body of left plugging pin oil cylinder 8 is connected with latch 9.
Rear transmitting assemblies comprises rear stroke sensing oil cylinder 11, rear oil cylinder 14, centre arrange round-meshed rear slider 12, upper pin 5, the next pin 26 and rear bolt device, this rear bolt device comprises support 7, rear plugging pin oil cylinder 13 and latch 9, concrete linkage structure is: the upper oil cavitie of rear stroke sensing oil cylinder 11, lower oil cavitie respectively with the upper oil cavitie of rear oil cylinder 14, lower oil cavitie by hydraulic pipe line UNICOM, an oil hydraulic cylinder group is formed, oil hydraulic cylinder group namely after the upper lower oil cavitie UNICOM of described rear stroke sensing oil cylinder 11 and rear oil cylinder 14; The piston rod 27 of rear stroke sensing oil cylinder 11 is connected with rear slider 12 through upper pin 5, and the cylinder body of rear stroke sensing oil cylinder 11 is connected with the ear seat 4 on base 1 through the next pin 26; The piston rod 27 of rear oil cylinder 14 is connected with rear slider 6 by upper pin 5, and the cylinder body of rear oil cylinder 14 is connected with the ear seat 4 on base 1 through the next pin 26; Support 7 in rear bolt device is connected with rear slider 12; Rear plugging pin oil cylinder 13 is arranged in the circular hole in the middle of rear slider 12, can move forward and backward in circular hole; The piston rod of rear plugging pin oil cylinder 13 is connected with support 7, and the cylinder body of rear plugging pin oil cylinder 13 is connected with latch 9.
Right transmitting assemblies comprises right lateral journey feel cylinder 15, right oil cylinder 18, right slide block 16, upper pin 5, the next pin 26 and right pin device, this right pin device is made up of support 7, right pin oil cylinder 17 and latch 9, concrete linkage structure is: the upper oil cavitie of right lateral journey feel cylinder 15, lower oil cavitie respectively with the upper oil cavitie of right oil cylinder 18, lower oil cavitie by hydraulic pipe line UNICOM, an oil hydraulic cylinder group, i.e. right oil hydraulic cylinder group is formed after the upper lower oil cavitie UNICOM of right lateral journey feel cylinder 15 and right oil cylinder 18; The piston rod 27 of right lateral journey feel cylinder 15 is connected with right slide block 16 through upper pin 5, and the cylinder body of right lateral journey feel cylinder 15 is connected with the ear seat 4 on base 1 through the next pin 26; The piston rod 27 of right oil cylinder 18 is connected with right slide block 6 through upper pin 5, and the cylinder body of right oil cylinder 18 is connected with the ear seat 4 on base 1 through the next pin 26; Support 7 in right pin device is connected with right slide block 16; Right pin oil cylinder 17 is arranged in the circular hole in the middle of right slide block 16, can move left and right in circular hole; The piston rod of right pin oil cylinder 17 is connected with support 7, and the cylinder body of right pin oil cylinder 17 is connected with latch 9.
Driving front assembly comprises front travel feel cylinder 19, front oil cylinder 22, front-slider 21, upper pin 5, the next pin 26 and front bolt device, this front bolt device comprises support 7, front plugging pin oil cylinder 20 and latch 9, concrete linkage structure is: the upper oil cavitie of front travel feel cylinder 19, lower oil cavitie respectively with the upper oil cavitie of front oil cylinder 22, lower oil cavitie by hydraulic pipe line UNICOM, an oil hydraulic cylinder group is formed, oil hydraulic cylinder group namely before the upper lower oil cavitie UNICOM of front travel feel cylinder 19 and front oil cylinder 22; The piston rod 27 of front travel feel cylinder 19 is connected with front-slider 21 through upper pin 5, and the cylinder body of front travel feel cylinder 19 is connected with the ear seat 4 on base 1 through the next pin 26; The piston rod 27 of described front oil cylinder 22 is connected with front-slider 6 through upper pin 5, and the cylinder body of front oil cylinder 22 is connected with the ear seat 4 on base 1 through the next pin 26; Support 7 in front bolt device is connected with front-slider 21; Described front plugging pin oil cylinder 20 is arranged in the circular hole in the middle of front-slider 21, can move forward and backward in circular hole; The piston rod of front plugging pin oil cylinder 20 is connected with support 7, and the cylinder body of front plugging pin oil cylinder 20 is connected with latch 9.
