CN112064642A - Wave compensation pile gripper control system for floating crane ship and control method thereof - Google Patents
Wave compensation pile gripper control system for floating crane ship and control method thereof Download PDFInfo
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- CN112064642A CN112064642A CN202010915916.5A CN202010915916A CN112064642A CN 112064642 A CN112064642 A CN 112064642A CN 202010915916 A CN202010915916 A CN 202010915916A CN 112064642 A CN112064642 A CN 112064642A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/04—Guide devices; Guide frames
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/10—Deep foundations
- E02D27/12—Pile foundations
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/32—Foundations for special purposes
- E02D27/44—Foundations for machines, engines or ordnance
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D27/00—Foundations as substructures
- E02D27/32—Foundations for special purposes
- E02D27/52—Submerged foundations, i.e. submerged in open water
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- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
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- 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 relates to a wave compensation pile gripper control system for a floating crane ship and a control method thereof, which are characterized in that: the control method of the wave compensation pile gripper for the floating crane ship is realized based on a wave compensation pile gripper control system for the floating crane ship, and the wave compensation pile gripper control system for the floating crane ship comprises a wave compensation pile gripper control box (1), a wave compensation pile gripper (2), and a plurality of actuators (3) and sensors (4) which are installed on the wave compensation pile gripper (2); the control box (1) and the wave compensation pile gripper (2) are both arranged on the floating crane ship (101); and the actuator (3) and the sensor (4) are connected with the control box (1) through cables. According to the invention, the posture of the pile gripper is adjusted by collecting and analyzing the ship position information, the horizontal inclination of the pile gripper and the load of each position in real time, so that the problems of vertical installation and position accuracy of a single pile of the pile gripper on the floating crane ship when the floating crane ship is used as a construction ship are solved.
Description
Technical Field
The invention relates to a wave compensation pile gripper control system for a floating crane ship and a control method thereof, and belongs to the technical field of offshore fan single-pile foundation installation.
Background
The key point and difficulty of the installation of the single-pile foundation of the offshore wind turbine are the guarantee of pile sinking precision, and the pile sinking precision comprises position precision and single-pile verticality precision.
At present, the single-pile foundation of the offshore wind turbine is installed by two methods: 1. a self-elevating self-propelled ship (platform) is used as a construction ship, and a pile gripper is used as a guiding and righting device; 2. the hoisting floating crane ship is used as a construction ship, and the pile stabilizing platform is used as a guide righting device.
In the scheme 1, the main ship body of the ship needs to be lifted during operation, and is lowered to a designated draught position after the operation is finished, and then the pile is pulled out and transferred to the next pile position. The scheme has higher requirements on ship configuration, high one-time investment cost and higher installation cost; in the scheme 2, before the single pile is installed, the pile stabilizing platform needs to be installed in place, and after the operation is finished, the pile stabilizing platform needs to be retracted. The scheme has relatively low requirement on ship configuration, low installation cost, but long construction period and cannot fully utilize offshore construction window period.
In order to reduce the single-pile installation cost and improve the single-pile installation efficiency, an offshore wind turbine single-pile installation scheme is developed: the hoisting floating crane ship is used as a construction ship, and the wave compensation pile gripper is used as a single-pile guiding and righting device. During construction operation, a construction ship floats and is affected by external loads to generate dimensional motion such as rolling, pitching and heaving, and the pile gripper on the construction ship needs to guarantee the verticality and position accuracy of a single pile under the condition, so that higher requirements are provided for a control system of the wave compensation pile gripper.
Disclosure of Invention
The invention aims to overcome the defects and provides a wave compensation pile gripper control system for a floating crane ship and a control method thereof, wherein the control system can still ensure the verticality and the position precision of a single pile under the condition that the pile gripper generates dimensional motion such as rolling, pitching and heaving under the influence of external load.
