CN113093762A - Undocking control method and control system for intelligent immersed tube carrying and installing integrated ship - Google Patents
Undocking control method and control system for intelligent immersed tube carrying and installing integrated ship Download PDFInfo
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- 238000013461 design Methods 0.000 claims abstract description 32
- 238000012937 correction Methods 0.000 claims abstract description 16
- 238000002360 preparation method Methods 0.000 claims abstract description 16
- 238000004873 anchoring Methods 0.000 claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims description 18
- 238000012806 monitoring device Methods 0.000 claims description 13
- 238000007667 floating Methods 0.000 claims description 11
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- 230000002457 bidirectional effect Effects 0.000 claims description 6
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- 238000013480 data collection Methods 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C3/00—Launching or hauling-out by landborne slipways; Slipways
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02C—SHIP-LIFTING DEVICES OR MECHANISMS
- E02C1/00—Locks or dry-docks; Shaft locks, i.e. locks of which one front side is formed by a solid wall with an opening in the lower part through which the ships pass
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/063—Tunnels submerged into, or built in, open water
- E02D29/073—Tunnels or shuttering therefor assembled from sections individually sunk onto, or laid on, the water-bed, e.g. in a preformed trench
Abstract
The invention discloses an intelligent control method and a control system for undocking a ship carrying and installing immersed tube, wherein the control method comprises the following steps: after confirming that the connection state of the pipe ship meets the design requirement, dismantling the anchoring device to complete the preparation for undocking the integrated ship; comparing the deviation between the real-time position of the integrated ship and the transverse position of the undocked designed route, if so, controlling to reduce the power of the main push driving unit, starting the side push driving unit, and calculating the transverse flow resisting side push power P required by the side push driving unit to resist the transverse water flow forcecAccording to PcControlling the working power of the side-push driving unit in real time; calculating the deviation-correcting side-push power required to correct the position deviation, and real-time calculating the deviation-correcting side-push power according to the deviation-correcting side-push powerAnd controlling and adjusting the working power of the side-push driving unit, and continuing self-navigating to finish undocking of the integrated ship after finishing position deviation correction. The control system and the control method can realize intelligent and automatic control aiming at the undocking process of the integrated ship, and can accurately control the energy consumption of the driving mechanism of the integrated ship in real time in the undocking process.
Description
Technical Field
The invention relates to the technical field of underwater tunnel construction engineering, in particular to an undocking control method and system for an intelligent immersed tube carrying and installing integrated ship.
Background
The immersed tube tunnel is a building used for underwater traffic, and generally, the immersed tube tunnel is prefabricated and formed in a segmented mode firstly, and then the prefabricated immersed tube is transported to a specified position on the water for construction and installation. The prefabricated immersed tube has huge volume and dead weight, and in order to better realize the water transportation of the prefabricated immersed tube, Chinese patent CN106628018A discloses a self-propelled large-scale component carrying and mounting integrated ship and a construction process, and the integrated ship can realize the water mounting of the immersed tube. Before the integrated ship transports the immersed tube, the integrated ship and the immersed tube can be outfitted only by entering a designated position in a dock where the immersed tube is placed according to a designated route. The integrated ship is provided with the driving device to realize self-navigation running, but the floating transportation and undocking process of the integrated ship has special working conditions, the integrated ship needs to be connected with the immersed tube into a whole to be transported out of a narrower dock gate in a floating mode, the position precision requirement on the movement of the integrated ship is high, and the existing ship running control method and control system are difficult to realize the self-navigation undocking of the integrated ship, so that the existing integrated ship is mainly undocked in a mode of winch moving, tug cooperation and diving operation cooperation.
By adopting the mode, the time and the labor are consumed in the undocking control process, the construction efficiency is lower, and the construction cost is higher. If the driving mechanism of the integral ship is required to drive the integral ship to automatically navigate and undock, the integral ship needs to be accurately controlled in the process of self-navigating and undocking.
Disclosure of Invention
The invention provides an intelligent sunken tube carrying and installing integrated ship undocking control method and a control system aiming at the defects of the prior art, the control system and the control method can realize intelligent and automatic control aiming at the undocking process of an integrated ship and can conveniently realize accurate control of the automatic ship undocking of the integrated ship, the control system and the control method can drive the floating sunken tube of the integrated ship to automatically navigate and undock by the integrated ship by utilizing a driving mechanism of the integrated ship, the undocking process does not need to adopt winch movement and tug coordination, the undocking process time of the integrated ship can be saved, the construction efficiency is improved, the energy consumption of the driving mechanism of the integrated ship can be accurately controlled in real time in the undocking process, the energy consumption is reduced, and the construction cost is reduced. Meanwhile, the control system can store and record real-time data information such as monitoring information and deviation correction information acquired in the undocking process, can provide a basis for establishing a large database, and performs optimization fitting on an algorithm adopted in the control method through large data analysis, so that the undocking work efficiency is further improved, the energy consumption is reduced, and the intelligent control degree of the immersed tube construction process is improved.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention discloses an intelligent sunken tube carrying and installing integrated ship undocking control method, which takes the width direction of an integrated ship as the transverse direction and the length direction of the integrated ship as the longitudinal direction, wherein the integrated ship comprises a driving mechanism and a pipe ship connecting mechanism for connecting the integrated ship and a sunken tube, the driving mechanism comprises a main push driving unit and a side push driving unit, the main push driving unit is used for driving the integrated ship to advance, and the side push driving unit is used for pushing the integrated ship in the transverse direction and in the two directions and driving the integrated ship to rotate; the control method comprises the following steps:
preparing undocking: checking the connection state of the pipe ship connection mechanism and the immersed tube, and removing the anchoring device after confirming that the connection state meets the design requirement to finish the preparation work of undocking the integrated ship;
and (3) monitoring the position deviation: starting a main push driving unit of a ship body, starting immersed tube undocking floating transportation of the ship body under the driving of the main push driving unit, comparing a real-time position of the ship body with an undocking designed route to obtain a transverse position deviation of the ship body in the undocking floating transportation process, judging whether the transverse position deviation exceeds an allowable error range, if not, continuing self-navigation undocking of the ship body, if so, controlling to reduce the power of the main push driving unit to enable the ship body to run at a reduced speed, and then performing transverse flow resistant side push power control;
anti-cross-current side-push power control: monitoring integral overboard real-time water flow information, selecting an opening mode of the side-push driving unit according to the real-time water flow information so that the side-push driving unit provides thrust opposite to the direction of transverse water flow force, calculating side-push power provided by the side-push driving unit for resisting the transverse water flow force according to the real-time water flow information, and taking the side-push power as transverse flow resisting side-push power PcStarting the side-push driving unit, and controlling the working power of the side-push driving unit in real time according to the cross-flow resisting side-push power Pc so as to resist the transverse water flow force borne by the integrated ship;
deviation rectifying and side pushing power control: after the step of controlling the transverse-flow resisting lateral pushing power is completed, calculating the changed lateral pushing power of the lateral pushing driving unit required for correcting the position deviation according to the position deviation of the real-time position of the integrated ship and the undocked designed route, taking the changed lateral pushing power as the deviation correcting lateral pushing power, and controlling the transverse-flow resisting lateral pushing power PcOn the basis, the working power of the side-pushing driving unit is controlled and adjusted in real time according to the deviation correcting side-pushing power until the real-time position of the integrated ship meets the preset requirement;
self-propelled undocking: and after the step of controlling the deviation rectifying side-pushing power is finished, the integrated ship continues to self-navigate to finish undocking.