Wherein, left lateral journey feel cylinder 3, rear stroke sensing oil cylinder 11, right lateral journey feel cylinder 15, front travel feel cylinder 19 are chosen as built-in ultrasonic type stroke sensing oil cylinder.
Hydraulic pressure drive control system assembly above-mentioned comprises left Hydraulic Conirol Unit, rear Hydraulic Conirol Unit, right Hydraulic Conirol Unit and front Hydraulic Conirol Unit respectively; Left Hydraulic Conirol Unit controls Left Drive assembly, transmitting assemblies after rear Hydraulic Conirol Unit controls, and right Hydraulic Conirol Unit controls right transmitting assemblies, and front Hydraulic Conirol Unit controls driving front assembly.
Left Hydraulic Conirol Unit comprises left pressure transducer Y1, is provided with the left selector valve F1 of 4 ports, left series flow control valve S1, left pressure regulator valve J1, one end of described left pressure regulator valve J1 is connected with the in-line of hydraulic pipe line 29, and the other end is connected with left selector valve F1 by left series flow control valve S1; A port of described left selector valve F1 is connected with left series flow control valve S1, and a port is connected with the return line of hydraulic pipe line 29, and a port is connected with the upper oil cavitie of left hydraulic cylinder group, and a port is connected with the lower oil cavitie of left hydraulic cylinder group; Left pressure transducer Y1 is connected on the upper oil cavitie of left hydraulic cylinder group by hydraulic pipe line 29.
Rear Hydraulic Conirol Unit comprises rear pressure transducer Y2, rear selector valve F2, rear series flow control valve S2 and rear pressure regulator valve J2, and one end of rear pressure regulator valve J2 is connected with the in-line of hydraulic pipe line 29, and one end is connected with rear selector valve F2 by rear series flow control valve S2; A port of rear selector valve F2 is connected with rear series flow control valve S2, a port is connected with the return line of hydraulic pipe line 29, a port is connected with the upper oil cavitie of rear oil hydraulic cylinder group, a port is connected with the lower oil cavitie of rear oil hydraulic cylinder group, and rear pressure transducer Y2 is connected on the upper oil cavitie of rear oil hydraulic cylinder group by hydraulic pipe line 29.
Right Hydraulic Conirol Unit comprises right pressure transducer Y3, right selector valve F3, right series flow control valve S3 and right pressure regulator valve J3, and one end of right pressure regulator valve J3 is connected with the in-line of hydraulic pipe line 29, and one end is connected with right selector valve F3 by right series flow control valve S3; A port of right selector valve F3 is connected with right series flow control valve S3, and a port is connected with the return line of hydraulic pipe line 29, and a port is connected with the upper oil cavitie of right oil hydraulic cylinder group, and a port is connected with the lower oil cavitie of right oil hydraulic cylinder group; Right pressure transducer Y3 is connected on the upper oil cavitie of right oil hydraulic cylinder group by hydraulic pipe line 29.
