CN109696927B - Automatic leveling system and method for maritime work lifting platform - Google Patents
Automatic leveling system and method for maritime work lifting platform Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention relates to an automatic leveling system for a maritime work lifting platform, which comprises the following components: peripheral sensor, controlling means, executive component; the peripheral sensor comprises an inclination sensor and a displacement sensor; the control device comprises a PLC controller, an upper computer and electronic components, wherein the PLC controller is respectively connected with the upper computer and the electronic components; the actuating element provides a power source and drives the platform spud leg to lift by receiving a control signal of the control device. According to the invention, an automatic leveling technology is used for replacing manual leveling, so that the leveling operation of the lifting platform is simplified, the operation safety is improved, and the lifting efficiency of the lifting platform is greatly improved.
Description
Technical Field
The invention relates to the field of maritime work lifting platforms (Liftbottom), in particular to an automatic leveling system and an automatic leveling method of a maritime work lifting platform.
Background
The existing maritime work lifting platform (Liftbottom) adopts a manual leveling technology, namely in the lifting operation process of multi-pile linkage, the inclination angle value of the lifting platform (Liftbottom) exceeds a limit value, the inclination exceeds a limit value, an alarm is given, and an operator immediately stops lifting operation. And switching from the multi-pile linkage lifting working condition to the single-pile lifting working condition, independently lifting the pile leg with too low speed in the lifting process, and finishing manual leveling when the inclination angle value of the platform is regulated to be within the allowable range. And switching the single pile lifting working condition to the multi-pile linkage lifting working condition, and continuing lifting operation by an operator. The manual leveling technique has the following defects: 1. the inclination angle value of the maritime work lifting platform (Liftbottom) exceeds a limit value, lifting operation is required to be stopped firstly, then manual leveling operation is performed, and lifting operation is continued after manual leveling is completed. Therefore, in the whole lifting process, the manual leveling for many times takes too much time, so that the working efficiency of the whole lifting platform is reduced. 2. The manual leveling requires an operator to judge which spud leg is too slow according to the inclination angle value and then level the height of the too slow spud leg, so that the requirement on the operation capability of the operator is high and the operability is not strong. 3. The leveling judgment signal is only a single signal of inclination angle, and is easy to cause judgment errors.
Disclosure of Invention
The invention provides the automatic leveling system for the maritime work lifting platform, which is simple to operate and high in automation degree, is safe and reliable, and replaces manual leveling by an automatic leveling technology in the lifting process of the maritime work lifting platform (Liftbottom), so that the leveling operation of the lifting platform is simplified, the operation safety is improved, and the lifting efficiency of the lifting platform is greatly improved.
In order to solve the technical problems, the invention adopts the following solution:
an automatic leveling system for a marine lifting platform, comprising: peripheral sensor, controlling means, executive component; the peripheral sensor is connected with the control device and the executing element; the method is characterized in that:
the peripheral sensor comprises an inclination sensor and a displacement sensor; the inclination angle sensor acquires the inclination angle value of the platform in real time, the displacement sensor acquires the position value of the pile leg in real time, and corresponding acquired data are transmitted to the control device;
the control device comprises a PLC controller, an upper computer and electronic components, wherein the PLC controller is respectively connected with the upper computer and the electronic components; the PLC controller performs automatic leveling logic operation, outputs control signals and drives the execution element through the electronic component; the PLC controller is connected with the upper computer through the Ethernet, relevant parameters in the controller are transmitted to the upper computer, and the upper computer displays relevant data in real time;
the actuating element provides a power source and drives the platform spud leg to lift by receiving a control signal of the control device. Preferably, the inclination angle sensor is a voltage type double-shaft inclination angle sensor with the precision of 0.01 degrees or a communication type (Modbus\CAN) double-shaft inclination angle sensor.
Preferably, the displacement sensor is an incremental encoder.
Preferably, the PLC controller is Siemens S7-300 or S7-1500.