Preferably, the side pushing driving unit comprises a plurality of side pushing devices, and the side pushing devices can provide bidirectional pushing force along the transverse direction; the cross-flow resistant side-push power control comprises: judging the direction and the magnitude of transverse water flow force according to the integral overboard real-time flow rate, selecting the opening mode of a side pushing driving unit to ensure that the sum of the pushing force of the side pushing devices is equal to the opposite magnitude of the transverse water flow force direction, and controlling and adjusting the working power of a plurality of side pushing devices in real time to provide anti-transverse flow side pushing power Pc。
Preferably, the lateral thrust power P against cross currentcComprises the following steps:
PC＝(0.5ρ(VL sinθ)2LYCS)/(ηD3N2)
in the formula: vLRho is the water density for the measured real-time flow velocity, theta is the measured angle between the real-time water flow direction and the undocked design route, and LYFor the length of the hull to be a known parameter, CSThe draught of the ship body is measured in real time, eta is a known parameter of an effective power conversion coefficient, D is a known parameter of the diameter of the side-thrust propeller, and N is a known parameter of the rotating speed of the propeller.
Preferably, the deviation rectifying and side pushing power control comprises the following steps:
s1: collecting real-time yaw angle phi information of the integrated ship, judging whether the yaw angle phi exists or not, if not, finishing the step S1, if so, selecting a side thrust driving unit opening mode according to the yaw angle phi to provide a driving force for driving the integrated ship to rotate in the direction of reducing the yaw angle phi, and calculating power delta P required by the side thrust driving unit to change for eliminating the yaw angle phi according to the yaw angle phi1According to Δ P1Controlling and adjusting the power of the side-pushing driving unit to drive the integrated ship to rotate until the yaw angle phi is zero, and then finishing yaw angle adjustment;
s2: after the step S1 is finished, taking any point on the axis of the integral ship as a reference point, comparing the real-time position of the reference point with the transverse position deviation delta Xc of the undocking designed route, judging whether the delta Xc exceeds the allowable error range, if not, ending the step S2, and if so, calculating the power delta P required to change for eliminating the transverse position deviation delta Xc according to the transverse position deviation delta Xc2According to Δ P2And controlling and adjusting the power of the side-pushing driving unit to drive the integrated ship to move transversely until the delta Xc is zero, and finishing the transverse position adjustment of the integrated ship.
Preferably, the integrated ship comprises a first hull and a second hull which are arranged in parallel, the thrust drive unit comprises four thrust devices, wherein the first thrust device and the third thrust device are respectively arranged close to the bow and the stern of the first hull, the second thrust device and the fourth thrust device are respectively arranged close to the bow and the stern of the second hull, and the first thrust device, the second thrust device, the third thrust device and the fourth thrust device can provide bidirectional thrust in the transverse direction.
Preferably, the method for selecting the opening mode of the side-thrust driving unit in S1 includes determining two side-thrust devices capable of driving the integrated ship to rotate in the direction of reducing the yaw angle according to the yaw angle information, selecting one side-thrust device of the two side-thrust devices with the thrust direction opposite to the lateral water flow direction according to the real-time water flow information, and driving the side-thrust device to rotate according to Δ P1And controlling and adjusting the working power of the rotary driving side pushing device.
Preferably, in the step S1, the power Δ P1Comprises the following steps:
where phi is the real-time yaw angle, tSYThe bow shaking period of the integrated ship is a real-time measured value, G is the weight of the ship body and is a known parameter, G is the gravity acceleration and is a known parameter, rho is the water flow density, CSThe draught of the ship body is measured in real time, eta is a known parameter of an effective power conversion coefficient, D is a known parameter of the diameter of a side-thrust propeller, N is a known parameter of the rotating speed of the propeller, and L isYThe length of the ship body is a known parameter;
in the step S2, the Δ P2Comprises the following steps:
in the formula, tHDThe ship-in-ship swaying period is a real-time measurement value, and the delta Xc is a real-time measurement value of the transverse distance between the reference point and the undocked planned route.
