CN110001871A - Pile driving barge device for adjusting posture and its control method - Google Patents
Pile driving barge device for adjusting posture and its control method Download PDFInfo
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- CN110001871A CN110001871A CN201910188878.5A CN201910188878A CN110001871A CN 110001871 A CN110001871 A CN 110001871A CN 201910188878 A CN201910188878 A CN 201910188878A CN 110001871 A CN110001871 A CN 110001871A
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- ballast tank
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention discloses a kind of pile driving barges of adjust automatically Attitude, including hull, hull is equipped with radar wavemeter, quadrangle is respectively equipped with Attitude adjustment device on hull, deck lower surface is connected with Attitude adjustment device, it includes the ballast tank being arranged on hull that Attitude, which adjusts device, and the connecting plate being arranged on the lower surface of deck, the propulsion device being arranged straight down is hinged on connecting plate, the bottom of the bottom ballast tank of ballast tank is equipped with the extraneous cavity being connected, water squeezing plate is equipped in ballast tank on liquid level, sealing ring is equipped between water squeezing plate and ballast tank inner wall, the top plate that propulsion device end passes through ballast tank is hinged with water squeezing plate, and water squeezing plate is driven to move up and down draining or water inlet to control Attitude.The invention also discloses a kind of control methods of adjust automatically Attitude pile driving barge.
Description
Technical field
The present invention relates to a kind of pile driving barge device for adjusting posture and its control methods.
Background technique
Pile driving barge is as a kind of ship for needing stable operation at sea, with greater need for there is good stability, and has
Sufficiently large resistance wave ability, for pile driving barge under the influence of stormy waves stream, hull is steady during not can guarantee piling, Wu Faman
The high-precision requirement of the pile foundation engineering of sufficient staking out.
Currently, pile driving barge is equipped with ballast tank on hull, ballast tank is used to adjust Attitude, and general way exists
Transversely or longitudinally arrangement ballast tank ballast tank in both ends is watertight, is not communicated with seawater hull, use water pump as
The power that water is allocated and transported between the ballast tank of both ends, is upwards lifted one end that the high one end of hull presses down, hull is low, is reached with this
The purpose of hull balance, this method compensation ability is low, lags larger.
The existing method for improving pile driving barge stability neither can be well solved problem, such as patent
Described in ZL201410557626.2 with ballast function tjemplon oceangoing ship body automatic balancing method and system, will be located at compared with
Water in the balance cabin of lower, which is drawn into the balance cabin of higher position, maintains hull balance, but the compensation lag of this method is special
Greatly；And such as the anti-unrestrained pile driving barge of one kind described in patent ZL201420532754.7, though pile driving barge longitudinal stability is improved, it is right
The heaving of main deck does not control；The for another example anti-unrestrained pile driving barge of one kind described in patent ZL201420532727.X, although subtracting
Few influence of the stormy waves to pile driving barge, but compensation precision is low, lag is larger, and compensation performance is unstable.
Summary of the invention
The technical problems to be solved by the present invention are: providing a kind of pile driving barge, the stabilization of pile driving barge can be effectively improved
Property, pile driving barge pitching caused by by wave and rolling are compensated automatically.
In order to solve the above technical problems, the technical scheme adopted by the invention is as follows: a kind of Attitude adjust automatically piling
Ship, including hull, hull are equipped with radar wavemeter, and quadrangle is respectively equipped with Attitude adjustment device, deck following table on hull
Face is connected with Attitude adjustment device, and it includes the ballast tank being arranged on hull, Yi Jijia that Attitude, which adjusts device,
The connecting plate being arranged on plate lower surface is hinged with the propulsion device being arranged straight down on connecting plate, and the bottom of ballast tank is set
There is the extraneous cavity being connected, be equipped with water squeezing plate on liquid level in ballast tank, is equipped between water squeezing plate and ballast tank inner wall close
Seal, propulsion device end pass through ballast tank top plate be hinged with water squeezing plate, and drive water squeezing plate move up and down drain or
Water inlet is to control hull floading condition.
As a preferred solution, the lower surface of the ballast tank top plate is equipped with cushion.
The beneficial effect of the present apparatus is: the Attitude tune formed due to using propulsion device, ballast tank, water squeezing plate
Whole system eliminates the pitching, rolling and heaving of pile driving barge, adapts to more severe sea situation environment, it is ensured that piling quality.
Since the lower surface of ballast tank top plate is equipped with cushion, avoidable water squeezing plate, which is impacted, to deform and influences
It uses.