The leveling method of the automatic leveling system for the maritime work lifting platform is characterized by comprising the following steps of:
the method comprises the following steps that firstly, a peripheral sensor collects signals in real time and transmits the signals to a control device, an inclination angle sensor collects an inclination angle value Q of a platform in real time, and a displacement sensor collects a pile leg relative position value S in real time and transmits the values to the control device;
the second step, the control device receives the peripheral sensor signal to carry out logic operation, and compares the inclination angle value transmitted by the inclination angle sensor with the inclination angle limiting value;
thirdly, judging whether the inclination angle value Q in the second step is invalid or not; when the inclination angle value Q is effective, the inclination angle value Q is preferentially used as a judging signal for automatic leveling; if the inclination angle value Q fails, the relative position value S of the pile leg for automatic switching is used as a judging signal for automatic leveling, and the relative position value S of the pile leg is used as a redundant signal;
step four, when the inclination angle value Q of the step three is effective, the inclination angle value of the lifting platform is larger than the inclination angle limit value, the platform enters an automatic leveling mode, an automatic leveling module based on a PID algorithm is called, the size of an output current or voltage signal is adjusted to control an executing element, and the executing element controls the lifting speed of the pile leg to adjust the inclination angle of the platform; in the process of automatic leveling, the inclination sensor feeds back inclination data to the control device in real time; when the absolute value of the inclination angle of the adjusted lifting platform is smaller than a leveling stopping set value, the control device exits from an automatic leveling mode, the platform lifts according to the normal lifting speed, and the leveling stopping set value is set according to the actual working condition;
fifthly, if the inclination angle value Q in the third step fails, the relative position value S of the pile leg for automatic switching is used as a judging signal for automatic leveling, and the relative position value S of the pile leg is used as a redundant signal;
sixthly, if the difference between the maximum value and the minimum value of the relative displacement of the pile leg in the fifth step is larger than the leveling starting set value, the platform enters an automatic leveling mode, an automatic leveling module based on a PID algorithm is called, the size of an output current or voltage signal is adjusted to control an executing element, and the executing element controls the lifting speed of the pile leg to adjust the inclination angle of the platform; in the process of automatic leveling, the displacement sensor feeds back pile leg displacement data to the control device in real time; when the actual relative displacement values and the minimum relative displacement values of all the pile legs are smaller than the leveling stopping set value, the control system exits from the automatic leveling mode, the platform ascends and descends at the normal ascending and descending speed, the leveling starting set value is set according to the actual working condition, and the leveling stopping set value is set according to the actual working condition.
Preferably, the control logic flow of the automatic leveling module based on the PID algorithm, which takes the inclination angle value Q as the judgment signal, is as follows:
step S001: determination of speed regulating pile leg
Firstly determining a pile leg with too high lifting speed and required speed regulation according to a limit value Q of the inclination angle of the platform; as shown in figure 3, the piles are respectively 1,2,3, 4 and Q in the clockwise direction X Is the value of the inclination angle of the X axis, Q Y For Y-axis inclination angle, according to the relationship diagram of pile leg and inclination angle, the platform is lifted up to work condition, if Q X >The inclination limit value Q, the rising speed of the pile legs 2 and 4 is too high; if Q X <-inclination limit Q, pile legs 1, 3 rise too fast; if Q Y >The inclination limit value Q, the rising speed of the pile legs 1 and 2 is too high; if Q Y <-inclination limit Q, pile legs 3, 4 rise too fast; platform lowering condition, if Q X >The inclination limit value is that the descending speed of the pile legs 1 and 3 is too high; if Q X <-inclination limit Q, the lowering speed of the legs 2, 4 is too fast; if Q Y >The inclination limit value Q, the descending speed of the pile legs 3 and 4 is too high; if Q Y <-inclination limit Q, the lowering speed of the legs 1,2 is too fast;