The purpose of the invention is realized as follows:
a control system and a control method of a wave compensation pile gripper for a floating crane ship are disclosed, wherein the control method of the wave compensation pile gripper for the floating crane ship is realized based on the control system of the wave compensation pile gripper for the floating crane ship, and the control system of the wave compensation pile gripper for the floating crane ship comprises a wave compensation pile gripper control box, a wave compensation pile gripper, and a plurality of actuators and sensors which are arranged on the wave compensation pile gripper; the control box and the wave compensation pile gripper are both arranged on the floating crane ship; the actuator and the sensor are both connected with the control box through cables; the actuator comprises a rotary motor, a distance-adjusting oil cylinder, a leveling oil cylinder, a guide roller oil cylinder and an arm-embracing oil cylinder; the sensors comprise a rotation angle sensor, a support arm frame angle sensor, a guide roller oil cylinder stroke sensor, an arm holding levelness sensor, a pile holding load sensor and a laser range finder;
the wave compensation pile embracing device comprises a rotary platform, a support arm frame, a pile embracing frame and a embracing arm; the rotary platform is driven by a rotary motor to be rotationally mounted on the floating crane ship, and a rotary angle sensor is arranged on the rotary platform; two ends of the supporting arm frame are respectively hinged with the rotary platform and the pile embracing machine frame, a supporting arm frame angle sensor is arranged at the hinged position of the supporting arm frame and the rotary platform, and a pile embracing arm levelness sensor and a pile embracing load sensor are arranged at the hinged position of the supporting arm frame and the pile embracing machine frame; a piston rod of the distance-adjusting oil cylinder is hinged with the middle part of the support arm frame, and the fixed end of the distance-adjusting oil cylinder is hinged with the upper part of the rotary platform; a piston rod of the leveling oil cylinder is hinged with the middle phase of the support arm frame, and the fixed end of the leveling oil cylinder is hinged with the top of the pile embracing frame; one end of the embracing arm is hinged to the embracing pile rack, a plurality of laser range finders and a plurality of guide roller oil cylinders are evenly arranged on the top surfaces of the embracing arm and the embracing pile rack, the middle part of the embracing arm is hinged to a piston rod of the embracing arm oil cylinder, the fixed end of the embracing arm oil cylinder is hinged to the embracing pile rack, and the guide roller oil cylinder is provided with a guide roller oil cylinder stroke sensor.
The invention relates to a wave compensation pile gripper control system for a floating crane ship.
The invention relates to a wave compensation pile gripper control system for a floating crane ship, wherein a crane control system, a DP control system and a winch control system are arranged on the floating crane ship; the crane control system, the DP control system and the winch control system are connected with the wave compensation pile gripper control box through cables;
according to the wave compensation pile gripper control system for the floating crane ship, double redundancy configuration is adopted, and reliability is ensured.
The control method of the wave compensation pile gripper for the floating crane ship comprises the following steps:
a first control step: after the floating crane ship reaches the designated position, the DP control system keeps the ship at the set position and feeds back the ship position information to the control box; the crane control system lifts the single pile from the main deck, turns over the single pile, inserts the wave compensation pile gripper and then enters water;
and a second control step: when the single pile is inserted into the wave compensation pile embracing device, the embracing arm of the wave compensation pile embracing device embraces the single pile, and continuously applies certain pretightening force to the single pile through the guide roller oil cylinder on the embracing arm until the single pile is inserted into the seabed by a distance of about one meter; in the stage, the wave compensation pile gripper guides the single pile, and the distance adjusting oil cylinder, the rotary motor and the leveling oil cylinder are locked;
and a third control step: when the single pile is inserted into the seabed by a distance of about a meter, the wave compensation pile gripper adjusts the distance-adjusting oil cylinder, the rotary motor and the leveling oil cylinder according to the single pile verticality information fed back by the sensor, compensates the influence of wave motion and corrects the single pile, and ensures that the single pile verticality is within 3 per thousand, namely 0.17 ℃; continuously adjusting the distance-adjusting oil cylinder, the rotary motor and the leveling oil cylinder until the load of a main hook of the floating crane fed back by the winch control system is 0;
and a fourth control step: when the load of the main hook of the floating crane is 0, the crane control system lifts the pile hammer to start piling, and meanwhile, the wave compensation pile gripper adjusts the distance adjusting oil cylinder, the rotary motor and the leveling oil cylinder in real time according to the load size and the load direction fed back by the pile gripping load sensor so as to reduce the acting force of the single pile on the wave compensation pile gripper and the floating crane ship until the single pile enters mud.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, through real-time collection and analysis of ship position information, levelness and inclination information of the pile gripper and load information of each position, the attitude of the pile gripper is adjusted in real time according to the information, so that the verticality and the mounting position precision of a single pile are ensured, and the problems of vertical mounting and position precision of the single pile of the pile gripper on the lifting floating crane ship are solved when the lifting floating crane ship is used as a construction ship.
Drawings
Fig. 1 is a connection schematic diagram of a wave compensation pile gripper control system for a floating crane ship.
Fig. 2 is a schematic structural diagram of a wave compensation pile gripper control system for a floating crane ship.