Preferably, the transverse resistanceThe flow-side push power control comprises: judging the direction of transverse water flow according to the direction of the integral outboard real-time flow velocity, selecting to simultaneously start the first side pushing device and the third side pushing device, or simultaneously start the second side pushing device or the fourth side pushing device, selecting to control and adjust the working power of the two side pushing devices in real time according to the fact that the thrust direction of the opened side pushing device is opposite to the direction of the transverse water flow, and averagely distributing the two side pushing devices to provide transverse flow resisting side pushing power Pc；
The step of S2 includes: according to the delta Xc, two side thrusters which can provide thrust for reducing the delta Xc are selected to be simultaneously started, the working power of the two side thrusters is controlled and adjusted in real time, and the two side thrusters are evenly distributed to provide power change delta P2。
Preferably, after the step S2 is completed and the integral ship lateral position is adjusted, the steps S1 and S2 are repeated until the yaw angle Φ is zero and Δ Xc is within an allowable error range, so that the correction lateral thrust power control is completed.
Preferably, the main propulsion unit includes a first stern main propulsion device installed at a stern of the first hull, and a second stern main propulsion device installed at a stern of the second hull.
Preferably, the self-propelled undocking process further includes a main push power control, and the main push power control step includes: and controlling and adjusting the power of the main push driving unit according to the deviation between the real-time ship speed and the design value range of the ship speed of the undocking station, so that the ship speed reaches the design value range, and the integrated ship continues to self-navigate until the undocking station is completed.
Preferably, the undocking preparation process further comprises monitoring whether the connection state of the pipe ship connection mechanism meets the design requirement by using a pipe ship connection monitoring device, if so, removing the anchoring device to complete the undocking preparation work of the integrated ship, otherwise, adjusting the connection state of the pipe ship connection mechanism and the immersed tube, and removing the anchoring device until the pipe ship connection monitoring device monitors that the connection state meets the design requirement to complete the undocking preparation work of the integrated ship.
Preferably, the pipe ship connecting mechanism comprises a plurality of guys for connecting the immersed tube and the integrated ship, the guys are provided with force-sensitive sensors for testing the tensile force of the guys, the force-sensitive sensors are arranged in one-to-one correspondence with the guys, and in the process of docking preparation, whether the tensile force of each guy reaches the design value of the pipe ship connection standard-reaching state is monitored through the force-sensitive sensors to judge whether the connection state of the pipe ship connecting mechanism meets the design requirement.
Preferably, the method further comprises a data collection step, and the data collection process comprises the following steps: and in the undocking control process, collecting monitoring data and deviation correction record data to establish a large database, and analyzing the large database to further optimize and fit the deviation correction side-pushing power control step and the control algorithm of the deviation correction side-pushing power control step.
The invention also discloses an intelligent control system for undocking the integral ship for carrying and installing the immersed tube, which adopts the control method and comprises a signal acquisition unit, a main controller, a pipe ship connecting mechanism and a driving mechanism of the integral ship, wherein the driving mechanism comprises a main push driving unit and a side push driving unit;
the signal acquisition unit is used for acquiring real-time water flow information, real-time state information of the integrated ship and connection state information of the pipe ship connection mechanism; the real-time state information of the integral ship comprises the real-time position, the real-time yaw angle and the real-time draft of the integral ship;
the main controller is used for receiving and storing the signals acquired by the signal acquisition unit, storing the undocked designed air route and known parameters, calculating the control method and controlling the driving mechanism and the pipe ship connecting mechanism to work.
Preferably, the signal acquisition unit comprises a marine DP power control system, an attitude instrument and a pipe ship connection monitoring device which are arranged on the integrated ship.
Preferably, the pipe ship connecting mechanism comprises a plurality of inhaul cables for connecting the integrated ship and the immersed tube, the pipe ship connecting and monitoring device comprises a plurality of force-sensitive sensors for testing the tensile force of the inhaul cables, and the force-sensitive sensors are arranged in one-to-one correspondence with the inhaul cables.
The invention has the beneficial effects that: the control system and the control method can realize intelligent and automatic control aiming at the undocking process of the integrated ship, can conveniently realize accurate control of the automatic-navigating and undocking of the integrated ship, can drive the floating-transportation sunken pipe of the integrated ship to automatically navigate and undock by utilizing a driving mechanism of the integrated ship, do not need to adopt winch and tug coordination in the undocking process, can save the undocking process time of the integrated ship, improve the construction efficiency, and can also accurately control the energy consumption of the driving mechanism of the integrated ship in real time in the undocking process, thereby reducing the energy consumption and lowering the construction cost. Meanwhile, the control system can store and record real-time data information such as monitoring information and deviation correction information acquired in the undocking process, can provide a basis for establishing a large database, and performs optimization fitting on an algorithm adopted in the control method through large data analysis, so that the undocking work efficiency is further improved, the energy consumption is reduced, and the intelligent control degree of the immersed tube construction process is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic flow chart of the undocking control method for intelligent immersed tube carrying and installing integrated ship of the present invention;
FIG. 2 is a schematic illustration of an undocked state of the integrated ship of the present invention;
FIG. 3 is a schematic view showing a connection state of the pipe ship according to the present invention;
FIG. 4 is a schematic diagram of the undocking control system for intelligent immersed tube carrying and installing integrated ship of the present invention;
in fig. 2, dashed line AA ' represents a hull mid-ship axis, BB ' represents an undocked planned route, CC ' represents a water flow direction, and dashed box represents a hull planned position.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