step S002: automatic adjustment of leg speed
After the speed regulation spud leg is determined, the output current or voltage control signal is regulated through PID algorithm logic, and the speed regulation PID algorithm formula is as follows:
e k ＝|Q real world –Q Order of (A) |
Wherein:
k: sampled signal in PID algorithm, k=0, 1,2,3,;
j: sampling signals in PID algorithm, j=0, 1,2,3, k;
U K : current output at the Kth sampling timeOr voltage control signals for controlling actuators such as pumps, motors, solenoid valves, motors, etc. to adjust the lifting speed of the spud leg;
e k : actual inclination value Q at the Kth sampling time Real world From a target inclination value Q Order of (A) The absolute value of the difference;
e j : actual inclination value Q at jth sampling time Real world From a target inclination value Q Order of (A) The absolute value of the difference;
K P : proportional coefficient in PID algorithm, setting according to actual working condition, and initial value K P ＝200；
k i : integral coefficient in PID algorithm is set according to actual working condition, and initial value k is set i ＝1；
k d : differential coefficient in PID algorithm can be set according to actual working condition, and initial value k d ＝1；
Q Real world : an actual tilt angle value;
Q order of (A) : a target tilt angle value;
the automatic leveling module based on PID algorithm is based on the absolute value e of the difference between the actual inclination angle value and the target inclination angle value k Outputting a current or voltage control signal U in real time K Controlling the executing element to adjust the lifting speed of the pile leg;
step S003: exit from auto leveling mode
The absolute value of the inclination angle of the lifting platform is smaller than a leveling stopping set value, the leveling stopping set value can be set according to actual working conditions, the control system exits from an automatic leveling mode, and the platform is lifted according to normal lifting speed.
Preferably, the control logic flow of the automatic leveling module based on the PID algorithm using the relative displacement value S as the judgment signal is as follows:
step T001: entering auto leveling mode
Actual relative displacement value S Real world And a relative displacement minimum value S min Difference e of k The platform is larger than a leveling starting set value, and enters an automatic leveling mode;
step T002: automatic adjustment of leg speed
With a minimum value S of relative displacement min The pile leg is used as a reference, the output current or voltage control signal is regulated through PID algorithm logic, and the formula of the PID algorithm for speed regulation is as follows:
E k ＝S real world –S min
Wherein:
k: sampled signal in PID algorithm, k=0, 1,2,3,;
j: sampling signals in PID algorithm, j=0, 1,2,3, k;
U K : the current or voltage control signal output at the Kth sampling moment is used for controlling an executive element such as a pump, a motor, an electromagnetic valve, a motor and the like to adjust the lifting speed of the pile leg;
E k : actual relative displacement value S of pile leg at K-th sampling moment Real world And a relative displacement minimum value S min A difference between;
E j : actual relative displacement value S of pile leg at jth sampling moment Real world And a relative displacement minimum value S min A difference between;
K P : proportional coefficient in PID algorithm, setting according to actual working condition, and initial value K P ＝50；
k i : integral coefficient in PID algorithm is set according to actual working condition, and initial value k is set i ＝1；
k d : differential coefficient in PID algorithm can be set according to actual working condition, and initial value k d ＝1；
S Real world : the actual relative displacement value of the pile leg;
S min : the minimum value of the relative displacement of the pile leg;
automatic leveling module based on PID algorithm is according to actual relative displacement value S of spud leg Real world And a relative displacement minimum value S min Difference E of k Outputting a current or voltage control signal U in real time K Control executionThe element is used for adjusting the lifting speed of the pile leg;
step T003: exit from auto leveling mode
Actual relative displacement values S of all pile legs Real world And a relative displacement minimum value S min The difference is smaller than a leveling stopping set value, the leveling stopping set value can be set according to actual working conditions, the control system exits from an automatic leveling mode, and the platform is lifted according to normal lifting speed.
