CN110130298A - A kind of self-elevating ocean platform lift control system and control method - Google Patents
A kind of self-elevating ocean platform lift control system and control method Download PDFInfo
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- CN110130298A CN110130298A CN201910363532.4A CN201910363532A CN110130298A CN 110130298 A CN110130298 A CN 110130298A CN 201910363532 A CN201910363532 A CN 201910363532A CN 110130298 A CN110130298 A CN 110130298A
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- spud leg
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
- E02B17/04—Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction
- E02B17/08—Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction for raising or lowering
- E02B17/0818—Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction for raising or lowering with racks actuated by pinions
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- General Engineering & Computer Science (AREA)
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Abstract
The present invention relates to a kind of self-elevating ocean platform lift control systems, self-elevating ocean platform including having four spud legs, spud leg transmission mechanism and spud leg control cabinet, the lower section of the self-elevating ocean platform is arranged in the spud leg transmission mechanism, the spud leg transmission mechanism is connect with the spud leg control cabinet, it further include master control system, from control system, master control system host computer, from control system host computer, rotary encoder, obliquity sensor and torque sensor, the master control system is connect with described from control system, the rotary encoder, the obliquity sensor and the torque sensor are arranged on the spud leg transmission mechanism, the rotary encoder respectively with the master control system and it is described from control system connect, the obliquity sensor is connect with the master control system, the torque sensor connects with described from control system It connects.Self-elevating ocean platform lift control system of the invention and control method control precision are high, and stability is good.
Description
Technical field
The present invention relates to marine engineering equipment fields, and in particular to a kind of self-elevating ocean platform lift control system and control
Method processed.
Background technique
With the increase to marine resources demand, the research and development of lifting of ocean platform control system are particularly important.Four spud legs sea
Foreign hoistable platform has many advantages, such as that bearing capacity is big, and stability is high, therefore its market demand is also increasing.But due to four spud legs
" empty leg " caused by statically indeterminate problem existing for ocean lifting platform itself, the problems such as being easy to appear " blocking " in lifting process,
It causes lifting of ocean platform unstable, causes lifting effect poor.Propulsion with from China's oceanographic station strategy to deep-sea, urgent need will be set
It counts one kind and is able to solve the problems such as indeterminate existing for four spud leg ocean lifting platforms itself, enable four spud leg of platform continuous
And synchronization lifting, control precision is high, the good self-elevating ocean platform synchronous lifting control system of stability.
The ocean platform of different number spud leg and different lifting and driving modes, lift control system are also different.Middle promulgated by the State Council
Bright patent application prospectus 201710246708.9 discloses a kind of self-elevating ocean platform lifting device synchronously control side
Formula and device, the lift control system are a kind of a kind of synchronous control modes combined based on lifting speed and adjustable height,
Because the balance control of the lift control system is using the absolute altitude of spud leg as leveling foundation, once there is seabed " puncture ",
The balance of platform is inaccurate referring to that will will appear, and then the lifting of platform is caused to tilt, and brings high risks and wealth to staff
Produce loss.In order to solve the particular problem that four spud leg ocean platforms itself have, devise one kind can continuous and synchronization lifting,
It is high to control precision, the good self-elevating ocean platform synchronous lifting control system of stability.
Summary of the invention
In order to solve it is above-mentioned the problems of in the prior art, the present invention provides a kind of liftings of self-elevating ocean platform
Control system and control method, control precision is high, and stability is high.
In order to solve the above technical problems, the present invention the following technical schemes are provided:
A kind of self-elevating ocean platform lift control system, self-elevating ocean platform, spud leg including having four spud legs
The lower section of the self-elevating ocean platform, the stake is arranged in transmission mechanism and spud leg control cabinet, the spud leg transmission mechanism
Leg transmission mechanism is connect with the spud leg control cabinet, further include master control system, from control system, master control system host computer, from control be
System host computer, rotary encoder, obliquity sensor and torque sensor, the master control system and the master control system host computer
Connection, described to be connect from control system with described from control system host computer, the master control system is connect with described from control system, described
It is arranged in the spud leg control cabinet from control system, the rotary encoder, the obliquity sensor and the torque sensing
Device is arranged on the spud leg transmission mechanism, the rotary encoder respectively with the master control system and it is described from control system
Connection, the obliquity sensor are connect with the master control system, and the torque sensor is connect with described from control system.