Wherein:
the pile-embracing type hydraulic pile measuring device comprises a rotary platform 2.1, a supporting arm frame 2.2, a pile-embracing frame 2.3, an armful arm 2.4, a rotary motor 3.1, a distance-adjusting oil cylinder 3.2, a leveling oil cylinder 3.3, a guide roller oil cylinder 3.4, an armful arm oil cylinder 3.5, a rotary angle sensor 4.1, a supporting arm frame angle sensor 4.2, a guide roller oil cylinder stroke sensor 4.3, an armful arm levelness sensor 4.4, a pile-embracing load sensor 4.5 and a laser range finder 4.6.
Detailed Description
Referring to fig. 1-2, the invention relates to a wave compensation pile gripper control system for a floating crane ship and a control method thereof, wherein the wave compensation pile gripper control method for the floating crane ship is realized based on the wave compensation pile gripper control system for the floating crane ship, and the wave compensation pile gripper control system for the floating crane ship comprises a wave compensation pile gripper control box 1, a wave compensation pile gripper 2, and a plurality of actuators 3 and sensors 4 which are installed on the wave compensation pile gripper 2; the control box 1 and the wave compensation pile gripper 2 are both arranged on the floating crane ship 101; the actuator 3 and the sensor 4 are both connected with the control box 1 through cables; the actuator 3 comprises a rotary motor 3.1, a distance adjusting oil cylinder 3.2, a leveling oil cylinder 3.3, a guide roller oil cylinder 3.4 and an arm-holding oil cylinder 3.5; the sensor 4 comprises a rotary angle sensor 4.1, a support arm frame angle sensor 4.2, a guide roller oil cylinder stroke sensor 4.3, an arm holding levelness sensor 4.4, a pile holding load sensor 4.5 and a laser range finder 4.6;
the wave compensation pile embracing device 2 comprises a rotary platform 2.1, a support arm frame 2.2, a pile embracing frame 2.3 and a embracing arm 2.4; the rotary platform 2.1 is driven by a rotary motor 3.1 to be rotationally mounted on the floating crane ship 101, and a rotary angle sensor 4.1 is arranged on the rotary platform 2.1; two ends of the supporting arm support 2.2 are hinged with the rotary platform 2.1 and the pile embracing frame 2.3 respectively, a supporting arm support angle sensor 4.2 is arranged at the hinged position of the supporting arm support 2.2 and the rotary platform 2.1, and a pile embracing arm levelness sensor 4.4 and a pile embracing load sensor 4.5 are arranged at the hinged position of the supporting arm support 2.2 and the pile embracing frame 2.3; a piston rod of the distance-adjusting oil cylinder 3.2 is hinged with the middle part of the support arm frame 2.2, and the fixed end of the distance-adjusting oil cylinder 3.2 is hinged with the upper part of the rotary platform 2.1; a piston rod of the leveling oil cylinder 3.3 is hinged with the middle phase of the support arm frame 2.2, and the fixed end of the leveling oil cylinder 3.3 is hinged with the top of the pile embracing frame 2.3; one end of the arm-embracing 2.4 is hinged to the pile-embracing frame 2.3, a plurality of laser range finders 4.6 and a plurality of guide roller oil cylinders 3.4 are evenly arranged on the top surfaces of the arm-embracing 2.4 and the pile-embracing frame 2.3, the middle part of the arm-embracing 2.4 is hinged to a piston rod of the arm-embracing oil cylinder 3.5, the fixed end of the arm-embracing oil cylinder 3.5 is hinged to the pile-embracing frame 2.3, and the guide roller oil cylinder 3.4 is provided with a guide roller oil cylinder stroke sensor 4.3.
Further, a roller 104 is arranged at the end of a piston rod of the guide roller oil cylinder 3.4, and the roller 104 is in rolling contact with the single pile.
Further, a crane control system 102, a DP control system 103 and a winch control system 103 are installed on the floating crane vessel 101; the crane control system 102, the DP control system 103 and the winch control system 103 are connected with the wave compensation pile gripper control box 1 through cables;
furthermore, the wave compensation pile gripper control system for the floating crane ship adopts dual redundancy configuration, so that the reliability is ensured.