Front Hydraulic Conirol Unit comprises front pressure transducer Y4, front selector valve F4, front series flow control valve S4, front pressure regulator valve J4, and one end of front pressure regulator valve J4 is connected with the in-line of hydraulic pipe line 29, and one end is connected with front selector valve F4 by front series flow control valve S4; A port of front selector valve F4 is connected with front series flow control valve S4, and a port is connected with the return line of hydraulic pipe line 29, and a port is connected with the upper oil cavitie of front oil hydraulic cylinder group, and a port is connected with the lower oil cavitie of front oil hydraulic cylinder group; Front pressure transducer Y4 is connected on the upper oil cavitie of front oil hydraulic cylinder group by hydraulic pipe line 29; Four hydraulic bolt control units are respectively left hydraulic bolt control unit, rear hydraulic bolt control unit, right hydraulic bolt control unit, front hydraulic bolt control unit, left hydraulic bolt control unit comprises left plugging pin oil cylinder selector valve F5 and left plugging pin oil cylinder pressure regulator valve J5, one end of left plugging pin oil cylinder pressure regulator valve J5 is connected with the in-line of hydraulic pipe line 29, and one end is connected with left plugging pin oil cylinder selector valve F5; One end of left plugging pin oil cylinder selector valve F5 is connected with at plugging pin oil cylinder pressure regulator valve J5, and one end is connected with the return line of hydraulic pipe line 29, and one end is connected with oil pocket before left plugging pin oil cylinder 8, and one end is connected with the rear oil pocket of left plugging pin oil cylinder 8; Rear hydraulic bolt control unit comprises rear plugging pin oil cylinder selector valve F6 and rear plugging pin oil cylinder pressure regulator valve J6, and one end of rear plugging pin oil cylinder pressure regulator valve J6 is connected with the in-line of hydraulic pipe line 29, and one end is connected with rear plugging pin oil cylinder selector valve F6; One end of rear plugging pin oil cylinder selector valve F6 is connected with at plugging pin oil cylinder pressure regulator valve J6, and one end is connected with the return line of hydraulic pipe line 29, and one end is connected with oil pocket before rear plugging pin oil cylinder 13, and one end is connected with the rear oil pocket of rear plugging pin oil cylinder 13; Right hydraulic bolt control unit comprises right pin oil cylinder selector valve F7 and right pin oil cylinder pressure regulator valve J7, and one end of right pin oil cylinder pressure regulator valve J7 is connected with the in-line of hydraulic pipe line 29, and one end is connected with right pin oil cylinder selector valve F7; One end of described right pin oil cylinder selector valve F7 is connected with at plugging pin oil cylinder pressure regulator valve J7, and one end is connected with the return line of hydraulic pipe line 29, and one end is connected with oil pocket before right pin oil cylinder 17, and one end is connected with the right oil pocket of right pin oil cylinder 17; Front hydraulic bolt control unit comprises front plugging pin oil cylinder selector valve F8 and front plugging pin oil cylinder pressure regulator valve J8; One end of front plugging pin oil cylinder pressure regulator valve J8 is connected with the in-line of hydraulic pipe line 29, and one end is connected with front plugging pin oil cylinder selector valve F8; One end of described front plugging pin oil cylinder selector valve F8 is connected with at plugging pin oil cylinder pressure regulator valve J8, and one end is connected with the return line of hydraulic pipe line 29, and one end is connected with oil pocket before front plugging pin oil cylinder 20, and one end is connected with oil pocket before front plugging pin oil cylinder 20.
The electric control module of the present embodiment can adopt following scheme: comprise on-off model change-over circuit 35, input interface circuit 36, reversing unit 37, A/D converting unit 38, datawire 39, pressure regulation unit 40, speed adjustment unit 41, industrial computer 42, motor control assembly 44 and upper-position unit 43, before the input port of on-off model change-over circuit 35 and four plugging pin oil cylinder, rear oil pocket position limit switch is connected, output terminal is connected with input interface circuit 36, the input port of A/D converting unit 38 and four pressure transducers, the ultrasonic device for detecting distance of travel of four built-in ultrasonic stroke sensing hydraulic jacks is connected, output port is connected with input interface circuit, the input end of input interface circuit is connected with the output terminal of A/D converting unit 38, on-off model change-over circuit 35 respectively, and the output terminal of input interface circuit 36 is connected with industrial computer 42, the input port of industrial computer 42 is connected with input interface circuit 36, and output port is connected with the input port of pressure regulation unit 40, speed adjustment unit 41, reversing unit 37 respectively, and the communication interface of industrial computer 42 is connected with upper-position unit 43, the input end of reversing unit 37 is connected with the output port of industrial computer 42, and the output port of reversing unit 37 is connected with the coil of the coil of the three-position four-way electromagnetic directional valve of four oil hydraulic cylinder groups, the three-position four-way electromagnetic directional valve of four plugging pin oil cylinder respectively, the input end of speed adjustment unit 41 is connected with the output port of industrial computer 42, and the output port of speed adjustment unit 41 is connected with the electromagnetic speed-adjusting valve coil of four oil hydraulic cylinder groups, the input port of pressure regulation unit 40 is connected with the output port of industrial computer 42, and the output port of pressure regulation unit 40 is connected with the coil of the electromagnetic voltage adjusting valve of the electromagnetic voltage adjusting valve of four oil hydraulic cylinder groups, four plugging pin oil cylinder, motor control assembly 44 input end is connected with industrial computer 42, and output terminal is connected with motor 40.