Further, the master control system and the inside from control system are provided with high-speed counter, count effect
Fruit is good.
Further, the spud leg transmission mechanism includes rack gear, gear, motor and reduction gearbox, the motor with it is described
Reduction gearbox connection, the reduction gearbox are mounted on the self-elevating ocean platform, and the gear is installed on the defeated of the reduction gearbox
On shaft, in the two sides of the spud leg, the gear intermeshes with the rack gear to be connect the rack welding, is driven effect
It is good.
Further, the rotary encoder is arranged at the output shaft of the gear, and the obliquity sensor setting exists
On two diagonal lines of the self-elevating ocean platform, the torque sensor is arranged on the output shaft of the motor, can
Effectively collect related data.
Further, the rotary encoder includes mair motor encoder and from motor encoder, and the main motor is compiled
Code device is connect with the master control system, and described to be connect from motor encoder with described from control system, control effect is good.
It further, further include altimeter coder, the both ends of the altimeter coder are separately connected the jack up ocean
Platform and it is described from control system, enhance monitoring effect.
A kind of self-elevating ocean platform lift control method, comprising the following steps:
S1: the revolving speed n of each motor on the rotary encoder measurement each spud leg of self-elevating ocean platform is utilizedij, in each
Select one of motor as main motor, revolving speed n in spud legi, remaining motor of same spud leg is used as from motor；
S2: the inclination angle of the diagonal line of self-elevating ocean platform with respect to the horizontal plane, jack up are detected using obliquity sensor
Four angles of ocean platform are successively set as A, B, C, D, and wherein the inclination angle of diagonal line AC is set as θ1、θ3, the inclination angle of diagonal line BD is set as
θ2、θ4；
S3: the output torque F of each motor is monitored using multiple groups torque sensorij, calculate the carrying G of each spud leg；
S4: the adjustable height H of altimeter coder detection self-elevating ocean platform is used；
S5: using the synchronization of principal and subordinate's composite sync control strategy control more motors of Single Pile, the height H of each spud leg of monitoring
And the carrying G of each spud leg of monitoring；
S6: using inclination angle-speed coupling Strategy For Synchronization Control control self-elevating ocean platform balance and synchronously control.
Further, in step s 5, principal and subordinate's composite sync control strategy are as follows: will be from the revolving speed n of motorijWith main electricity
The revolving speed n of machineiCompare, obtains the difference DELTA n from motor and main motor revolving speedij, speed difference Δ will be obtained with pid control algorithm
nijAnd given respectively by speed sync compensator synchroballistic from motor, guarantee that the revolving speed of each driving motor is synchronous.
Further, in step s 6, the inclination angle-speed couples Strategy For Synchronization Control are as follows: when inclination angle is excessive, uses
Inclination angle-speed parallel connection synchronous control mode；It is that inclination angle-deviation couples synchronously control side when inclination angle is in safely controllable range
Formula carries out different adjustment modes according to different situations, and control precision is high, and stability is good.
Further, in step s 6, inclination angle theta is detected using obliquity sensori, real-time inclination angle thetaiGreater than setting inclination essence
When spending [θ], X=0, using inclination angle-speed parallel connection synchronous control mode；Real-time inclination angle thetaiWhen less than setting tilt accuracy [θ], X
=1, synchronous control mode, the revolving speed n of four spud leg main motors of real-time detection are coupled using inclination angle-deviationi, with four spud leg masters
The speed average of motorTo evaluate speed, the revolving speed n of four spud leg main motorsiWith speed averageMake the Δ n of differencei, lead to
Velocity compensator is crossed by Δ niIt compensates and gives other motors, using pour angle compensation device backoff algorithm by real-time inclination angle thetaiIt is converted to compensation
Speed is synthesized with speed control signal to motor control, the formula of pour angle compensation device are as follows:
Compared with prior art, the invention has the following advantages:
1. four spud leg ocean lifting platforms have many advantages, such as that bearing capacity is big, stability is high；
2. being able to solve " empty leg ", lifting process caused by statically indeterminate problem existing for four spud leg ocean lifting platforms itself
In the problems such as being easy to appear " blocking "；
3. principal and subordinate's composite sync control strategy operating speed controller is less, convenient for the control of more motors；
4. couple Strategy For Synchronization Control using inclination angle-speed, guarantee four spud leg of platform can continuous and synchronization lifting, control
Precision is high, and stability is good.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of self-elevating ocean platform lift control system of the present invention.