The automatic leveling system of the invention has the advantages that:
1. when the maritime work lifting platform (Liftbottom) is in lifting operation, leveling is performed at the same time, seamless butt joint is realized, and operators are not required to watch, so that the leveling operation of the maritime work lifting platform (Liftbottom) is simplified, the operation is simpler, and the automation degree is high;
2. when the maritime work lifting platform (Liftbottom) is in lifting operation, the lifting operation is not required to be stopped first and then leveling operation is performed, so that the lifting efficiency of the maritime work lifting platform (Liftbottom) is improved, and the cost is saved;
3. the inclination angle value of the platform is always kept within the safe and allowable angle range, so that the safety and reliability of the lifting system are improved.
4. The automatic leveling method adopts an inclination angle value Q and a pile leg relative position value S as dual automatic leveling judging signals, wherein the inclination angle value Q is a priority signal, and the pile leg relative position value S is a redundancy signal. Under the condition that the inclination sensor fails, the maritime work lifting platform can continue to lift normally, so that the reliability of the control system is greatly improved.
Description of the drawings:
FIG. 1 is a schematic diagram of an automatic leveling system for a maritime work lifting platform;
FIG. 2 is a flow chart of the automatic leveling process of the marine lifting platform;
FIG. 3 is a diagram showing the relationship between the inclination angle and the pile leg in the automatic leveling system of the marine lifting platform;
the specific embodiment is as follows:
the invention will now be further described with reference to the accompanying drawings and examples, embodiments of which include, but are not limited to, the following examples.
Example 1:
as shown in fig. 1, an automatic leveling system for a maritime work lifting platform comprises: peripheral sensor, controlling means, executive component; the peripheral sensor is connected with the control device and the executing element; the method is characterized in that:
the peripheral sensor comprises an inclination sensor and a displacement sensor; the inclination angle sensor is a voltage type double-shaft inclination angle sensor with the precision of 0.01 degrees, the inclination angle value of the platform is acquired in real time, the displacement sensor is an incremental encoder, the position value of the pile leg is acquired in real time, and corresponding acquired data are transmitted to the control device;
the control device is of a model of a door S7-300 or S7-1500PLC, and comprises a PLC controller, an upper computer and electronic components, wherein the PLC controller is respectively connected with the upper computer and the electronic components, and the electronic components comprise an amplifying plate, a contactor and a relay; the PLC controller performs automatic leveling logic operation, outputs control signals and drives the execution element through the electronic component; the PLC is connected with the grinding industrial personal computer through the Ethernet, and transmits parameters such as the inclination angle of the platform, the displacement of the pile leg and the like to the industrial personal computer, and the industrial personal computer displays relevant data in real time. The pump, the motor, the electromagnetic valve and the motor form a power device to provide a power source for lifting the platform, and the lifting speed of the platform and the lifting speed of the spud leg are controlled by the control device.
Example 2:
as shown in fig. 2, the leveling method of the automatic leveling system for the maritime work lifting platform is characterized by comprising the following steps:
the method comprises the following steps that firstly, a peripheral sensor acquires signals in real time and transmits the signals to a control device, an inclination angle sensor acquires an inclination angle value Q of a platform in real time, and a displacement encoder acquires a pile leg relative position value S in real time and transmits the values to the control device;
the second step, the control device receives the peripheral sensor signal to carry out logic operation, and compares the inclination angle value transmitted by the inclination angle sensor with the inclination angle limiting value;
thirdly, judging whether the inclination angle value Q in the second step is invalid or not; when the inclination angle value Q is effective, the inclination angle value Q is preferentially used as a judging signal for automatic leveling; if the inclination angle value Q fails, the relative position value S of the pile leg for automatic switching is used as a judging signal for automatic leveling, and the relative position value S of the pile leg is used as a redundant signal;