As shown in fig. 1 to 3, the present embodiment provides an intelligent method for controlling undocking of a sunken tube carrying and installing integrated ship, wherein the width direction of the integrated ship 1 is taken as the transverse direction, the length direction of the integrated ship 1 is taken as the longitudinal direction (as shown in fig. 2, the coordinate system is taken as the X-axis direction, the longitudinal direction is the Y-axis direction, the midship position on the central axis of the integrated ship 1 is 0 point, the transverse direction from the first ship body 11 to the second ship body 12 is taken as the X-axis forward direction, and the direction from the stern to the bow on the central axis of the integrated ship 1 is taken as the Y-axis forward direction), the integrated ship 1 comprises a driving mechanism and a ship connecting mechanism 6 for connecting the integrated ship 1 and a sunken tube 8, the driving mechanism comprises a main push driving unit 2 and a side push driving unit 3, the main push driving unit 2 is used for driving the integrated ship 1 to advance, the side push driving unit 3 is used for pushing the integrated ship 1 in the transverse direction, and driving the integrated ship 1 to rotate; the control method comprises the following steps:
preparing undocking: checking the connection state of the pipe ship connection mechanism 6 and the immersed pipe 8, and after confirming that the connection state meets the design requirements, removing the anchoring device to complete the preparation work of undocking the integrated ship 1;
and (3) monitoring the position deviation: starting a main push driving unit 2 of an integrated ship 1, starting undocking and floating transportation of a immersed tube 8 by the integrated ship under the driving of the main push driving unit 2, comparing a real-time position of the integrated ship 1 with an undocked design route to obtain a transverse position deviation of the integrated ship 1 in the undocking and floating transportation process, judging whether the transverse position deviation exceeds an allowable error range, if not, continuing to automatically navigate and undock the integrated ship 1, if so, controlling to reduce the power of the main push driving unit 2 to enable the integrated ship 1 to decelerate and then controlling the transverse flow resisting side push power;
anti-cross-current side-push power control: monitoring real-time water flow information outside the integrated ship 1, selecting an opening mode of the side pushing driving unit 3 according to the real-time water flow information so that the side pushing driving unit 3 provides thrust opposite to the direction of the transverse water flow force, calculating side pushing power provided by the side pushing driving unit 3 for resisting the transverse water flow force according to the real-time water flow information, and taking the side pushing power as transverse flow resisting side pushing power PcStarting the side-push driving unit 3, and controlling the working power of the side-push driving unit 3 in real time according to the cross-flow resistant side-push power Pc so as to resist the transverse water flow force borne by the integrated ship 1;
deviation rectifying and side pushing power control: after the step of controlling the transverse-flow resisting side-pushing power is finished, calculating the changed side-pushing power of the side-pushing driving unit 3 required for correcting the position deviation according to the position deviation of the real-time position of the integrated ship 1 and the undocked designed route, taking the changed side-pushing power as the deviation correcting side-pushing power, and controlling the transverse-flow resisting side-pushing power PcOn the basis, the working power of the side-pushing driving unit is controlled and adjusted in real time according to the deviation correcting side-pushing power until the real-time position of the integrated ship 1 meets the preset requirement;
self-propelled undocking: after the step of controlling the deviation rectifying and side pushing power is finished, the integrated ship 1 continues to self-navigate until the undocking is finished.
As shown in fig. 4, the present embodiment provides an intelligent control system for undocking a sunken tube carrying and installing integrated ship, which adopts the above control method, and the control system includes a signal acquisition unit 5, a main controller 4, a pipe ship connecting mechanism 6 and a driving mechanism of the integrated ship, the driving mechanism includes a main push driving unit 2 and a side push driving unit 3;
the signal acquisition unit 5 is used for acquiring real-time water flow information, real-time state information of the integrated ship 1 and connection state information of the pipe ship connection mechanism 6; the real-time state information of the integral ship 1 comprises the real-time position, the real-time yaw angle and the real-time draft of the integral ship 1;
the main controller 4 is used for receiving and storing the signals acquired by the signal acquisition unit 5, storing the undocked designed route and known parameters, calculating the control method, and controlling the driving mechanism and the pipe ship connecting mechanism 6 to work.
The integral ship 1 needs to determine that the connection state of the pipe ship connection mechanism 6 and the immersed tube 8 meets the design requirement before undocking, the control system and the control method can adopt the signal acquisition unit 5 to directly detect the connection state of the pipe ship connection mechanism 6, intelligent detection control can be realized, and manual detection operation is not needed. In the undocking process, the transverse water flow force is an important factor influencing the undocking process of the integrated ship, the integrated ship 1 is provided with the side pushing driving unit 3, the side pushing force resisting the transverse water flow force can be provided through the side pushing driving unit 3, and the transverse flow resisting side pushing power P provided by the side pushing driving unit 3 can be regulated and controlled according to the real-time water flow information in the transverse flow resisting side pushing power control process in the control system and the control methodcAnd the effect of transverse water flow force on the undocking process of the integrated ship is resisted, and meanwhile, the transverse flow resisting side-push power P is realizedcReal-time accurate control. And for the position deviation time of the integrated ship 1, the control system can calculate the changed side thrust power of the side thrust driving unit 3 required for correcting the position deviation according to the position deviation of the real-time position of the integrated ship 1 and the undocked designed air line through the deviation correcting side thrust power control process, so as to realize the real-time accurate regulation and control of the side thrust power (the side thrust power is the power variation required by the side thrust driving unit 3 to realize the position deviation adjustment) for correcting the position deviation. The control system and the control method can realize intelligent and automatic control aiming at the undocking process of the integrated ship 1, can conveniently realize accurate control of the automatic-navigation undocking of the integrated ship, can drive the floating immersed tube 8 of the integrated ship 1 to automatically navigate and undock by utilizing the driving mechanism of the integrated ship 1, can save the undocking process time of the integrated ship 1 without adopting winch and tug coordination in the undocking process, can improve the construction efficiency, and can meet the requirement of transverse flow for undockingThe accelerating and decelerating operation of the floating transportation of the lower ship pipe for undocking can also accurately control the energy consumption of the driving mechanism of the integrated ship 1 in real time in the undocking process, so that the energy consumption is reduced, and the construction cost is reduced. In addition, the main controller 4 of the control system can store and record real-time data information such as monitoring information and deviation correction information of the signal acquisition unit 5, can provide basis for building a large database, and performs optimization fitting on an algorithm adopted in the control method through large data analysis, so that the undocking work efficiency is further improved, the energy consumption is reduced, and the intelligent control degree of the immersed tube construction process is improved.
