CN112064642A - Wave compensation pile gripper control system for floating crane ship and control method thereof - Google Patents

Abstract

The invention relates to a control system and a control method for a wave compensation pile holder for a floating crane, characterized in that the control method for a wave compensation pile holder for a floating crane is based on the control system for a wave compensation pile holder for a floating crane Realized, the control system of the wave compensation pile holder for floating crane includes a wave compensation pile holder control box (1), a wave compensation pile holder (2) and a plurality of wave compensation pile holders installed on the wave compensation pile holder (2). An actuator (3) and a sensor (4); the control box (1) and the wave compensation pile holder (2) are both installed on the floating crane (101); the actuator (3) and the sensor (4) Both are connected to the control box (1) by cables. The present invention adjusts the posture of the pile holder by collecting and analyzing the ship position information, the horizontal inclination of the pile holder and the load at each position in real time, and solves the single problem of the pile holder when the floating crane is used as a construction vessel. Pile vertical installation and positional accuracy issues.

Description

Control system and control method of wave compensation pile holder for floating crane

technical field

The invention relates to a control system and a control method of a wave compensation pile holder for floating cranes, belonging to the technical field of single pile foundation installation of offshore wind turbines.

Background technique

The key point and difficulty in the installation of the monopile foundation for offshore wind turbines is the guarantee of the pile driving accuracy, which includes the position accuracy and the single pile verticality accuracy.

At present, there are two ways to install the monopile foundation of offshore wind turbines: 1. The self-elevating self-propelled ship (platform) is used as the construction ship, and the pile holder is used as the guiding and righting device; 2. The lifting and floating crane is used as the construction ship, and the pile stabilization platform is used. As a guide centralizer.

In the first scheme, the main hull of the ship needs to be raised during the operation. After the operation is completed, the main hull of the ship is lowered to the designated draft, and then the pile is pulled out and transferred to the next pile position. This scheme has high requirements for ship configuration, high one-time investment cost, and high installation cost; in the second scheme, before the single pile is installed, the pile stabilization platform needs to be installed in place, and the pile stabilization platform needs to be taken back after the operation is completed. . This scheme has relatively low requirements for ship configuration and low installation costs, but the construction period is long, and the offshore construction window period cannot be fully utilized.

In order to reduce the installation cost of single piles and improve the installation efficiency of single piles, a single pile installation scheme for offshore wind turbines has been developed: a lifting and floating crane is used as a construction vessel, and a wave compensation pile holder is used as a single pile guiding and centralizing device. During construction, the construction vessel floats, and is affected by external loads, resulting in dimensional movements such as roll, pitch, heave, etc. The upper pile holder needs to ensure the verticality and position accuracy of the single pile under this condition. Higher requirements are put forward for the control system of the wave compensation pile holder.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the above deficiencies, and to provide a floating crane that can still ensure the verticality and positional accuracy of a single pile when the pile holder is affected by external loads and produces dimensional movements such as roll, pitch, and heave. Marine wave compensation pile holder control system and control method thereof.

The object of the present invention is achieved in this way:

A control system for a wave compensation pile holder for a floating crane and a control method thereof, the control method for a wave compensation pile holder for a floating crane is realized based on the control system for a wave compensation pile holder for a floating crane, and the floating crane The marine wave compensation pile holder control system includes a wave compensation pile holder control box, a wave compensation pile holder and a plurality of actuators and sensors installed on the wave compensation pile holder; the control box and the wave compensation pile holder are both Installed on a floating crane; the actuator and the sensor are connected to the control box through cables; the actuator includes a swing motor, a distance-adjusting oil cylinder, a leveling oil cylinder, a guide roller oil cylinder and an arm-holding oil cylinder; the sensor includes a swing angle Sensors, support arm angle sensor, guide roller cylinder stroke sensor, arm level sensor, pile load sensor and laser distance meter;

The wave compensation pile holder includes a slewing platform, a supporting arm frame, a pile-holding frame and an arm; the slewing platform is driven by a slewing motor and is rotatably installed on a floating crane, and a slewing angle sensor is arranged on the slewing platform; the support The two ends of the boom are hinged with the slewing platform and the pile-holding frame respectively. The hinged position of the support boom and the slewing platform is provided with a support boom angle sensor, and the hinged position of the support boom and the pile-holding frame is provided with the level of the boom. Sensor and pile load sensor; the piston rod of the above-mentioned distance-adjusting oil cylinder is hinged with the middle part of the supporting arm frame, and the fixed end of the distance-adjusting oil cylinder is hinged with the upper part of the slewing platform; the piston rod of the above-mentioned leveling oil cylinder is in phase with the middle part of the supporting arm frame. Hinged, the fixed end of the leveling oil cylinder is hinged with the top of the pile holding frame; one end of the holding arm is hinged to the pile holding frame, and a plurality of laser ranging are evenly arranged on the top surface of the holding arm and the pile holding frame The middle part of the arm is hinged with the piston rod of the arm cylinder, the fixed end of the arm cylinder is hinged with the pile-holding frame, and the guide roller cylinder is provided with a guide roller cylinder stroke sensor.