Fig. 2 is a kind of structural schematic diagram of the spud leg transmission mechanism of self-elevating ocean platform lift control system of the present invention.
Fig. 3 is a kind of structural schematic diagram of the master control system of self-elevating ocean platform lift control system of the present invention.
Fig. 4 is a kind of structural schematic diagram from control system of self-elevating ocean platform lift control system of the present invention.
Fig. 5 is a kind of principal and subordinate's composite sync control strategy process of self-elevating ocean platform lift control method of the present invention
Figure.
Fig. 6 is that a kind of inclination angle of self-elevating ocean platform lift control method of the present invention-speed couples Strategy For Synchronization Control
Flow chart.
Fig. 7 is a kind of principal and subordinate's composite sync control strategy figure of self-elevating ocean platform lift control method of the present invention.
Fig. 8 is that a kind of inclination angle of self-elevating ocean platform lift control method of the present invention-speed couples Strategy For Synchronization Control
Figure.
In figure: 1, rack gear；2, gear；3, motor；4, reduction gearbox；5, spud leg.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
The embodiment of the present invention includes:
As shown in Figure 1, a kind of self-elevating ocean platform lift control system, the jack up ocean including having four spud legs
The lower section of self-elevating ocean platform is arranged in platform, spud leg transmission mechanism and spud leg control cabinet, spud leg transmission mechanism, and spud leg passes
Motivation structure is connect with spud leg control cabinet, further include master control system, from control system, master control system host computer, from control system host computer,
Rotary encoder, obliquity sensor and torque sensor, master control system are connect with master control system host computer, from control system with from
The connection of control system host computer, master control system are connect with from control system, are arranged in spud leg control cabinet from control system, rotary coding
Device, obliquity sensor and torque sensor are arranged on spud leg transmission mechanism, rotary encoder respectively with master control system with
And from control system connection, obliquity sensor is connect with master control system, and torque sensor is connect with from control system.
As shown in Fig. 1, Fig. 3 and Fig. 4, master control system and from control system inside be provided with high-speed counter, count
Number effect is good.
As shown in Fig. 2, spud leg transmission mechanism includes rack gear 1, gear 2, motor 3 and reduction gearbox 4, motor 3 and reduction gearbox 4
Connection, reduction gearbox 4 are mounted on self-elevating ocean platform, and gear 2 is installed on the output shaft of reduction gearbox 4, and rack gear 1 is welded on stake
The two sides of leg 5, gear 2 intermeshes with rack gear 1 to be connect, and transmission effect is good.
In the present embodiment, rotary encoder is arranged at the output shaft of gear 2, and obliquity sensor setting is in jack up sea
On two diagonal lines of foreign platform, torque sensor is arranged on the output shaft of motor 3, convenient for collecting related data.
As shown in Figure 1, rotary encoder includes mair motor encoder and from motor encoder, mair motor encoder and master
The connection of control system is connect from motor encoder with from control system, and control effect is good.
As shown in Figure 1, further include altimeter coder, the both ends of altimeter coder be separately connected self-elevating ocean platform and from
Control system, convenient for monitoring.
As viewed in figures 5-8, a kind of self-elevating ocean platform lift control method, comprising the following steps:
S1: the revolving speed n of each motor on the rotary encoder measurement each spud leg of self-elevating ocean platform is utilizedij, in each
Select one of motor as main motor, revolving speed n in spud legi, remaining motor of same spud leg is used as from motor；
S2: the inclination angle of the diagonal line of self-elevating ocean platform with respect to the horizontal plane, jack up are detected using obliquity sensor
Four angles of ocean platform are successively set as A, B, C, D, and wherein the inclination angle of diagonal line AC is set as θ1、θ3, the inclination angle of diagonal line BD is set as
θ2、θ4；
S3: the output torque F of each motor is monitored using multiple groups torque sensorij, calculate the carrying G of each spud leg；
S4: the adjustable height H of altimeter coder detection self-elevating ocean platform is used；
S5: using the synchronization of principal and subordinate's composite sync control strategy control more motors of Single Pile, the height H of each spud leg of monitoring
And the carrying G of each spud leg of monitoring；
S6: using inclination angle-speed coupling Strategy For Synchronization Control control self-elevating ocean platform balance and synchronously control.