Specifically, the side pushing driving unit 3 comprises a plurality of side pushing devices, and the side pushing devices can provide bidirectional pushing force along the transverse direction; the cross-flow resistant side-push power control comprises: judging the direction and the magnitude of transverse water flow force according to the integral overboard real-time flow rate, selecting the opening mode of a side pushing driving unit to ensure that the sum of the pushing force of the side pushing devices is equal to the opposite magnitude of the transverse water flow force direction, and controlling and adjusting the working power of a plurality of side pushing devices in real time to provide anti-transverse flow side pushing power Pc。
Specifically, the anti-cross-current side-push power PcComprises the following steps:
PC＝(0.5ρ(VLsinθ)2LYCS)/(ηD3N2)
in the formula: vLRho is the water density for the measured real-time flow velocity, theta is the measured angle between the real-time water flow direction and the undocked design route, and LYFor the length of the hull to be a known parameter, CSThe draught of the ship body is measured in real time, eta is a known parameter of an effective power conversion coefficient, D is a known parameter of the diameter of the side-thrust propeller, and N is a known parameter of the rotating speed of the propeller.
Transverse water flow force F borne by integral shipHL＝0.5ρCHL(VLsinθ)2SH＝0.5ρ(VLsinθ)2LYCS；
Side thrust T of side thrust drive unit 3CT＝ηD3N2PC；
Side-push driving unit3 power P for resisting lateral flow and side pushcAccording to the above-mentioned formula PcThe calculation formula is controlled in real time, so that the side thrust T can be realizedCTWith transverse water flow force FHLEqual in size and opposite in direction to precisely resist lateral water flow forces.
Specifically, the deviation rectifying and side pushing power control comprises the steps of comparing the real-time position of the integrated ship with a designed undocking air route to obtain the transverse position deviation of the integrated ship, judging whether the transverse position deviation exceeds an allowable error range, if not, continuing self-navigation of the integrated ship to completion of undocking, if so, controlling to reduce the power of the main pushing driving unit to enable the ship body to decelerate, and starting position deviation rectifying adjustment after starting a corresponding side pushing device to resist transverse flow.
Specifically, the deviation rectifying and side pushing power control comprises: three positions of a bow, a midship (point 0 in figure 2) and a stern on an axis of the integrated ship 1 are monitored in real time to serve as position test sites, the three position test sites and the position of a designed undocked ship line are respectively used for obtaining three real-time transverse position deviation values, whether the real-time transverse position deviation values in the three real-time transverse position deviation values exceed an allowable error range is judged, if not, the integrated ship continues self-sailing to finish undocking, if yes, the power of the main push driving unit 3 is controlled to be reduced, the ship body is decelerated, and position deviation rectification adjustment is started.
Specifically, the allowable error range of the real-time lateral position deviation value is less than 10 cm. Namely, the main controller 4 measures the lateral position deviation value of any point and a designed airline in three points of a bow, a midship and a stern on the axis of the integrated ship 1 to be more than or equal to 10cm, and the control system controls the integrated ship to reduce the power of the main push driving unit by 60% and opens the corresponding lateral push devices on the same side to resist the lateral flow.
Specifically, as shown in fig. 1, the deviation rectifying and side pushing power control includes the following steps:
s1: collecting real-time yaw angle phi information of the integrated ship 1, wherein the yaw angle phi is an included angle between a central axis of the integrated ship 1 and a undocked design route, judging whether the yaw angle phi exists or not, if not, finishing the step S1, and if so, selecting an opening mode of the side thrust driving unit 3 according to the yaw angle phi to push the integrated ship 1 to reduce the yaw angle phiThe driving force of phi-direction rotation, and the power delta P of the lateral thrust driving unit 3 required for eliminating the yaw angle phi is calculated according to the yaw angle phi1According to Δ P1Controlling and adjusting the power of the side-pushing driving unit to drive the integrated ship 1 to rotate until the yaw angle phi is zero, namely finishing yaw angle adjustment, wherein the central axis of the integrated ship 1 (the central axis of the integrated ship is the central line in the length direction of the integrated ship) is parallel to the undocking designed route;
s2: after the step S1 is completed, any point on the axial line of the integrated ship 1 is used as a reference point (for example, O point is used as a reference point), the real-time position of the reference point is compared with the lateral position deviation Δ Xc of the undocked design route, whether the Δ Xc exceeds the allowable error range is judged, if not, the step S2 is ended, and if yes, the power Δ P required to change for eliminating the lateral position deviation Δ Xc is calculated according to the lateral position deviation Δ Xc2According to Δ P2And controlling and adjusting the power of the side-pushing driving unit 3 to drive the integrated ship 1 to transversely move until the delta Xc is zero, namely finishing the transverse position adjustment of the integrated ship 1, wherein the central axis of the integrated ship 1 is positioned on the undocking design route, and the integrated ship 1 is positioned at the design position. And may continue to self-dock along its designed route.
By adopting the control method, the integrated ship 1 is firstly adjusted to the state of the yaw angle phi in the step S1, then is adjusted to be in the deviation adjustment with the transverse position of the undocked design route in the step S2, can be partially and accurately adjusted in the position of the integrated ship in the steps S1 and S2, and simultaneously realizes the real-time accurate control of the side thrust power of the side thrust driving unit 3 in the adjustment process, thereby effectively controlling and saving the energy consumption in the position deviation correction process.
Specifically, as shown in fig. 2, the integral ship 1 includes a first ship body 11 and a second ship body 12 which are arranged in parallel, and the side-push driving unit 3 includes four side-push devices, wherein a first side-push device 31 and a third side-push device 33 are respectively arranged near a bow and a stern of the first ship body 11, a second side-push device 32 and a fourth side-push device 34 are respectively arranged near a bow and a stern of the second ship body 12, and the first side-push device 31, the second side-push device 32, the third side-push device 33 and the fourth side-push device 34 can provide bidirectional thrust in a transverse direction.