The invention relates to a control system for a wave compensation pile holder for a floating crane. The end of the piston rod of the guide roller oil cylinder is provided with a roller, and the roller is in rolling contact with the single pile.

The present invention relates to a control system for a wave compensation pile holder for a floating crane, wherein a crane control system, a DP control system and a winch control system are installed on the floating crane; the crane control system, the DP control system and the winch control system are connected with each other through cables. Wave compensation pile holder control box connection;

The present invention relates to a control system for a wave compensation pile holder for a floating crane. The control system for a wave compensation pile holder for a floating crane adopts a dual redundant configuration to ensure reliability.

The control method of the wave compensation pile holder for the floating crane is as follows:

Control step 1: After the floating crane arrives at the designated position, the DP control system keeps the ship at the predetermined position and feeds back the ship position information to the control box; the crane control system lifts the monopile from the main deck, turns over and inserts the wave compensation hold. After the pile device enters the water;

Control step 2: When the mono pile is inserted into the wave compensation pile holder, the arm of the wave compensation pile holder will hold the mono pile, and continue to apply a certain pre-tightening force to the mono pile through the guide roller cylinder on the holding arm until the The single pile is inserted into the seabed at a distance of about meters; in this stage, the wave compensation pile holder guides the single pile, and the above-mentioned distance-adjusting oil cylinder, rotary motor and leveling oil cylinder are locked at this time;

Control step 3: When the single pile is inserted into the seabed at a distance of about meters, the wave compensation pile holder adjusts the above-mentioned distance-adjusting oil cylinder, slewing motor and leveling oil cylinder according to the verticality information of the single pile fed back by the sensor to compensate for the influence of wave motion. And straighten the single pile to ensure that the verticality of the single pile is within 3‰, that is, 0.17 degrees; continue to adjust the above-mentioned distance-adjusting oil cylinder, rotary motor and leveling oil cylinder until the load of the main hook of the floating crane fed back by the winch control system is 0;

Control step 4: 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 at the same time, the wave compensation pile holder adjusts the above-mentioned distance-adjusting oil cylinder and rotation in real time according to the load size and direction fed back by the pile-holding load sensor. Motors and leveling cylinders to reduce the force of the monopiles on the wave compensation pile holders and floating cranes until the monopiles enter the mud.

Compared with the prior art, the beneficial effects of the present invention are:

According to the real-time collection and analysis of the ship position information, the horizontality inclination information of the pile holder and the load information of each position, the present invention adjusts the posture of the pile holder in real time according to these information, so that the verticality of the single pile and the installation position accuracy can be guaranteed, The problem of vertical installation and position accuracy of the single pile on the pile holder when the lifting and floating crane is used as a construction vessel is solved.

Description of drawings

FIG. 1 is a schematic diagram of connection of a control system of a wave compensation pile holder for a floating crane vessel according to the present invention.

FIG. 2 is a schematic structural diagram of a wave compensation pile holder of a control system of a wave compensation pile holder for a floating crane vessel according to the present invention.

in:

Rotary platform 2.1, support arm frame 2.2, pile holding frame 2.3, holding arm 2.4, rotary motor 3.1, distance adjustment oil cylinder 3.2, leveling oil cylinder 3.3, guide roller oil cylinder 3.4, holding arm oil cylinder 3.5, slewing angle sensor 4.1, support arm Frame angle sensor 4.2, guide roller cylinder stroke sensor 4.3, arm level sensor 4.4, pile load sensor 4.5, laser distance meter 4.6.

Detailed ways

1 to 2, the present invention relates to a control system and a control method of a wave compensation pile holder for a floating crane. The control method for a wave compensation pile holder for a floating crane is based on the wave compensation pile holder for a floating crane. The wave compensation pile holder control system for floating cranes includes a wave compensation pile holder control box 1, a wave compensation pile holder 2 and a plurality of actuators 3 installed on the wave compensation pile holder 2. and sensor 4; the control box 1 and the wave compensation pile holder 2 are installed on the floating crane 101; the actuator 3 and the sensor 4 are connected to the control box 1 through cables; the actuator 3 includes a rotary motor 3.1. Distance adjustment cylinder 3.2, leveling cylinder 3.3, guide roller cylinder 3.4 and arm cylinder 3.5; the sensor 4 includes a rotation angle sensor 4.1, a support arm angle sensor 4.2, a guide roller cylinder stroke sensor 4.3, and the level of the arm Sensor 4.4, piling load sensor 4.5 and laser rangefinder 4.6;