step four, when the inclination angle value Q of the step three is effective, the inclination angle value of the lifting platform is larger than the inclination angle limit value, the platform enters an automatic leveling mode, an automatic leveling module based on a PID algorithm is called, the size of an output current or voltage signal is adjusted to control an executing element, and the executing element controls the lifting speed of the pile leg to adjust the inclination angle of the platform; in the process of automatic leveling, the inclination sensor feeds back inclination data to the control device in real time; when the absolute value of the inclination angle of the adjusted lifting platform is smaller than a leveling stopping set value, the control device exits from an automatic leveling mode, the platform lifts according to the normal lifting speed, and the leveling stopping set value is set according to the actual working condition;
fifthly, if the inclination angle value Q in the third step fails, the relative position value S of the pile leg for automatic switching is used as a judging signal for automatic leveling, and the relative position value S of the pile leg is used as a redundant signal;
sixthly, if the difference between the maximum value and the minimum value of the relative displacement of the pile leg in the fifth step is larger than the leveling starting set value, the platform enters an automatic leveling mode, an automatic leveling module based on a PID algorithm is called, the size of an output current or voltage signal is adjusted to control an executing element, and the executing element controls the lifting speed of the pile leg to adjust the inclination angle of the platform; in the process of automatic leveling, the displacement sensor feeds back pile leg displacement data to the control device in real time; when the actual relative displacement values and the minimum relative displacement values of all the pile legs are smaller than the leveling stopping set value, the control system exits from the automatic leveling mode, the platform ascends and descends at the normal ascending and descending speed, the leveling starting set value is set according to the actual working condition, and the leveling stopping set value is set according to the actual working condition.
And in the third and fourth steps, the inclination angle value Q is used as a judging signal, and the control logic flow of the automatic leveling module based on the PID algorithm is as follows:
step S001: determination of speed regulating pile leg
Firstly determining a pile leg with too high lifting speed and required speed regulation according to a limit value Q of the inclination angle of the platform; as shown in figure 3, the piles are respectively 1,2,3, 4 and Q in the clockwise direction X Is the value of the inclination angle of the X axis, Q Y For Y-axis inclination angle, according to the relationship diagram of pile leg and inclination angle, the platform is lifted up to work condition, if Q X >The inclination limit value Q, the rising speed of the pile legs 2 and 4 is too high; if Q X <-inclination limit Q, pile legs 1, 3 rise too fast; if Q Y >The inclination limit value Q, the rising speed of the pile legs 1 and 2 is too high; if Q Y <-inclination limit Q, pile legs 3, 4 rise too fast; platform lowering condition, if Q X >The inclination limit value is that the descending speed of the pile legs 1 and 3 is too high; if Q X <-inclination limit Q, the lowering speed of the legs 2, 4 is too fast; if Q Y >The inclination limit value Q, the descending speed of the pile legs 3 and 4 is too high; if Q Y <-inclination limit Q, the lowering speed of the legs 1,2 is too fast;
step S002: automatic adjustment of leg speed
If the rising speed of the spud legs 1 and 3 is too high under the condition of rising working conditions, the voltage or current of the spud legs 1 and 3 needs to be regulated down; the output current or voltage control signal is regulated through PID algorithm logic, and the formula of the PID algorithm for speed regulation is as follows:
e k ＝|Q real world –Q Order of (A) |
Wherein:
k: sampled signal in PID algorithm, k=0, 1,2,3,;
j: sampling signals in PID algorithm, j=0, 1,2,3, k;
U K : the current or voltage control signal output at the Kth sampling moment is used for controlling an executive element such as a pump, a motor, an electromagnetic valve, a motor and the like to adjust the lifting speed of the pile leg;
e k : actual inclination value Q at the Kth sampling time Real world From a target inclination value Q Order of (A) The absolute value of the difference;
e j : actual inclination value Q at jth sampling time Real world From a target inclination value Q Order of (A) The absolute value of the difference;
K P : proportional coefficient in PID algorithm, setting according to actual working condition, and initial value K P ＝200；
k i : integral coefficient in PID algorithm is set according to actual working condition, and initial value k is set i ＝1；
k d : differential coefficient in PID algorithm can be set according to actual working condition, and initial value k d ＝1；
Q Real world : an actual tilt angle value;
Q order of (A) : a target tilt angle value;
the automatic leveling module based on PID algorithm is based on the absolute value e of the difference between the actual inclination angle value and the target inclination angle value k Outputting a current or voltage control signal U in real time K Controlling the executing element to adjust the lifting speed of the pile leg;
step S003: exit from auto leveling mode
The absolute value of the inclination angle of the lifting platform is smaller than a leveling stopping set value, the leveling stopping set value can be set according to actual working conditions, the control system exits from an automatic leveling mode, and the platform is lifted according to normal lifting speed.