The control method of the wave compensation pile gripper for the floating crane ship comprises the following steps:
a first control step: after the floating crane ship 101 reaches the designated position, the DP control system 103 keeps the ship at the designated position and simultaneously feeds back the ship position information to the control box 1; the crane control system 102 lifts the monopile from the main deck, turns over, inserts the wave compensation pile gripper 2 and then inserts the monopile into water;
and a second control step: when the single pile is inserted into the wave compensation pile embracing device 2, the embracing arm 2.4 of the wave compensation pile embracing device 2 embraces the single pile, and continuously applies certain pretightening force to the single pile through the guide roller oil cylinder 3.4 on the embracing arm 2.4 until the single pile is inserted into the seabed by about 2 meters; in the stage, the wave compensation pile gripper 2 guides the single pile, and at the moment, the distance adjusting oil cylinder 3.2, the rotary motor 3.1 and the leveling oil cylinder 3.3 are locked;
and a third control step: when the single pile is inserted into the seabed by about 2 meters, the wave compensation pile gripper 2 adjusts the distance-adjusting oil cylinder 3.2, the rotary motor 3.1 and the leveling oil cylinder 3.3 according to the single pile verticality information fed back by the sensor 4, compensates the influence of wave motion and straightens the single pile, and ensures that the single pile verticality is within 3 per thousand, namely 0.17 degrees; continuously adjusting the distance-adjusting oil cylinder 3.2, the rotary motor 3.1 and the leveling oil cylinder 3.3 until the load of the main hook of the floating crane fed back by the winch control system 103 is 0;
and a fourth control step: when the load of the main hook of the floating crane is 0, the crane control system 102 lifts the pile hammer to start piling, and simultaneously the wave compensation pile gripper 2 adjusts the distance adjusting oil cylinder 3.2, the rotary motor 3.1 and the leveling oil cylinder 3.3 in real time according to the load size and direction fed back by the pile gripping load sensor 4.5 so as to reduce the acting force of the single pile on the wave compensation pile gripper 2 and the floating crane 101 until the single pile enters mud.
In addition: it should be noted that the above-mentioned embodiment is only a preferred embodiment of the present patent, and any modification or improvement made by those skilled in the art based on the above-mentioned conception is within the protection scope of the present patent.
Claims (5)
1. The utility model provides a wave compensation pile gripper control system for floating crane ship which characterized in that: the wave compensation pile gripper control system for the floating crane ship comprises a wave compensation pile gripper control box (1), a wave compensation pile gripper (2), and a plurality of actuators (3) and sensors (4) which are installed on the wave compensation pile gripper (2); the control box (1) and the wave compensation pile gripper (2) are both arranged on the floating crane ship (101); the actuator (3) and the sensor (4) are both connected with the control box (1) through cables; the actuator (3) comprises a rotary motor (3.1), a distance-adjusting oil cylinder (3.2), a leveling oil cylinder (3.3), a guide roller oil cylinder (3.4) and an arm-embracing oil cylinder (3.5); the sensor (4) comprises a rotary angle sensor (4.1), a support arm frame angle sensor (4.2), a guide roller oil cylinder stroke sensor (4.3), an arm holding levelness sensor (4.4), a pile holding load sensor (4.5) and a laser range finder (4.6);
the wave compensation pile embracing device (2) comprises a rotary platform (2.1), a supporting arm support (2.2), a pile embracing frame (2.3) and a embracing arm (2.4); the rotary platform (2.1) is driven by a rotary motor (3.1) to be rotationally mounted on the floating crane ship (101), and a rotary angle sensor (4.1) is arranged on the rotary platform (2.1); two ends of the supporting arm support (2.2) are respectively hinged with the rotary platform (2.1) and the pile embracing machine frame (2.3), a supporting arm support angle sensor (4.2) is arranged at the hinged position of the supporting arm support (2.2) and the rotary platform (2.1), and a pile embracing arm levelness sensor (4.4) and a pile embracing load sensor (4.5) are arranged at the hinged position of the supporting arm support (2.2) and the pile embracing machine frame (2.3); a piston rod of the distance-adjusting oil cylinder (3.2) is hinged with the middle part of the support arm support (2.2), and the fixed end of the distance-adjusting oil cylinder (3.2) is hinged with the upper part of the rotary platform (2.1); a piston rod of the leveling oil cylinder (3.3) is hinged with the middle phase of the support arm frame (2.2), and the fixed end of the leveling oil cylinder (3.3) is hinged with the top of the pile embracing machine frame (2.3); one end of the arm (2.4) is hinged to the pile embracing frame (2.3), a plurality of laser range finders (4.6) and a plurality of guide roller oil cylinders (3.4) are evenly arranged on the top surfaces of the arm (2.4) and the pile embracing frame (2.3), the middle part of the arm (2.4) is hinged to a piston rod of the arm oil cylinder (3.5), the fixed end of the arm oil cylinder (3.5) is hinged to the pile embracing frame (2.3), and the guide roller oil cylinder (3.4) is provided with a guide roller oil cylinder stroke sensor (4.3).