The present invention another the technical problem to be solved is that: a kind of control method controlling above-mentioned pile driving barge is provided.
In order to solve the above technical problems, the technical scheme adopted by the invention is as follows: Attitude adjust automatically pile driving barge
Control method the steps include:
Step 1: wave height and period using radar wavemeter measurement all directions wave, and measurement data is sent to meter
Calculation machine；
Step 2: data of the computer according to step 1, obtain ship using the solution of ANSYS/AQWA implementing hydrodynamic analysis software
Body rotates the angle ω for doing pitching around Y-axisy, hull rotates the angle ω for doing rolling motion around X-axisx, hull moves along Z axis
It is the displacement s of heaving, and sends angle and displacement data to computer；
Step 3: establishing hull model, which is reduced to cuboid, right angle is done as the center of circle using the centre of buoyancy of pile driving barge
Coordinate system, along the positive direction of the length direction setting X-axis of hull 1, Y-axis and Z axis determine that Y-axis is along hull 1 by right-hand rule
Width direction, Z axis positive direction are upward perpendicular to piling boat deck 4；
Step 4: computer receives the angle that software solves, when hull 1 does pitching around Y-axis, ship is existed
Stationary state splash line is labeled as MN, and when pile driving barge does pitching with Y-axis rotation, waterline is labeled as M1N1, can measure around Y
One end displacement of volume that axis tilts down is VyIf a length of L of pile driving barge, width b, 3 internal diameter of ballast tank is a, WyFor M1N1 and MN
Between angle, the ship back gauge of centre of buoyancy to X positive direction is L2, the ship back gauge of centre of buoyancy to Y positive direction is b2, then enter water wedge shape
Volume VyStatic moment of the partial water to Y-axis are as follows:
Static moment of the water volume to Y-axis in ballast tank 3 are as follows:
M2=π a2hyg(L2-a)；
It is equal to the static moment of Y-axis to the static moment of Y-axis and water in side ballast tank 3 to enter water wedge shape volume, then:
It obtains hull 1 and tilts down one end hydraulic cylinder 32 moving down displacement
Step 5: by ship, waterline is labeled as M under static state when hull 1 does rolling motion around X-axis2N2, work as pile driving barge
When doing pitching with X-axis rotation, waterline is labeled as M3N3, WxFor M2N2With M3N3Between angle, it is known that tilted down around X-axis
One end displacement of volume be Vx, then enter water wedge shape volume VxStatic moment of the partial water to X-axis are as follows:
Static moment of the water volume to X-axis in ballast tank 3 are as follows:
M4=π a2hx(b2-a)；
It is equal to the static moment of X-axis to the static moment of X-axis and water in side ballast tank 3 to enter water wedge shape volume, then:
It obtains hull 1 and tilts down the hydraulic cylinder 32 of one end two moving down displacement
Step 6: by ship, waterline is labeled as M under static state when hull does heaving along Z axis4N4, when pile driving barge edge
When heaving is done in Z axis rotation, waterline is labeled as M5N5, it is known that the volume of the displacement of hull reduction is Vz, then Vz=bhs, pressure
The water volume that carrying should be discharged in sump 3 is V1, then V1=4 π a2hz, then the volume Vz of the displacement of hull reduction should be equal to pressure
Carry the water volume V being discharged in sump 31, i.e. bhs=4 π a2hz, obtain 1 four hydraulic cylinders of hull and move down displacement
Step 7: calculating water squeezing plate 31 at a distance from 3 top of ballast tank by computer, then control respectively each hydraulic
Cylinder 32 extends, and the water in ballast tank 3 is discharged into marine, so that seawater is generated upward counter-force to the downward one end of hull 1, increases
The buoyancy of pile driving barge, to carry out pose adjustment to pile driving barge；
The beneficial effect of this method is: this method detects wave parameter using wavemeter, and passes through ANSYS/AQWA hydrodynamic(al)
Power analyzes influence of the software prediction wave to Attitude, the distance adjusted needed for water squeezing plate is further calculated out, to carry out
Active Compensation eliminates the pitching, rolling and heaving of pile driving barge in time, and passing through before overcoming can after either statically or dynamically measuring
The hysteresis quality for carrying out Attitude adjustment, makes pile driving barge adapt to more severe sea situation environment, it is ensured that piling quality.
Detailed description of the invention
Fig. 1 is pile driving barge front view of the invention.
Fig. 2 is pile driving barge bottom view of the invention.
Fig. 3 is pile driving barge side partial sectional view of the invention.