Details and the workflow of the inventive method and device is described in detail below in conjunction with Fig. 5, Fig. 6:
1, for meeting the actual complicated sea situation faced of ocean installing engineering platform Synchronous lifting hydraulic system, improve rapidity and the accuracy of oil hydraulic cylinder group synchronized tracking, the present invention's application Fuzzy RBF Neural Network Controller controls the travel position of two oil hydraulic cylinders in real time, controller is input as two hydraulic cylinder travel positional error e and change e ' thereof, e is compared by left and right two oil hydraulic cylinder actual measurement travel position to obtain, i.e. e=x-xr; The first differential that e ' is e, em is that left oil cylinder is with reference to exporting the deviation with the actual outgoing position signal of right oil cylinder, i.e. em=xm-xr; ω jk is the connection weights between the second layer and third layer; ω ko is the connection weights between third layer and the 4th layer; Yo (4) is the output of the 4th layer, network.Fuzzy RBF Neural Network parameter carries out on-line optimization acquisition by immune genetic algorithm, thus the reference enabling the traveled distance position of right oil cylinder accurately follow the tracks of left oil cylinder stroke position exports, and namely makes difference e level off to zero.Immune genetic algorithm passes through to calculate fitness function in the hope of optimized parameter solution, by on-line control adaptation parameter, to improve the Synchronous lifting control performance of two oil hydraulic cylinders.
2, according to the experience of ocean installing engineering platform Synchronous lifting hydraulic system actual motion, fuzzy control rule table as shown in table 1 can be drawn, Fuzzy RBF Neural Network is made up of input layer, obfuscation layer, fuzzy reasoning layer and output layer, hidden layer adopts Gauss type function, and output layer adopts linear activation primitive.Functionally, each node layer of network strictly corresponds to the obfuscation of fuzzy logic control, rule-based reasoning and ambiguity solution three steps, thus has clear and definite fuzzy logic meaning.Through the mapping from fuzzy logic to neural network structure and combination, just the shape of most important for fuzzy logic parameter and membership function and position and fuzzy rule can be converted into the weighted value of neuron network, just the self study of neuron network, adaptive ability can be utilized on this basis to optimize these parameters, finally realize the object of Optimization of Fuzzy logic control effect.
Table 1 oil hydraulic cylinder elevator system fuzzy control rule table
3, in ocean installing engineering platform Synchronous lifting hydraulic system, the left oil cylinder reference that is input as of immune genetic algorithm exports the deviation e with the actual outgoing position signal of right oil cylinder
m.Fuzzy RBF Neural Network is as the master controller of whole hydraulic synchronous system, and recycling immune genetic algorithm on-line optimization Training Fuzzy Neural Networks controller parameter, concrete Optimal Parameters comprises: the connection weights ω between the second layer and third layer
jk; Connection weights ω between third layer and the 4th layer
ko; The average c of second layer Gaussian function
ijwith standard deviation b
ijdeng.Application immune genetic algorithm is trained this network and adjusts parameter, to seek to obtain the overall situation combination control effects of optimization membership function in fuzzy control and control law, thus this control program is made to have stronger robustness to ocean installing engineering platform Synchronous lifting hydraulic system to disturbances such as Parameters variation, external wind, stream, waves.
The concrete steps that IGA realizes are as follows:
1. initialization, the control problem of wind turbine installation vessel high-precision hydraulic Synchronous lifting is considered as antigen, determines variable ω to be optimized
jk, ω
ko, c
ij, b
ij.
2. IGA Operational Limits is determined: wherein, population size Q=160, crossover probability Pc=0.60, mutation probability Pm=0.015.