In the fifth and sixth steps, the relative displacement value S is used as a judgment signal, and the control logic flow of the automatic leveling module based on the PID algorithm is as follows:
step T001: determination of speed regulating pile leg
If the actual relative displacement value S of the pile legs 2, 4 Real world And a relative displacement minimum value S min Difference e of k The platform is larger than a leveling starting set value, and enters an automatic leveling mode;
step T002: automatic adjustment of leg speed
With a minimum value S of relative displacement min The pile leg is used as a reference, the output current or voltage control signal is regulated through PID algorithm logic, and the formula of the PID algorithm for speed regulation is as follows:
E k ＝S real world –S min
Wherein:
k: sampled signal in PID algorithm, k=0, 1,2,3,;
j: sampling signals in PID algorithm, j=0, 1,2,3, k;
U K : the current or voltage control signal output at the Kth sampling moment is used for controlling an executive element such as a pump, a motor, an electromagnetic valve, a motor and the like to adjust the lifting speed of the pile leg;
E k : actual relative displacement value S of pile leg at K-th sampling moment Real world And a relative displacement minimum value S min A difference between;
E j : actual relative displacement value S of pile leg at jth sampling moment Real world And a relative displacement minimum value S min A difference between;
K P : proportional coefficient in PID algorithm, setting according to actual working condition, and initial value K P ＝50；
k i : integral coefficient in PID algorithm is set according to actual working condition, and initial value k is set i ＝1；
k d : differential coefficient in PID algorithm can be set according to actual working condition, and initial value k d ＝1；
S Real world : the actual relative displacement value of the pile leg;
S min : the minimum value of the relative displacement of the pile leg;
automatic leveling module based on PID algorithm is according to actual relative displacement value S of spud leg Real world And a relative displacement minimum value S min Difference E of k Outputting a current or voltage control signal U in real time K Controlling the executing element to adjust the lifting speed of the pile leg;
step T003: exit from auto leveling mode
Actual relative displacement values S of all pile legs Real world And the most relative displacementSmall value S min The difference is smaller than a leveling stopping set value, the leveling stopping set value can be set according to actual working conditions, the control system exits from an automatic leveling mode, and the platform is lifted according to normal lifting speed.