Fig. 4 is ballast tank cross-sectional view of the invention.
Fig. 5 is simplified pile driving barge coordinate system schematic diagram.
Fig. 6 is pile driving barge pitching coordinate system schematic diagram.
Fig. 7 is pile driving barge rolling coordinate system schematic diagram.
Fig. 8 is pile driving barge heaving coordinate system schematic diagram.
Fig. 1 is into Fig. 7: 1. hulls, 2. radar wavemeters, 3. ballast tanks, 31. water squeezing plates, 32. propulsion devices, 33. hinges
Connector, 34. cushions, 35. sealing rings, 4. decks, 5. connecting plates.
Specific embodiment
With reference to the accompanying drawing, detailed description of the present invention specific embodiment.
As shown in Figs 1-4, a kind of Attitude adjust automatically pile driving barge, including hull 1, quadrangle is respectively equipped on hull 1
Attitude adjusts device, and 4 lower surface of deck is connected with Attitude adjustment device, and it includes setting that Attitude, which adjusts device,
The connecting plate 5 being arranged on 4 lower surface of radar wavemeter 2, ballast tank 3 and deck on hull 1, it is hinged on connecting plate 5
There is the propulsion device 32 being arranged straight down, the propulsion device 32 is hydraulic cylinder or electric cylinders etc.；The bottom of ballast tank 3 is set
There is the extraneous cavity being connected, be equipped with water squeezing plate 31 in ballast tank 3 on liquid level, between 3 inner wall of water squeezing plate 31 and ballast tank
Equipped with sealing ring 35, the lower surface of 3 top plate of ballast tank is equipped with rubber slab as cushion 34.It wears the end of propulsion device 32
The top plate and water squeezing plate 31 for crossing ballast tank 3 are hinged, and propulsion device 32 drives water squeezing plate 31 to move up and down draining or intake
Control 1 floading condition of hull.
As shown in figures 1-8, the control method of Attitude adjust automatically pile driving barge, the steps include:
Step 1: wave height and period using radar wavemeter measurement all directions wave, and measurement data is sent to meter
Calculation machine；
Step 2: data of the computer according to step 1, obtain ship using the solution of ANSYS/AQWA implementing hydrodynamic analysis software
Body rotates the angle ω for doing pitching around Y-axisy, hull rotates the angle ω for doing rolling motion around X-axisx, hull moves along Z axis
It is the displacement s of heaving, and sends angle and displacement data to computer；
Step 3: establishing hull model, which is reduced to cuboid, right angle is done as the center of circle using the centre of buoyancy of pile driving barge
Coordinate system, along the positive direction of the length direction setting X-axis of hull 1, Y-axis and Z axis determine that Y-axis is along hull 1 by right-hand rule
Width direction, Z axis positive direction are upward perpendicular to piling boat deck 4；
Step 4: computer receives the angle that software solves, when hull 1 does pitching around Y-axis, ship is existed
Stationary state splash line is labeled as MN, and when pile driving barge does pitching with Y-axis rotation, waterline is labeled as M1N1, can measure around Y
One end displacement of volume that axis tilts down is VyIf a length of L of pile driving barge, width b, 3 internal diameter of ballast tank is a, WyFor M1N1With MN
Between angle, the ship back gauge of centre of buoyancy to X positive direction is L2, the ship back gauge of centre of buoyancy to Y positive direction is b2, then enter water wedge shape
Volume VyStatic moment of the partial water to Y-axis are as follows:
Static moment of the water volume to Y-axis in ballast tank 3 are as follows:
M2=π a2hyg(L2-a)；
It is equal to the static moment of Y-axis to the static moment of Y-axis and water in side ballast tank 3 to enter water wedge shape volume, then:
It obtains hull 1 and tilts down one end hydraulic cylinder 32 moving down displacement
Step 5: by ship, waterline is labeled as M under static state when hull 1 does rolling motion around X-axis2N2, work as pile driving barge
When doing pitching with X-axis rotation, waterline is labeled as M3N3, WxFor M2N2With M3N3Between angle, it is known that tilted down around X-axis
One end displacement of volume be Vx, then enter water wedge shape volume VxStatic moment of the partial water to X-axis are as follows:
Static moment of the water volume to X-axis in ballast tank 3 are as follows:
M4=π a2hx(b2-a)；
It is equal to the static moment of X-axis to the static moment of X-axis and water in side ballast tank 3 to enter water wedge shape volume, then:
It obtains hull 1 and tilts down the hydraulic cylinder 32 of one end two moving down displacement
Step 6: by ship, waterline is labeled as M under static state when hull does heaving along Z axis4N4, when pile driving barge edge
When heaving is done in Z axis rotation, waterline is labeled as M5N5, it is known that the volume of the displacement of hull reduction is Vz, then Vz=bhs, pressure
The water volume that carrying should be discharged in sump 3 is V1, then V1=4 π a2hz, then the volume Vz of the displacement of hull reduction should be equal to pressure
Carry the water volume V being discharged in sump 31, i.e. bhs=4 π a2hz, obtain 1 four hydraulic cylinders of hull and move down displacement
Step 7: calculating water squeezing plate 31 at a distance from 3 top of ballast tank by computer, then control respectively each hydraulic
Cylinder 32 extends, and the water in ballast tank 3 is discharged into marine, so that seawater is generated upward counter-force to the downward one end of hull 1, increases
The buoyancy of pile driving barge, to carry out pose adjustment to pile driving barge；
The principles and effects of the invention, and the implementation that part uses only is illustrated in the above embodiments
Example, and is not intended to limit the present invention；It should be pointed out that for those of ordinary skill in the art, not departing from wound of the present invention
Under the premise of making design, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.