2. The wave compensating pile gripper control system for a floating crane vessel according to claim 1, wherein: and the end part of a piston rod of the guide roller oil cylinder (3.4) is provided with a roller (104), and the roller (104) is in rolling contact with the single pile.
3. The wave compensating pile gripper control system for a floating crane vessel according to claim 1, wherein: a crane control system (102), a DP control system (103) and a winch control system (103) are arranged on the floating crane ship (101); the crane control system (102), the DP control system (103) and the winch control system (103) are connected with the wave compensation pile gripper control box (1) through cables.
4. The wave compensating pile gripper control system for a floating crane vessel according to claim 1, wherein: the wave compensation pile gripper control system for the floating crane ship adopts dual redundancy configuration, and reliability is ensured.
5. A control method of a wave compensation pile gripper for a floating crane ship is characterized by comprising the following steps: the control method of the wave compensation pile gripper for the floating crane ship is realized based on the wave compensation pile gripper control system for the floating crane ship in claim 1, and comprises the following steps:
a first control step: after the floating crane ship (101) reaches the designated position, the DP control system (103) keeps the ship at the set position and simultaneously feeds back the ship position information to the control box (1); the crane control system (102) lifts the single pile from the main deck, turns over the single pile, inserts the wave compensation pile gripper (2) and then enters water;
and a second control step: when the single pile is inserted into the wave compensation pile embracing device (2), the embracing arm (2.4) of the wave compensation pile embracing device (2) embraces the single pile, and continuously applies certain pretightening force to the single pile through the guide roller oil cylinder (3.4) on the embracing arm (2.4) until the single pile is inserted into the seabed by about 2 meters; in the stage, the wave compensation pile gripper (2) guides the single pile, and the distance adjusting oil cylinder (3.2), the rotary motor (3.1) and the leveling oil cylinder (3.3) are locked;
and a third control step: when the single pile is inserted into the seabed by a distance of about 2 meters, the wave compensation pile gripper (2) adjusts the distance-adjusting oil cylinder (3.2), the rotary motor (3.1) and the leveling oil cylinder (3.3) according to the single pile verticality information fed back by the sensor (4), compensates the influence of wave motion and straightens the single pile, and ensures that the single pile verticality is within 3 per thousand, namely 0.17 degrees; continuously adjusting the distance-adjusting oil cylinder (3.2), the rotary motor (3.1) and the leveling oil cylinder (3.3) until the load of a main hook of the floating crane fed back by the winch control system (103) is 0;
and a fourth control step: when the load of the main hook of the floating crane is 0, the crane control system (102) lifts the pile hammer to start piling, and meanwhile, the wave compensation pile gripper (2) adjusts the distance adjusting oil cylinder (3.2), the rotary motor (3.1) and the leveling oil cylinder (3.3) in real time according to the load size and the load direction fed back by the pile gripping load sensor (4.5) so as to reduce the acting force of a single pile on the wave compensation pile gripper (2) and the floating crane (101) until the single pile enters mud.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010915916.5A CN112064642A (en) | 2020-09-03 | 2020-09-03 | Wave compensation pile gripper control system for floating crane ship and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010915916.5A CN112064642A (en) | 2020-09-03 | 2020-09-03 | Wave compensation pile gripper control system for floating crane ship and control method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112726615A (en) * | 2020-12-29 | 2021-04-30 | 广东精铟海洋工程股份有限公司 | Motion compensation pile gripper |
| CN117488756A (en) * | 2023-10-12 | 2024-02-02 | 广东精铟海洋工程股份有限公司 | Compensation device and compensation method for fan tower barrel installation |
| NL2033142B1 (en) * | 2022-09-26 | 2024-04-03 | Ihc Iqip Holding B V | Pile holding system |
-
2020
- 2020-09-03 CN CN202010915916.5A patent/CN112064642A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112726615A (en) * | 2020-12-29 | 2021-04-30 | 广东精铟海洋工程股份有限公司 | Motion compensation pile gripper |
| NL2033142B1 (en) * | 2022-09-26 | 2024-04-03 | Ihc Iqip Holding B V | Pile holding system |
| WO2024072212A1 (en) * | 2022-09-26 | 2024-04-04 | Ihc Iqip Holding B.V. | Pile holding system |
| CN117488756A (en) * | 2023-10-12 | 2024-02-02 | 广东精铟海洋工程股份有限公司 | Compensation device and compensation method for fan tower barrel installation |
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