3. encode, standard genetic algorithm generally adopts binary coding, and its search capability is strong, cross and variation convenience of calculation, but needs encoding and decoding frequently, and amount of calculation is comparatively large and precision is not high.Based on this, this research adopts precision higher, and parameter to be optimized is corresponded to a decimal value on antibody coding, makes the number of parameter to be optimized equal antibody coding length by the decimal coded that search volume is larger.Native system can select (ω
jk, ω
ko, c
ij, b
ij) network architecture parameters corresponding to each antibody, have 100 groups of initial antibodies.
4. fitness calculates, and Population Size is 160, uses IGA to search for optimum fuzzy membership functions parameter c
ij, b
ij, calculate the fitness of each antibody.Owing to evolving always towards the direction making fitness function value increase, thus fitness function is the form of structure objective function inverse, if the objective function corresponding to antibody PS is network energy function E
s, energy function is the quadratic sum of the difference that system desired output exports with reality.Because objective function is minimum problems, make fitness function
In formula, c is the conservative estimation value of objective function boundary, U
diand U
ibe respectively i-th training sample in the desired output of output node and actual output.
5. immunological memory mechanism, per generation evolved after, IGA chooses the higher antibody of fitness and sends into data base from current population, ensure that in data base, antibody has higher fitness and good diversity with this, and from storehouse, choose the most bad antibody in the current population of a part of antibody surrogate, improve convergence rate.
6. select operation, calculate the AC that in current population, fitness value is close, namely antibody in colony with the ratio shared by its similar antibodies.When concentration one timing, fitness is larger, and antibody is larger by the probability selected; When fitness one timing, AC is higher, and antibody is less by the probability selected, and so both can retain the antibody with outstanding fitness, again can the too high antibody of inhibition concentration, forms a kind of new diversity maintenance.
7. crossover and mutation operation, carries out the crossover and mutation operation identical with standard genetic algorithm by crossover probability Pc and mutation probability Pm.
8. population recruitment, improve constantly the fitness value of the optimum antibody of colony and average adaptive value to the above operation of population circulation of new generation, until optimum antibody reaches the scope of regulation, meet all constraint conditio, iteration ends, Output rusults, IGA algorithm terminates simultaneously.
Control system binding immunoassay genetic algorithm of the present invention carries out synchronous optimizing to the parameters of controller, the control strategy studied effectively can improve the dynamic static accuracy of ocean installing engineering platform Synchronous lifting hydraulic system, and control system can be made to have higher Synchronous lifting control accuracy and stronger robustness.When installing engineering platform in ocean is when being subject to the interference of wind, stream, wave impact and the change of hull own load etc., the high level of synchronization of system improving accurately can be ensured.
Above-mentioned explanation illustrate and describes the preferred embodiments of the present invention, as previously mentioned, be to be understood that the present invention is not limited to the form disclosed by this paper, should not regard the eliminating to other embodiments as, and can be used for other combinations various, amendment and environment, and can in invention contemplated scope described herein, changed by the technology of above-mentioned instruction or association area or knowledge.And the change that those skilled in the art carry out and change do not depart from the spirit and scope of the present invention, then all should in the protection domain of claims of the present invention.
Claims (10)
1. a wind turbine installation vessel high-precision hydraulic Synchronous lifting control system, comprise hydraulic transmission module, hydraulic control module and electric control module, it is characterized in that: described hydraulic transmission module comprises base (1), spud leg (2) and four hydraulic transmission assemblies, spud leg (2) is fixed on base (1), and this base (1) top is provided with several ear seats (4), described hydraulic transmission assembly comprises the identical Left Drive assembly of structure, rear transmitting assemblies, right transmitting assemblies and driving front assembly, described hydraulic control module comprises hydraulic oil container (34), hydraulic pipe line (29), air filter (31), motor (30), oil hydraulic pump (32), one-way valve (28), relief valve (33), four hydraulic pressure drive control system assemblies and four hydraulic bolt control units, described oil hydraulic pump (32) is connected with motor (30), one end of described oil hydraulic pump (32) is by hydraulic pipe line (29), air filter (31) is connected with fuel tank (34), the other end is connected with hydraulic pressure drive control system assembly and hydraulic bolt control unit by hydraulic pipe line (29).
2. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 1, it is characterized in that: described Left Drive assembly comprises left lateral journey feel cylinder (3), left oil cylinder (10), centre arrange round-meshed left slider (6), upper pin (5), the next pin (26), left bolt device, this left bolt device comprises support (7), left plugging pin oil cylinder (8), latch (9); Concrete linkage structure is: the upper oil cavitie of described left lateral journey feel cylinder (3), lower oil cavitie respectively with the upper oil cavitie of left oil cylinder (10), lower oil cavitie by hydraulic pipe line UNICOM, an oil hydraulic cylinder group, i.e. left hydraulic cylinder group is formed after the upper lower oil cavitie UNICOM of this left lateral journey feel cylinder (8) and left oil cylinder (10); The left slider (6) of described left lateral journey feel cylinder (3) is connected with piston rod (27) by upper pin (5), the cylinder body of described left lateral journey feel cylinder (3) is connected with the ear seat (4) on base (1) through bottom pin (26), the piston rod (27) of described left oil cylinder (10) is connected with left slider (6) through upper pin (5), and the cylinder body of described left oil cylinder (10) is connected with the ear seat (4) on base (1) through bottom pin (26); Support (7) in described left bolt device is connected with left slider (6); Described left plugging pin oil cylinder (8) is arranged in the circular hole in the middle of left slider (6), realizes moving left and right in circular hole; The piston rod (27) of described left plugging pin oil cylinder (8) is connected with support (7), and the cylinder body of described left plugging pin oil cylinder (8) is connected with latch (9).
3. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 1, it is characterized in that: described rear transmitting assemblies comprises rear stroke sensing oil cylinder (11), rear oil cylinder (14), centre arranges round-meshed rear slider (12), upper pin (5), the next pin (26) and rear bolt device, this rear bolt device comprises support (7), rear plugging pin oil cylinder (13) and latch (9), concrete linkage structure is: the upper oil cavitie of rear stroke sensing oil cylinder (11), lower oil cavitie respectively with the upper oil cavitie of rear oil cylinder (14), lower oil cavitie is by hydraulic pipe line UNICOM, an oil hydraulic cylinder group is formed after the upper lower oil cavitie UNICOM of described rear stroke sensing oil cylinder (11) and rear oil cylinder (14), namely oil hydraulic cylinder group after, the piston rod (27) of described rear stroke sensing oil cylinder (11) is connected with rear slider (12) through upper pin (5), and the cylinder body of described rear stroke sensing oil cylinder (11) is connected with the ear seat (4) on base (1) through bottom pin (26), the piston rod (27) of described rear oil cylinder (14) is connected with rear slider (6) by upper pin (5), and the cylinder body of described rear oil cylinder (14) is connected with the ear seat (4) on base (1) through bottom pin (26), support (7) in described rear bolt device is connected with rear slider (12), described rear plugging pin oil cylinder (13) is arranged in the circular hole in the middle of rear slider (12), can move forward and backward in circular hole, the piston rod of described rear plugging pin oil cylinder (13) is connected with support (7), and the cylinder body of described rear plugging pin oil cylinder (13) is connected with latch (9).
4. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 1, it is characterized in that: described right transmitting assemblies comprises right lateral journey feel cylinder (15), right oil cylinder (18), right slide block (16), upper pin (5), the next pin (26) and right pin device, this right pin device is by support (7), right pin oil cylinder (17) and latch (9) composition, concrete linkage structure is: the upper oil cavitie of right lateral journey feel cylinder (15), lower oil cavitie respectively with the upper oil cavitie of right oil cylinder (18), lower oil cavitie is by hydraulic pipe line UNICOM, an oil hydraulic cylinder group is formed after the upper lower oil cavitie UNICOM of right lateral journey feel cylinder (15) and right oil cylinder (18), i.e. right oil hydraulic cylinder group, the piston rod (27) of described right lateral journey feel cylinder (15) is connected with right slide block (16) through upper pin (5), and the cylinder body of described right lateral journey feel cylinder (15) is connected with the ear seat (4) on base (1) through bottom pin (26), the piston rod (27) of described right oil cylinder (18) is connected with right slide block (6) through upper pin (5), and the cylinder body of right oil cylinder (18) is connected with the ear seat (4) on base (1) through bottom pin (26), support (7) in described right pin device is connected with right slide block (16), described right pin oil cylinder (17) is arranged in the circular hole in the middle of right slide block (16), can move left and right in circular hole, the piston rod of described right pin oil cylinder (17) is connected with support (7), and the cylinder body of right pin oil cylinder (17) is connected with latch (9).
5. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 1, it is characterized in that: described driving front assembly comprises front travel feel cylinder (19), front oil cylinder (22), front-slider (21), upper pin (5), the next pin (26) and front bolt device, this front bolt device comprises support (7), front plugging pin oil cylinder (20) and latch (9), concrete linkage structure is: the upper oil cavitie of front travel feel cylinder (19), lower oil cavitie respectively with the upper oil cavitie of front oil cylinder (22), lower oil cavitie is by hydraulic pipe line UNICOM, an oil hydraulic cylinder group is formed before the upper lower oil cavitie UNICOM of described front travel feel cylinder (19) and front oil cylinder (22), namely oil hydraulic cylinder group before, the piston rod (27) of described front travel feel cylinder (19) is connected with front-slider (21) through upper pin (5), and the cylinder body of described front travel feel cylinder (19) is connected with the ear seat (4) on base (1) through bottom pin (26), the piston rod (27) of described front oil cylinder (22) is connected with front-slider (6) through upper pin (5), and the cylinder body of described front oil cylinder (22) is connected with the ear seat (4) on base (1) through bottom pin (26), support (7) in described front bolt device is connected with front-slider (21), described front plugging pin oil cylinder (20) is arranged in the circular hole in the middle of front-slider (21), realizes in circular hole movable, the piston rod of described front plugging pin oil cylinder (20) is connected with support (7), and the cylinder body of described front plugging pin oil cylinder (20) is connected with latch (9).
6. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 1, is characterized in that: described hydraulic pressure drive control system assembly comprises left Hydraulic Conirol Unit, rear Hydraulic Conirol Unit, right Hydraulic Conirol Unit and front Hydraulic Conirol Unit respectively; Left Hydraulic Conirol Unit controls Left Drive assembly, transmitting assemblies after rear Hydraulic Conirol Unit controls, and right Hydraulic Conirol Unit controls right transmitting assemblies, and front Hydraulic Conirol Unit controls driving front assembly.
7. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 6, it is characterized in that: described left Hydraulic Conirol Unit comprises left pressure transducer (Y1), is provided with the left selector valve (F1) of 4 ports, left series flow control valve (S1), left pressure regulator valve (J1), one end of described left pressure regulator valve (J1) is connected with the in-line of hydraulic pipe line (29), and the other end is connected with left selector valve (F1) by left series flow control valve (S1); A port of described left selector valve (F1) is connected with left series flow control valve (S1), a port is connected with the return line of hydraulic pipe line (29), a port is connected with the upper oil cavitie of left hydraulic cylinder group, and a port is connected with the lower oil cavitie of left hydraulic cylinder group; Left pressure transducer (Y1) is connected on the upper oil cavitie of left hydraulic cylinder group by hydraulic pipe line (29).
8. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 6, it is characterized in that: described rear Hydraulic Conirol Unit comprises rear pressure transducer (Y2), rear selector valve (F2), rear series flow control valve (S2) and rear pressure regulator valve (J2), one end of described rear pressure regulator valve (J2) is connected with the in-line of hydraulic pipe line (29), and one end is connected with rear selector valve (F2) by rear series flow control valve (S2); A port of described rear selector valve (F2) is connected with rear series flow control valve (S2), a port is connected with the return line of hydraulic pipe line (29), a port is connected with the upper oil cavitie of rear oil hydraulic cylinder group, a port is connected with the lower oil cavitie of rear oil hydraulic cylinder group, and described rear pressure transducer (Y2) is connected on the upper oil cavitie of rear oil hydraulic cylinder group by hydraulic pipe line (29).
9. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 6, it is characterized in that: described right Hydraulic Conirol Unit comprises right pressure transducer (Y3), right selector valve (F3), right series flow control valve (S3) and right pressure regulator valve (J3), one end of described right pressure regulator valve (J3) is connected with the in-line of hydraulic pipe line (29), and one end is connected with right selector valve (F3) by right series flow control valve (S3); A port of described right selector valve (F3) is connected with right series flow control valve (S3), a port is connected with the return line of hydraulic pipe line (29), a port is connected with the upper oil cavitie of right oil hydraulic cylinder group, and a port is connected with the lower oil cavitie of right oil hydraulic cylinder group; Described right pressure transducer (Y3) is connected on the upper oil cavitie of right oil hydraulic cylinder group by hydraulic pipe line (29).
10. wind turbine installation vessel high-precision hydraulic Synchronous lifting control system according to claim 6, it is characterized in that: described front Hydraulic Conirol Unit comprises front pressure transducer (Y4), front selector valve (F4), front series flow control valve (S4), front pressure regulator valve (J4), one end of described front pressure regulator valve (J4) is connected with the in-line of hydraulic pipe line (29), and one end is connected with front selector valve (F4) by front series flow control valve (S4); A port of described front selector valve (F4) is connected with front series flow control valve (S4), a port is connected with the return line of hydraulic pipe line (29), a port is connected with the upper oil cavitie of front oil hydraulic cylinder group, and a port is connected with the lower oil cavitie of front oil hydraulic cylinder group; Described front pressure transducer (Y4) is connected to by hydraulic pipe line (29) on the upper oil cavitie of front oil hydraulic cylinder group; Described four hydraulic bolt control units are respectively left hydraulic bolt control unit, rear hydraulic bolt control unit, right hydraulic bolt control unit, front hydraulic bolt control unit, described left hydraulic bolt control unit comprises left plugging pin oil cylinder selector valve (F5) and left plugging pin oil cylinder pressure regulator valve (J5), one end of described left plugging pin oil cylinder pressure regulator valve (J5) is connected with the in-line of hydraulic pipe line (29), and one end is connected with left plugging pin oil cylinder selector valve (F5); One end of described left plugging pin oil cylinder selector valve (F5) is connected with at plugging pin oil cylinder pressure regulator valve (J5), one end is connected with the return line of hydraulic pipe line (29), one end is connected with the front oil pocket of left plugging pin oil cylinder (8), and one end is connected with the rear oil pocket of left plugging pin oil cylinder (8); Described rear hydraulic bolt control unit comprises rear plugging pin oil cylinder selector valve (F6) and rear plugging pin oil cylinder pressure regulator valve (J6), one end of described rear plugging pin oil cylinder pressure regulator valve (J6) is connected with the in-line of hydraulic pipe line (29), and one end is connected with rear plugging pin oil cylinder selector valve (F6); One end of described rear plugging pin oil cylinder selector valve (F6) is connected with at plugging pin oil cylinder pressure regulator valve (J6), one end is connected with the return line of hydraulic pipe line (29), one end is connected with the front oil pocket of rear plugging pin oil cylinder (13), and one end is connected with the rear oil pocket of rear plugging pin oil cylinder (13); Described right hydraulic bolt control unit comprises right pin oil cylinder selector valve (F7) and right pin oil cylinder pressure regulator valve (J7), one end of right pin oil cylinder pressure regulator valve (J7) is connected with the in-line of hydraulic pipe line (29), and one end is connected with right pin oil cylinder selector valve (F7); One end of described right pin oil cylinder selector valve (F7) is connected with at plugging pin oil cylinder pressure regulator valve (J7), one end is connected with the return line of hydraulic pipe line (29), one end is connected with the front oil pocket of right pin oil cylinder (17), and one end is connected with the right oil pocket of right pin oil cylinder (17); Described front hydraulic bolt control unit comprises front plugging pin oil cylinder selector valve (F8) and front plugging pin oil cylinder pressure regulator valve (J8); One end of front plugging pin oil cylinder pressure regulator valve (J8) is connected with the in-line of hydraulic pipe line (29), and one end is connected with front plugging pin oil cylinder selector valve (F8); One end of described front plugging pin oil cylinder selector valve (F8) is connected with at plugging pin oil cylinder pressure regulator valve (J8), one end is connected with the return line of hydraulic pipe line (29), one end is connected with the front oil pocket of front plugging pin oil cylinder (20), and one end is connected with the front oil pocket of front plugging pin oil cylinder (20).
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