Specifically, the first side pushing device 31 and the second side pushing device 32 are symmetrically arranged relative to the central axis AA' of the integral ship; the third side thrust means 33 and the fourth side thrust means 34 are arranged symmetrically with respect to the central axis AA' of the integral vessel.
Specifically, the first side pushing device 31 and the third side pushing device 33 may be symmetrically disposed with respect to a transverse center line of the integrated ship, and the second side pushing device 32 and the fourth side pushing device 34 may be symmetrically disposed with respect to the transverse center line of the integrated ship 1.
Specifically, in the position deviation rectifying and adjusting step, the first side pushing device 31 and the third side pushing device 33 may be configured to provide a lateral thrust directed from the first hull to the second hull, and the thrust directions of the second side pushing device 32 and the fourth side pushing device 34 may be opposite to the direction of the first side pushing device 31.
Specifically, when the side push driving unit 3 is configured as described above, the method for selecting the side push driving unit opening mode in S1 includes: determining two side thrusters capable of driving the integral ship to rotate in the direction of reducing the yaw angle according to the information of the yaw angle phi (for example, in the yaw angle state shown in fig. 2, the two side thrusters are a first side thruster 31 and a fourth side thruster 34), selecting one side thruster with the thrust direction opposite to the transverse water flow direction from the two side thrusters according to the real-time water flow information, and using the selected side thruster as a rotation driving side thruster for driving the integral ship to rotate (as shown in fig. 2, the thrust direction of the fourth side thruster 34 is overlapped with the transverse water flow direction, so the first side thruster 31 is selected as the rotation driving side thruster), and according to the delta P1And controlling and adjusting the working power of the rotary driving side pushing device.
Specifically, in the step S1, the power Δ P1Comprises the following steps:
where phi is the real-time yaw angle, tSYThe bow period of the integrated ship is realTime-measuring value, G is the known parameter of the weight of the ship body, G is the known parameter of the gravity acceleration, rho is the water flow density, CSThe draught of the ship body is measured in real time, eta is a known parameter of an effective power conversion coefficient, D is a known parameter of the diameter of a side-thrust propeller, N is a known parameter of the rotating speed of the propeller, and L isYThe hull length is a known parameter.
In step S2, the condition of the optimal thrust Δ T provided by the lateral thrust drive unit 3 during Φ adjustment is:
MΔT-MF＝0，
in the formula MFBending moment generated by water flow force action, namely:
KSYthe bow stiffness coefficient of the ship body can be determined by a formula KSY＝(2π/tSY)2[(G/g)+0.5ρπ(CS)2]Calculating; therefore, the above-mentioned Δ P is adopted1The power change of the side thrust driving unit 3 is controlled in real time according to the result calculated by the calculation formula, the optimal thrust can be provided to drive the integrated ship 1 to rotate to eliminate the yaw angle phi, the energy consumption in the S1 process is effectively controlled, and the energy consumption in the undocking process is saved.
Specifically, in step S2, the Δ P2Comprises the following steps:
in the formula, tHDThe ship-in-ship swaying period is a real-time measurement value, and the delta Xc is a real-time measurement value of the transverse distance between the reference point and the undocked planned route.
In step S2, the optimum thrust Δ T provided by the side-thrust drive unit 3 during the lateral position deviation adjustment processCTThe conditions are as follows:
ΔTCT＝ηD3N2(ΔP2)＝KHD(ΔXC)
in the formula (I), the compound is shown in the specification,KHDfor the fluid yaw stiffness coefficient, it can be calculated by formula KHD＝(2π/tHD)2[(G/g)+ρπ(CS)2]Calculating; therefore, the above-mentioned Δ P is adopted2The power change of the side pushing driving unit 3 is controlled in real time according to the result calculated by the calculation formula, the optimal pushing force can be provided to drive the integrated ship 1 to move along the transverse direction to eliminate the transverse position deviation, the energy consumption in the S2 process is effectively controlled, and the energy consumption in the undocking process is saved.
Specifically, the cross-flow resistant side-push power control includes: judging the transverse water flow direction according to the real-time flow velocity direction outside the integrated ship 1, selecting to simultaneously start the first side pushing device 31 and the third side pushing device 33, or simultaneously start the second side pushing device 32 or the fourth side pushing device 34, selecting to start the first side pushing device 31 and the third side pushing device 33 to resist transverse flow according to the thrust direction of the opened side pushing devices and the transverse water flow direction (for example, if the water flow direction is shown in fig. 2, the first side pushing device 31 and the third side pushing device 33 are selected to resist transverse flow), controlling and adjusting the working power of the two side pushing devices in real time, and averagely distributing and providing the transverse flow resisting side pushing power P by the two side pushing devicesc。
Specifically, in the step S2: according to the delta Xc, two side pushing devices which can provide the pushing force for reducing the delta Xc are selected to be simultaneously started (for example, when the transverse position deviation state shown in the figure 2 is adopted, the first side pushing device 31 and the third side pushing device 33 are selected to be started for transverse position adjustment), the working power of the two side pushing devices is controlled and adjusted in real time, and the two side pushing devices are evenly distributed to provide the power change delta P2。
Specifically, after the step S2 is completed and the transverse position of the integral ship is adjusted, the steps S1 and S2 are repeated until the yaw angle Φ is zero and Δ Xc is within the allowable error range, so that the correction lateral thrust power control is completed. After the step S2 is completed, the yaw angle Φ is monitored again, so that the position of the integrated ship 1 can be controlled more accurately.
Specifically, the main propulsion unit 2 includes a first stern main propulsion device 21 provided on the stern of the first hull 11, and a second stern main propulsion device 22 provided on the stern of the second hull 12.