As shown in figure 5 and figure 7, in step s 5, principal and subordinate's composite sync control strategy are as follows: will be from the revolving speed n of motorijWith master
The revolving speed n of motoriCompare, obtains the difference DELTA n from motor and main motor revolving speedij, speed difference will be obtained with pid control algorithm
ΔnijAnd given respectively by speed sync compensator synchroballistic from motor, guarantee that the revolving speed of each driving motor is synchronous.
As shown in fig. 6, in step s 6, inclination angle-speed couples Strategy For Synchronization Control are as follows: when inclination angle is excessive, using inclining
Angle-speed parallel connection synchronous control mode；It is that inclination angle-deviation couples synchronous control mode when inclination angle is in safely controllable range,
It is high to control precision, stability is good.
As shown in figure 8, in step s 6, detecting inclination angle theta using obliquity sensori, real-time inclination angle thetaiGreater than setting inclination essence
When spending [θ], X=0, using inclination angle-speed parallel connection synchronous control mode；Real-time inclination angle thetaiWhen less than setting tilt accuracy [θ], X
=1, synchronous control mode, the revolving speed n of four spud leg main motors of real-time detection are coupled using inclination angle-deviationi, with four spud leg masters
The speed average of motorTo evaluate speed, the revolving speed n of four spud leg main motorsiWith speed averageMake the Δ n of differencei, lead to
Velocity compensator is crossed by Δ niIt compensates and gives other motors, using pour angle compensation device backoff algorithm by real-time inclination angle thetaiIt is converted to compensation
Speed is synthesized with speed control signal to motor control, the formula of pour angle compensation device are as follows:
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (10)
1. a kind of self-elevating ocean platform lift control system is passed including self-elevating ocean platform, spud leg with four spud legs
The lower section of the self-elevating ocean platform, the spud leg is arranged in motivation structure and spud leg control cabinet, the spud leg transmission mechanism
Transmission mechanism is connect with the spud leg control cabinet, which is characterized in that further includes master control system, upper from control system, master control system
Machine, from control system host computer, rotary encoder, obliquity sensor and torque sensor, the master control system and the master control
The connection of system host computer, described to be connect from control system with described from control system host computer, the master control system is from control with described
System connection, described to be arranged in the spud leg control cabinet from control system, the rotary encoder, the obliquity sensor and institute
Torque sensor is stated to be arranged on the spud leg transmission mechanism, the rotary encoder respectively with the master control system and institute
It states and is connected from control system, the obliquity sensor is connect with the master control system, and the torque sensor is with described from control system
Connection.
2. self-elevating ocean platform lift control system according to claim 1, which is characterized in that the master control system with
And the inside from control system is provided with high-speed counter.
3. self-elevating ocean platform lift control system according to claim 2, which is characterized in that the spud leg driver
Structure includes rack gear, gear, motor and reduction gearbox, and the motor is connect with the reduction gearbox, and the reduction gearbox is mounted on described
On self-elevating ocean platform, the gear is installed on the output shaft of the reduction gearbox, and the rack welding is in the spud leg
Two sides, the gear intermeshes with the rack gear to be connect.
4. self-elevating ocean platform lift control system according to claim 3, which is characterized in that the rotary encoder
It is arranged at the output shaft of the gear, two diagonal lines of the self-elevating ocean platform are arranged in the obliquity sensor
On, the torque sensor is arranged on the output shaft of the motor.
5. self-elevating ocean platform lift control system according to claim 1, which is characterized in that the rotary encoder
Including mair motor encoder and from motor encoder, the mair motor encoder is connect with the master control system, described from electricity
Machine encoder is connect with described from control system.
6. self-elevating ocean platform lift control system according to claim 1, which is characterized in that further include that height encodes
Device, the both ends of the altimeter coder are separately connected the self-elevating ocean platform and described from control system.