The automatic leveling system and the method for the maritime work lifting platform provided by the invention are described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the core concepts of the invention. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (3)
1. A leveling method of an automatic leveling system of a maritime work lifting platform comprises the following steps: peripheral sensor, controlling means, executive component; the peripheral sensor is connected with the control device and the executing element;
the peripheral sensor comprises an inclination sensor and a displacement sensor; the inclination angle sensor acquires the inclination angle value of the platform in real time, the displacement sensor acquires the position value of the pile leg in real time, and corresponding acquired data are transmitted to the control device;
the control device comprises a PLC controller, an upper computer and electronic components, wherein the PLC controller is respectively connected with the upper computer and the electronic components; the PLC controller performs automatic leveling logic operation, outputs control signals and drives the execution element through the electronic component; the PLC controller is connected with the upper computer through the Ethernet, relevant parameters in the controller are transmitted to the upper computer, and the upper computer displays relevant data in real time;
the actuating element provides a power source and drives the platform spud leg to lift by receiving a control signal of the control device;
the method is characterized in that: a leveling method of an automatic leveling system of a maritime work lifting platform,
the method comprises the following steps that firstly, a peripheral sensor collects signals in real time and transmits the signals to a control device, an inclination angle sensor collects an inclination angle value Q of a platform in real time, and a displacement sensor collects a pile leg relative position value S in real time and transmits the values to the control device;
the second step, the control device receives the peripheral sensor signal to carry out logic judgment and logic operation;
thirdly, judging whether the inclination angle value Q in the second step is invalid or not; when the inclination angle value Q is effective, the inclination angle value Q is preferentially used as a judging signal for automatic leveling; if the inclination angle value Q fails, the relative position value S of the pile leg for automatic switching is used as a judging signal for automatic leveling, and the relative position value S of the pile leg is used as a redundant signal;
step four, when the inclination angle value Q of the step three is effective, the inclination angle value of the lifting platform is larger than the inclination limit value, the platform enters an automatic leveling mode, an automatic leveling module based on a PID algorithm is called, the inclination angle value Q is used as a judging signal, the size of an output current or voltage signal is regulated to control an executing element, and the lifting speed of a pile leg is controlled by the executing element to adjust the inclination angle of the platform; in the process of automatic leveling, the inclination sensor feeds back inclination data to the control device in real time; when the absolute value of the inclination angle of the adjusted lifting platform is smaller than a leveling stopping set value, the control system exits from an automatic leveling mode, the platform lifts according to the normal lifting speed, and the leveling stopping set value is set according to the actual working condition;
fifthly, if the inclination angle value Q in the third step fails, the relative position value S of the pile leg for automatic switching is used as a judging signal for automatic leveling, and the relative position value S of the pile leg is used as a redundant signal;
step six, if the difference between the maximum value and the minimum value of the actual relative displacement of the pile leg in the step five is larger than the leveling starting set value, the platform enters an automatic leveling mode, an automatic leveling module based on a PID algorithm is called, the relative displacement S is used as a judging signal, the magnitude of an output current or voltage signal is regulated to control an executing element, and the executing element controls the lifting speed of the pile leg to adjust the inclination angle of the platform; in the process of automatic leveling, the displacement sensor feeds back pile leg displacement data to the control device in real time; when the difference between the actual relative displacement values and the minimum relative displacement values of all the pile legs is smaller than a leveling stop set value, the control system exits from an automatic leveling mode, the platform ascends and descends at a normal lifting speed, the leveling start set value is set according to the actual working condition, and the leveling stop set value is set according to the actual working condition.
2. The leveling method of the automatic leveling system for the marine lifting platform according to claim 1, wherein: the control logic flow of the automatic leveling module based on the PID algorithm, which takes the inclination angle value Q as a judgment signal, is as follows:
step S001: determination of speed regulating pile leg
Firstly determining a pile leg with too high lifting speed and required speed regulation according to a limit value Q of the inclination angle of the platform;
step S002: automatic adjustment of leg speed
After the speed regulation spud leg is determined, the output current or voltage control signal is regulated through PID algorithm logic, and the speed regulation PID algorithm formula is as follows:
e k ＝|Q real world –Q Order of (A) |
Wherein:
k: sampled signal in PID algorithm, k=0, 1,2,3,;
j: sampling signals in PID algorithm, j=0, 1,2,3, k;
U K : the current or voltage control signal output at the Kth sampling moment is used for controlling an executive element such as a pump, a motor, an electromagnetic valve, a motor and the like to adjust the lifting speed of the pile leg;
e k : actual inclination value Q at the Kth sampling time Real world From a target inclination value Q Order of (A) The absolute value of the difference;
e j : actual inclination value Q at jth sampling time Real world From a target inclination value Q Order of (A) The absolute value of the difference;
K P : proportional coefficient in PID algorithm is set according to actual working condition, and is initially setValue K P ＝200；
k i : integral coefficient in PID algorithm is set according to actual working condition, and initial value k is set i ＝1；
k d : differential coefficient in PID algorithm can be set according to actual working condition, and initial value k d ＝1；
Q The reality is that: an actual tilt angle value;
Q order (d): a target tilt angle value;
the automatic leveling module based on PID algorithm is based on the absolute value e of the difference between the actual inclination angle value and the target inclination angle value k Outputting a current or voltage control signal U in real time K Controlling the executing element to adjust the lifting speed of the pile leg;
step S003: exit from auto leveling mode
The absolute value of the inclination angle of the lifting platform is smaller than a leveling stopping set value, the leveling stopping set value can be set according to actual working conditions, the control system exits from an automatic leveling mode, and the platform is lifted according to normal lifting speed.