Claims (2)
1. a kind of Attitude adjust automatically pile driving barge, including hull, it is characterised in that: hull is equipped with radar wavemeter, ship
Quadrangle is respectively equipped with Attitude adjustment device on body, and deck lower surface is connected with Attitude adjustment device, Attitude
Adjustment device includes the ballast tank being arranged on hull and the connecting plate that is arranged on the lower surface of deck, hinged on connecting plate
There is the propulsion device being arranged straight down, the lower surface of ballast tank top plate is equipped with cushion, and the bottom of ballast tank is equipped with
The cavity that the external world is connected, ballast tank is interior to be equipped with water squeezing plate on liquid level, and sealing is equipped between water squeezing plate and ballast tank inner wall
Circle, propulsion device end pass through ballast tank top plate be hinged with water squeezing plate, and drive water squeezing plate move up and down drain or into
Water controls hull floading condition.
2. a kind of control method of Attitude adjust automatically pile driving barge as described in any of claims 1, the steps include:
Step 1: wave height and period using radar wavemeter measurement all directions wave, and measurement data is sent to computer；
Step 2: data of the computer according to step 1, obtain hull around Y using the solution of ANSYS/AQWA implementing hydrodynamic analysis software
Axis rotates the angle ω for doing pitchingy, hull rotates the angle ω x for doing rolling motion around X-axis, hull moved along Z axis do it is vertical
The displacement s of movement is swung, and sends angle and displacement data to computer；
Step 3: establishing hull model, which is reduced to cuboid, rectangular co-ordinate is done as the center of circle using the centre of buoyancy of pile driving barge
System, along the positive direction of the length direction setting X-axis of hull, Y-axis and Z axis determine that Y-axis is along beam of hull side by right-hand rule
To Z axis positive direction is upward perpendicular to piling boat deck；
Step 4: computer receives the angle that software solves, when hull does pitching around Y-axis, by ship static
State splash line is labeled as MN, and when pile driving barge does pitching with Y-axis rotation, waterline is labeled as M1N1, can measure around Y-axis
Under inclined one end displacement of volume be VyIf a length of L of pile driving barge, width b, ballast tank internal diameter is a, WyFor M1N1Between MN
Angle, the ship back gauge of centre of buoyancy to X positive direction is L2, the ship back gauge of centre of buoyancy to Y positive direction is b2, then enter water wedge shape volume
VyStatic moment of the partial water to Y-axis are as follows:
Static moment of the water volume to Y-axis in ballast tank are as follows:
M2=π a2hyg(L2-a)；
It is equal to the static moment of Y-axis to the static moment of Y-axis and water in the ballast tank of side to enter water wedge shape volume, then:
It obtains hull and tilts down one end hydraulic cylinder moving down displacement
Step 5: by ship, waterline is labeled as M under static state when hull does rolling motion around X-axis2N2, when pile driving barge is with X-axis
When pitching is done in rotation, waterline is labeled as M3N3, WxFor M2N2With M3N3Between angle, it is known that one tilted down around X-axis
End displacement of volume is Vx, then enter water wedge shape volume VxStatic moment of the partial water to X-axis are as follows:
Static moment of the water volume to X-axis in ballast tank are as follows:
M4=π a2hx(b2-a)；
It is equal to the static moment of X-axis to the static moment of X-axis and water in the ballast tank of side to enter water wedge shape volume, then:
It obtains hull and tilts down the hydraulic cylinder of one end two moving down displacement
Step 6: by ship, waterline is labeled as M under static state when hull does heaving along Z axis4N4, when pile driving barge is along Z axis
When heaving is done in rotation, waterline is labeled as M5N5, it is known that the volume of the displacement of hull reduction is Vz, then Vz=bhs, ballast