Specifically, the self-propelled undocking process further includes main push power control, and the main push power control step includes: and controlling and adjusting the power of the main push driving unit 2 according to the deviation between the real-time ship speed and the design value range of the ship speed of the undocking station, so that the ship speed reaches the design value range, and the integrated ship 1 continues to self-navigate until the undocking station is completed.
Specifically, the signal acquisition unit 5 includes a marine DP power control system 51, an attitude indicator 52, and a pipe-ship connection monitoring device 53 mounted on the integrated ship 1. The DP power control system 51 is used for acquiring real-time overboard real-time water flow information, real-time position information of the integrated ship, ship draught, real-time ship speed and the like in real time, the attitude instrument 52 is used for acquiring the roll period and bow roll period of the integrated ship in real time, and the pipe ship connection monitoring device 53 is used for monitoring the connection state of the immersed pipe 8 and the pipe ship connection mechanism 6. Besides the structure, the signal acquisition unit 5 can also adopt other monitoring and signal acquisition devices to realize signal acquisition, for example, a GPS can be adopted to acquire real-time position information of an integrated ship.
Specifically, the undocking preparation process further comprises the steps of monitoring whether the connection state of the pipe ship connection mechanism 6 meets the design requirements by using a pipe ship connection monitoring device 53, if so, removing the anchoring device to complete the undocking preparation work of the integrated ship 1, otherwise, controlling and adjusting the connection state of the pipe ship connection mechanism 6 and the immersed tube 8 by using the main controller 4, and removing the anchoring device until the pipe ship connection monitoring device 6 monitors that the connection state meets the design requirements to complete the undocking preparation work of the integrated ship 1.
Specifically, the pipe ship connecting mechanism 6 comprises a plurality of inhaul cables 61 for connecting the integrated ship 1 and the immersed tube 8, the pipe ship connection monitoring device 53 comprises a plurality of force sensitive sensors for testing the tension of the inhaul cables 61, and the force sensitive sensors are arranged in one-to-one correspondence with the inhaul cables 61. In the undocking preparation process, whether the connection state of the pipe ship connection mechanism 6 meets the design requirement can be judged by monitoring whether the tension of each guy cable 61 reaches the design value of the pipe ship connection standard state through the force-sensitive sensor.
Specifically, the control method further includes a data collection step, and the data collection process includes: and in the undocking control process, collecting monitoring data and deviation correction record data to establish a large database, and analyzing the large database to further optimize and fit the deviation correction side-pushing power control step and the control algorithm of the deviation correction side-pushing power control step.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization of those skilled in the art; where combinations of features are mutually inconsistent or impractical, such combinations should not be considered as being absent and not within the scope of the claimed invention.
Claims (16)
1. An intelligent undocking control method for carrying and installing an integrated ship through immersed tubes is characterized in that the width direction of the integrated ship is taken as the transverse direction, the length direction of the integrated ship is taken as the longitudinal direction, the integrated ship comprises a driving mechanism and a pipe ship connecting mechanism used for connecting the integrated ship and the immersed tubes, the driving mechanism comprises a main push driving unit and a side push driving unit, the main push driving unit is used for driving the integrated ship to advance, and the side push driving unit is used for pushing the integrated ship in the transverse direction and in the two directions and driving the integrated ship to rotate; the control method comprises the following steps:
preparing undocking: checking the connection state of the pipe ship connection mechanism and the immersed tube, and removing the anchoring device after confirming that the connection state meets the design requirement to finish the preparation work of undocking the integrated ship;
and (3) monitoring the position deviation: starting a main push driving unit of a ship body, starting immersed tube undocking floating transportation of the ship body under the driving of the main push driving unit, comparing a real-time position of the ship body with an undocking designed route to obtain a transverse position deviation of the ship body in the undocking floating transportation process, judging whether the transverse position deviation exceeds an allowable error range, if not, continuing self-navigation undocking of the ship body, if so, controlling to reduce the power of the main push driving unit to enable the ship body to run at a reduced speed, and then performing transverse flow resistant side push power control;
anti-cross-current side-push power control: monitoring integral overboard real-time water flow information, selecting an opening mode of the side-push driving unit according to the real-time water flow information so that the side-push driving unit provides thrust opposite to the direction of transverse water flow force, calculating side-push power provided by the side-push driving unit for resisting the transverse water flow force according to the real-time water flow information, and taking the side-push power as transverse flow resisting side-push power PcStarting the side-push driving unit, and controlling the working power of the side-push driving unit in real time according to the cross-flow resisting side-push power Pc so as to resist the transverse water flow force borne by the integrated ship;
deviation rectifying and side pushing power control: after the step of controlling the transverse-flow resisting lateral pushing power is completed, calculating the changed lateral pushing power of the lateral pushing driving unit required for correcting the position deviation according to the position deviation of the real-time position of the integrated ship and the undocked designed route, taking the changed lateral pushing power as the deviation correcting lateral pushing power, and controlling the transverse-flow resisting lateral pushing power PcOn the basis, the working power of the side-pushing driving unit is controlled and adjusted in real time according to the deviation correcting side-pushing power until the real-time position of the integrated ship meets the preset requirement;
self-propelled undocking: and after the step of controlling the deviation rectifying side-pushing power is finished, the integrated ship continues to self-navigate to finish undocking.
2. The intelligent caisson carrying and installing integrated ship undocking control method of claim 1, wherein the side-pushing driving unit comprises a plurality of side-pushing devices, and the side-pushing devices can provide bidirectional pushing force along the transverse direction; the cross-flow resistant side-push power control comprises: judging the direction and the magnitude of transverse water flow force according to the integral overboard real-time flow rate, selecting the opening mode of a side pushing driving unit to ensure that the sum of the pushing force of the side pushing devices is equal to the opposite magnitude of the transverse water flow force direction, and controlling and adjusting the working power of a plurality of side pushing devices in real time to provide anti-transverse flow side pushing power Pc。
3. The method as claimed in claim 2, wherein the anti-cross-flow lateral thrust power P is a power PcComprises the following steps:
PC＝(0.5ρ(VLsinθ)2LYCS)/(ηD3N2)
in the formula: vLRho is the water density for the measured real-time flow velocity, theta is the measured angle between the real-time water flow direction and the undocked design route, and LYFor the length of the hull to be a known parameter, CSThe draught of the ship body is measured in real time, eta is a known parameter of an effective power conversion coefficient, D is a known parameter of the diameter of the side-thrust propeller, and N is a known parameter of the rotating speed of the propeller.