7. a kind of self-elevating ocean platform lift control method, which comprises the following steps:
S1: the revolving speed n of each motor on the rotary encoder measurement each spud leg of self-elevating ocean platform is utilizedij, in each spud leg
It is middle to select one of motor as main motor, revolving speed ni, remaining motor of same spud leg is used as from motor；
S2: the inclination angle of the diagonal line of self-elevating ocean platform with respect to the horizontal plane, jack up ocean are detected using obliquity sensor
Four angles of platform are successively set as A, B, C, D, and wherein the inclination angle of diagonal line AC is set as θ1、θ3, the inclination angle of diagonal line BD is set as θ2、
θ4；
S3: the output torque F of each motor is monitored using multiple groups torque sensorij, calculate the carrying G of each spud leg；
S4: the adjustable height H of altimeter coder detection self-elevating ocean platform is used；
S5: using the synchronization of principal and subordinate's composite sync control strategy control more motors of Single Pile, each spud leg of monitoring height H and
Monitor the carrying G of each spud leg；
S6: using inclination angle-speed coupling Strategy For Synchronization Control control self-elevating ocean platform balance and synchronously control.
8. self-elevating ocean platform lift control method according to claim 7, which is characterized in that in step s 5, institute
State principal and subordinate's composite sync control strategy are as follows: will be from the revolving speed n of motorijWith the revolving speed n of main motoriCompare, obtains from motor and master
The difference DELTA n of motor speedij, speed difference Δ n will be obtained with pid control algorithmijAnd it is mended by the way that speed sync compensator is synchronous
Repay to respectively from motor, guarantee each driving motor revolving speed it is synchronous.
9. self-elevating ocean platform lift control method according to claim 7, which is characterized in that in step s 6, institute
State inclination angle-speed coupling Strategy For Synchronization Control are as follows: when inclination angle is excessive, using inclination angle-speed parallel connection synchronous control mode；When inclining
It is that inclination angle-deviation couples synchronous control mode when angle is in safely controllable range.
10. self-elevating ocean platform lift control method according to claim 9, which is characterized in that in step s 6, benefit
Inclination angle theta is detected with obliquity sensori, real-time inclination angle thetaiWhen greater than setting tilt accuracy [θ], X=0 is in parallel using inclination angle-speed
Synchronous control mode；Real-time inclination angle thetaiWhen less than setting tilt accuracy [θ], X=1 couples synchronously control side using inclination angle-deviation
Formula, the revolving speed n of four spud leg main motors of real-time detectioni, with the speed average of four spud leg main motorsFor evaluate speed, four
The revolving speed n of a spud leg main motoriWith speed averageMake the Δ n of differencei, by velocity compensator by Δ niIt compensates and gives other electricity
Machine, using pour angle compensation device backoff algorithm by real-time inclination angle thetaiCompensation speed is converted to be synthesized with speed control signal to motor control
System, the formula of pour angle compensation device are as follows:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910363532.4A CN110130298B (en) | 2019-04-30 | 2019-04-30 | Lifting control system and control method for self-elevating ocean platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910363532.4A CN110130298B (en) | 2019-04-30 | 2019-04-30 | Lifting control system and control method for self-elevating ocean platform |
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| CN110130298A true CN110130298A (en) | 2019-08-16 |
| CN110130298B CN110130298B (en) | 2023-06-09 |
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ID=67576166
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| CN201910363532.4A Active CN110130298B (en) | 2019-04-30 | 2019-04-30 | Lifting control system and control method for self-elevating ocean platform |
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| CN111519596A (en) * | 2020-04-29 | 2020-08-11 | 上海交通大学 | Drilling platform lifting control method and system based on force compensation algorithm |
| CN111796508A (en) * | 2020-06-19 | 2020-10-20 | 上海交通大学 | Drilling platform lifting control method based on fuzzy PID algorithm |
| CN111997820A (en) * | 2020-08-03 | 2020-11-27 | 三峡大学 | Wave energy acquisition and conversion device based on multi-channel lifting control and control method |
| CN114237121A (en) * | 2021-12-17 | 2022-03-25 | 广东海洋大学 | Ocean platform and synchronous lifting control method thereof |
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| CN111997820A (en) * | 2020-08-03 | 2020-11-27 | 三峡大学 | Wave energy acquisition and conversion device based on multi-channel lifting control and control method |
| CN114237121A (en) * | 2021-12-17 | 2022-03-25 | 广东海洋大学 | Ocean platform and synchronous lifting control method thereof |
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| Publication number | Publication date |
|---|---|
| CN110130298B (en) | 2023-06-09 |
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