The wave compensation pile holder 2 includes a slewing platform 2.1, a supporting arm frame 2.2, a pile-holding frame 2.3 and an arm 2.4; the slewing platform 2.1 is driven and rotated by a slewing motor 3.1 and is installed on the floating crane 101, and the slewing platform 2.1 A slewing angle sensor 4.1 is provided on it; both ends of the supporting arm frame 2.2 are hinged with the slewing platform 2.1 and the pile-holding frame 2.3 respectively, and the hinged position of the supporting arm frame 2.2 and the slewing platform 2.1 is provided with a supporting arm frame angle sensor 4.2 , the hinged position of the support arm frame 2.2 and the pile-holding frame 2.3 is provided with an arm-holding level sensor 4.4 and a pile-holding load sensor 4.5; the piston rod of the above-mentioned distance-adjusting oil cylinder 3.2 is hinged with the middle of the support arm frame 2.2, and the distance-adjusting oil cylinder The fixed end of 3.2 is hinged with the upper part of the slewing platform 2.1; the piston rod of the above-mentioned leveling cylinder 3.3 is hinged with the middle phase of the support arm frame 2.2, and the fixed end of the leveling cylinder 3.3 is hinged with the top of the pile-holding frame 2.3; the One end of the holding arm 2.4 is hinged to the pile holding frame 2.3, and a plurality of laser rangefinders 4.6 and a plurality of guide roller oil cylinders 3.4 are evenly arranged on the top surfaces of the holding arm 2.4 and the pile holding frame 2.3. The piston rod of the arm-holding oil cylinder 3.5 is hinged, the fixed end of the arm-holding oil cylinder 3.5 is hinged with the pile-holding frame 2.3, and the guide roller oil cylinder 3.4 is provided with a guide roller oil cylinder stroke sensor 4.3.

Further, the end of the 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 monopile.

Further, a crane control system 102, a DP control system 103 and a winch control system 103 are installed on the floating crane 101; the crane control system 102, the DP control system 103 and the winch control system 103 compensate piles through cables and waves controller control box 1 connection;

Further, the control system of the wave compensating pile holder for the floating crane adopts a dual redundant configuration to ensure reliability.

The control method of the wave compensation pile holder for the floating crane is as follows:

Control step 1: After the floating crane 101 reaches the designated position, the DP control system 103 keeps the ship at the predetermined position, and feeds back the ship position information to the control box 1 at the same time; Insert the wave compensation pile holder 2 into the water;

Control step 2: When the mono pile is inserted into the wave compensation pile holder 2, the arm 2.4 of the wave compensation pile holder 2 hugs the mono pile, and continuously applies a certain amount of pressure to the mono pile through the guide roller cylinder 3.4 on the arm 2.4. Pre-tighten until the single pile is inserted into the seabed at a distance of about 2 meters; at this stage, the wave compensation pile holder 2 guides the single pile, and the above-mentioned distance adjustment cylinder 3.2, slewing motor 3.1 and leveling cylinder 3.3 are locked. ;

Control step 3: When the single pile is inserted into the seabed at a distance of about 2 meters, the wave compensation pile holder 2 adjusts the above-mentioned distance adjustment cylinder 3.2, slewing motor 3.1 and leveling cylinder 3.3 according to the verticality information of the single pile fed back by the sensor 4. The influence of wave motion is compensated and the single pile is straightened to ensure that the verticality of the single pile is within 3‰, that is, 0.17 degrees; continue to adjust the above-mentioned distance adjustment oil cylinder 3.2, slewing motor 3.1 and leveling oil cylinder 3.3, until the floating feedback from the winch control system 103 is reached. The main hook load is 0;

Control step 4: 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 at the same time, the wave compensation pile holder 2 adjusts the above distance adjustment in real time according to the size and direction of the load fed back by the pile holding load sensor 4.5. The oil cylinder 3.2, the rotary motor 3.1 and the leveling oil cylinder 3.3 are used to reduce the force of the single pile on the wave compensation pile holder 2 and the floating crane 101 until the single pile enters the mud.

In addition: it should be noted that the above-mentioned specific embodiment is only an optimized solution of this patent, and any changes or improvements made by those skilled in the art according to the above-mentioned concept are all within the protection scope of this patent.