The water volume that should be discharged in sump is V1, then V1=4 π a2hz, then the volume Vz of the displacement of hull reduction should be equal to ballast water
The water volume V being discharged in storehouse1, i.e. bhs=4 π a2hz, obtain four hydraulic cylinders of hull and move down displacement
Step 7: by computer calculate water squeezing plate at the top of ballast tank at a distance from, then control the elongation of each hydraulic cylinder respectively,
Water in ballast tank is discharged into marine, seawater is made to generate upward counter-force to the downward one end of hull, increases the floating of pile driving barge
Power, to carry out pose adjustment to pile driving barge.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910188878.5A CN110001871B (en) | 2019-03-13 | 2019-03-13 | Control method for automatically adjusting posture of ship body of piling ship |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910188878.5A CN110001871B (en) | 2019-03-13 | 2019-03-13 | Control method for automatically adjusting posture of ship body of piling ship |
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| CN110001871A true CN110001871A (en) | 2019-07-12 |
| CN110001871B CN110001871B (en) | 2020-05-15 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588912A (en) * | 2019-09-27 | 2019-12-20 | 唐旭明 | Ship body auxiliary mechanism for reducing ship body draft |
| WO2020182231A3 (en) * | 2019-03-13 | 2020-10-22 | 江苏科技大学 | Pile-driving barge, and posture adjustment, positioning control and pile-driving methods therefor |
| CN116552745A (en) * | 2023-07-10 | 2023-08-08 | 中交第一航务工程局有限公司 | Ship state monitoring method and device, electronic equipment and storage medium |
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| WO2014163141A1 (en) * | 2013-04-03 | 2014-10-09 | 株式会社Ihi | Underwater device |
| CN204161616U (en) * | 2014-09-17 | 2015-02-18 | 上海雄程船舶工程有限公司 | A kind of pile-driving barge |
| CN105253264A (en) * | 2015-04-28 | 2016-01-20 | 江苏科技大学 | Sea wave compensation device of deepwater semi-submersible drilling platform and control method thereof |
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| CN208278301U (en) * | 2018-05-31 | 2018-12-25 | 博纳德（天津）港口工程有限公司 | A kind of lifting device that drifts along of submersible |
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| CN1075762A (en) * | 1992-02-28 | 1993-09-01 | 渤海石油公司工程设计公司 | Permanent displacement variation drinking water sinking pile pulling method for floating and base apparatus at the bottom of the rigid pile foundation sealing gland |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020182231A3 (en) * | 2019-03-13 | 2020-10-22 | 江苏科技大学 | Pile-driving barge, and posture adjustment, positioning control and pile-driving methods therefor |
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| CN116552745B (en) * | 2023-07-10 | 2023-10-31 | 中交第一航务工程局有限公司 | Ship state monitoring method and device, electronic equipment and storage medium |
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| CN110001871B (en) | 2020-05-15 |
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Denomination of invention: Control method for automatic adjustment of hull attitude of piling barge Effective date of registration: 20220107 Granted publication date: 20200515 Pledgee: Industrial Bank Co.,Ltd. Shanghai pilot Free Trade Zone Lingang New District sub branch Pledgor: SHANGHAI XIONGCHENG MARINE ENGINEERING CO.,LTD. Registration number: Y2022980000225 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230128 Granted publication date: 20200515 Pledgee: Industrial Bank Co.,Ltd. Shanghai pilot Free Trade Zone Lingang New District sub branch Pledgor: SHANGHAI XIONGCHENG MARINE ENGINEERING CO.,LTD.|SHANGHAI XIONGCHENG SHIP ENGINEERING Co.,Ltd. Registration number: Y2022980000225 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Control method of automatic adjustment of hull posture of pile driver Effective date of registration: 20230201 Granted publication date: 20200515 Pledgee: Industrial Bank Co.,Ltd. Shanghai pilot Free Trade Zone Lingang New District sub branch Pledgor: SHANGHAI XIONGCHENG MARINE ENGINEERING CO.,LTD.|SHANGHAI XIONGCHENG SHIP ENGINEERING Co.,Ltd. Registration number: Y2023310000019 |