3. The leveling method of the automatic leveling system for the marine lifting platform according to claim 1, wherein: the control logic flow of the PID algorithm-based automatic leveling module taking the relative displacement value S as a judgment signal is as follows:
step T001: entering auto leveling mode
Maximum value S of actual relative displacement max And a relative displacement minimum value S min The difference is larger than a leveling starting set value, and the platform enters an automatic leveling mode;
step T002: automatic adjustment of leg speed
With a minimum value S of relative displacement min The pile leg is used as a reference, the output current or voltage control signal is regulated through PID algorithm logic, and the formula of the PID algorithm for speed regulation is as follows:
E k ＝S real world –S min
Wherein:
k: sampled signal in PID algorithm, k=0, 1,2,3,;
j: sampling signals in PID algorithm, j=0, 1,2,3, k;
U K : the current or voltage control signal output at the Kth sampling moment is used for controlling an executive element such as a pump, a motor, an electromagnetic valve, a motor and the like to adjust the lifting speed of the pile leg;
E k : actual relative displacement value S of pile leg at K-th sampling moment Real world And a relative displacement minimum value S min A difference between;
E j : actual relative displacement value S of pile leg at jth sampling moment Real world And a relative displacement minimum value S min A difference between;
K P : proportional coefficient in PID algorithm, setting according to actual working condition, and initial value K P ＝50；
k i : integral coefficient in PID algorithm is set according to actual working condition, and initial value k is set i ＝1；
k d : differential coefficient in PID algorithm can be set according to actual working condition, and initial value k d ＝1；
S The reality is that: the actual relative displacement value of the pile leg;
S min： the minimum value of the relative displacement of the pile leg;
automatic leveling module based on PID algorithm is according to actual relative displacement value S of spud leg Real world And a relative displacement minimum value S min Difference E of k Outputting a current or voltage control signal U in real time K Controlling the executing element to adjust the lifting speed of the pile leg;
step T003: exit from auto leveling mode
Actual relative displacement values S of all pile legs Real world And a relative displacement minimum value S min The difference is smaller than a leveling stopping set value, the leveling stopping set value can be set according to actual working conditions, the control system exits from an automatic leveling mode, and the platform is lifted according to normal lifting speed.
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| CN110361209B (en) * | 2019-06-10 | 2021-11-19 | 乐歌人体工学科技股份有限公司 | Balance adjusting method for lifting platform |
| CN111459032A (en) * | 2020-04-26 | 2020-07-28 | 上海阜有海洋科技有限公司 | Lifting synchronous self-adaptive control method and system for lifting type pile leg platform |
| CN111504238B (en) * | 2020-04-29 | 2021-12-03 | 河南柴油机重工有限责任公司 | Micro-amplitude displacement testing method and device for vibration isolation device in diesel engine running state |
| CN111796508A (en) * | 2020-06-19 | 2020-10-20 | 上海交通大学 | Drilling platform lifting control method based on fuzzy PID algorithm |
| CN113534734B (en) * | 2021-07-30 | 2023-05-02 | 武汉恒力华振科技有限公司 | Engineering pile machine capable of automatically leveling and leveling method thereof |
| CN114035617B (en) * | 2021-11-08 | 2024-04-19 | 南京晨光集团有限责任公司 | Vehicle-mounted leveling system and high-precision control method thereof |
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