Claims (5)

1. A control system for a wave compensation pile holder for a floating crane, characterized in that: the control system for a wave compensation pile holder for a floating crane comprises a wave compensation pile holder control box (1), a wave compensation pile holder (2) ) and a plurality of actuators (3) and sensors (4) installed on the wave compensation pile holder (2); the control box (1) and the wave compensation pile holder (2) are both installed on the floating crane ( 101); the actuator (3) and the sensor (4) are connected to the control box (1) through cables; the actuator (3) includes a rotary motor (3.1), a distance control cylinder (3.2), a leveling Oil cylinder (3.3), guide roller oil cylinder (3.4) and arm oil cylinder (3.5); the sensor (4) includes a rotation angle sensor (4.1), a support arm angle sensor (4.2), and a guide roller oil cylinder stroke sensor (4.3) , arm level sensor (4.4), pile load sensor (4.5) and laser range finder (4.6); The wave compensation pile holder (2) comprises a slewing platform (2.1), a supporting arm frame (2.2), a pile-holding frame (2.3) and an arm (2.4); the slewing platform (2.1) is driven by a slewing motor (3.1) ) is driven and rotated and installed on the floating crane (101), and the rotary platform (2.1) is provided with a rotary angle sensor (4.1); the two ends of the support arm (2.2) are connected to the rotary platform (2.1) and the pile driver The frame (2.3) is hinged, the hinge position of the support arm frame (2.2) and the slewing platform (2.1) is provided with a support arm frame angle sensor (4.2), and the hinge position of the support arm frame (2.2) and the pile-holding frame (2.3) Equipped with an arm level sensor (4.4) and a pile load sensor (4.5); the piston rod of the above-mentioned distance-adjusting oil cylinder (3.2) is hinged with the middle of the support arm (2.2), and the fixed end of the distance-adjusting oil cylinder (3.2) It is hinged with the upper part of the slewing platform (2.1); the piston rod of the above-mentioned leveling cylinder (3.3) is hinged with the middle phase of the supporting arm frame (2.2), and the fixed end of the leveling cylinder (3.3) is connected with the piling frame (2.3). The top is hinged; one end of the arm (2.4) is hinged to the pile-holding frame (2.3), and a plurality of laser rangefinders ( 4.6) and several guide roller cylinders (3.4), the middle of the arm (2.4) is hinged with the piston rod of the arm cylinder (3.5), and the fixed end of the arm cylinder (3.5) is connected to the pile-holding frame (2.3). Articulated, guide roller cylinder (3.4) is provided with guide roller cylinder travel sensor (4.3). 2. The control system for a wave compensation pile holder for a floating crane according to claim 1, characterized in that: a roller (104) is provided at the end of the piston rod of the guide roller oil cylinder (3.4), and the roller (104) is connected with the single roller (104). Pile rolling contact. 3. The wave compensation pile holder control system for a floating crane according to claim 1, characterized in that: a crane control system (102), a DP control system (103) and a winch are installed on the floating crane (101). A control system (103); the crane control system (102), the DP control system (103) and the winch control system (103) are connected with the wave compensation pile driver control box (1) through cables. 4 . The control system for the wave compensation pile holder for floating cranes according to claim 1 , wherein the control system for the wave compensation pile holders for floating cranes adopts a dual redundant configuration to ensure reliability. 5 . 5. A control method for a wave compensation pile holder for a floating crane, characterized in that: the control method for a wave compensation pile holder for a floating crane is realized based on the control system for a wave compensation pile holder for a floating crane according to claim 1. The control method of the wave compensation pile holder for the floating crane is as follows: Control step 1: After the floating crane (101) reaches the designated position, the DP control system (103) keeps the ship at the predetermined position, and feeds back the position information of the ship to the control box (1); the crane control system (102) Lifted from the main deck, turned over and inserted the wave compensation pile holder (2) before entering the water; Control step 2: When the mono pile is inserted into the wave compensation pile holder (2), the arm (2.4) of the wave compensation pile holder (2) will hold the mono pile and pass the guide roller cylinder on the arm (2.4). (3.4) Continue to apply a certain pre-tightening force to the single pile until the single pile is inserted into the seabed at a distance of about 2 meters; in this stage, the wave compensation pile holder (2) guides the single pile, and the above-mentioned distance-adjusting oil cylinder ( 3.2), the swing motor (3.1) and the leveling cylinder (3.3) are locked; Control step 3: When the single pile is inserted into the seabed at a distance of about 2 meters, the wave compensation pile holder (2) adjusts the above-mentioned distance adjustment oil cylinder (3.2) and rotary motor (3.1) according to the verticality information of the single pile fed back by the sensor (4). ) and leveling cylinder (3.3) to compensate for the influence of wave motion and straighten the single pile to ensure that the verticality of the single pile is within 3‰, that is, 0.17 degrees; continue to adjust the above distance adjustment cylinder (3.2), slewing motor (3.1) and leveling the cylinder (3.3) until the load on the main hook of the floating crane fed back by the winch control system (103) is 0; Control step 4: 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 at the same time, the wave compensation pile holder (2) according to the load size and direction fed back by the pile holding load sensor (4.5) , adjust the above-mentioned distance-adjusting oil cylinder (3.2), slewing motor (3.1) and leveling oil cylinder (3.3) in real time to reduce the force of the single pile on the wave compensation pile holder (2) and the floating crane (101) until the single pile Pile into the mud.

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