4. The method as claimed in claim 1, wherein the step of controlling the power of the deviation rectifying and side pushing comprises the steps of:
s1: collecting real-time yaw angle phi information of the integrated ship, judging whether the yaw angle phi exists or not, if not, finishing the step S1, if so, selecting a side thrust driving unit opening mode according to the yaw angle phi to provide a driving force for driving the integrated ship to rotate in the direction of reducing the yaw angle phi, and calculating power delta P required by the side thrust driving unit to change for eliminating the yaw angle phi according to the yaw angle phi1According to Δ P1Controlling and adjusting the power of the side-pushing driving unit to drive the integrated ship to rotate until the yaw angle phi is zero, and then finishing yaw angle adjustment;
s2: after the step S1 is finished, taking any point on the axis of the integral ship as a reference point, comparing the real-time position of the reference point with the transverse position deviation delta Xc of the undocking designed route, judging whether the delta Xc exceeds the allowable error range, if not, ending the step S2, and if so, calculating the power delta P required to change for eliminating the transverse position deviation delta Xc according to the transverse position deviation delta Xc2According to Δ P2And controlling and adjusting the power of the side-pushing driving unit to drive the integrated ship to move transversely until the delta Xc is zero, and finishing the transverse position adjustment of the integrated ship.
5. The intelligent caisson carrying and installing one-body ship undocking control method of claim 4, wherein the one-body ship comprises a first ship body and a second ship body which are arranged in parallel, the side-push driving unit comprises four side-push devices, wherein the first side-push device and the third side-push device are respectively arranged near the bow and the stern of the first ship body, the second side-push device and the fourth side-push device are respectively arranged near the bow and the stern of the second ship body, and the first side-push device, the second side-push device, the third side-push device and the fourth side-push device can provide bidirectional pushing force along the transverse direction.
6. The method as claimed in claim 5, wherein the step of S1 selecting the opening mode of the side-pushing driving unit comprises determining two side-pushing units capable of driving the ship to rotate in a direction of reducing the yaw angle according to the yaw angle information, selecting one of the two side-pushing units with a thrust direction opposite to the direction of the transverse water flow according to the real-time water flow information, and using the selected side-pushing unit as the rotation driving side-pushing unit for driving the ship to rotate according to the Δ P1And controlling and adjusting the working power of the rotary driving side pushing device.
7. The method as claimed in claim 6, wherein the power Δ P in step S1 is determined by the method of controlling undocking of the ship with the immersed tube1Comprises the following steps:
where phi is the real-time yaw angle, tSYThe bow shaking period of the integrated ship is a real-time measured value, G is the weight of the ship body and is a known parameter, G is the gravity acceleration and is a known parameter, rho is the water flow density, CSThe draught of the ship body is measured in real time, eta is a known parameter of an effective power conversion coefficient, D is a known parameter of the diameter of a side-thrust propeller, N is a known parameter of the rotating speed of the propeller, and L isYThe length of the ship body is a known parameter;
in the step S2, the Δ P2Comprises the following steps:
in the formula, tHDThe ship-in-ship swaying period is a real-time measurement value, and the delta Xc is a real-time measurement value of the transverse distance between the reference point and the undocked planned route.
8. The method as claimed in claim 5, wherein the power control of the anti-cross flow lateral thrust comprises: judging the direction of transverse water flow according to the direction of the integral outboard real-time flow velocity, selecting to simultaneously start the first side pushing device and the third side pushing device, or simultaneously start the second side pushing device or the fourth side pushing device, selecting to control and adjust the working power of the two side pushing devices in real time according to the fact that the thrust direction of the opened side pushing device is opposite to the direction of the transverse water flow, and averagely distributing the two side pushing devices to provide transverse flow resisting side pushing power Pc；
The step of S2 includes: according to the delta Xc, two side thrusters which can provide thrust for reducing the delta Xc are selected to be simultaneously started, the working power of the two side thrusters is controlled and adjusted in real time, and the two side thrusters are evenly distributed to provide power change delta P2。
9. The method as claimed in claim 4, wherein the step S2 is performed to adjust the lateral position of the integral ship, and the steps S1 and S2 are repeated until the yaw angle Φ is zero and Δ Xc is within an allowable error range, thereby completing the control of the deviation-rectifying and side-thrusting power.
10. The intelligent caisson carrying and installing integrated ship undocking control method of claim 1, wherein the main push driving unit comprises a first stern main push device installed at the stern of the first ship body and a second stern main push device installed at the stern of the second ship body; the self-propelled undocking process further comprises main push power control, wherein the main push power control step comprises the following steps: and controlling and adjusting the power of the main push driving unit according to the deviation between the real-time ship speed and the design value range of the ship speed of the undocking station, so that the ship speed reaches the design value range, and the integrated ship continues to self-navigate until the undocking station is completed.
11. The intelligent control method for undocking of immersed tube carrying and installing integral ship according to claim 1, wherein the undocking preparation process further comprises monitoring whether the connection state of the pipe ship connection mechanism meets the design requirement by using a pipe ship connection monitoring device, if so, removing the anchoring device to complete the undocking preparation work of the integral ship, and if not, adjusting the connection state of the pipe ship connection mechanism and the immersed tube until the pipe ship connection monitoring device monitors that the connection state meets the design requirement, removing the anchoring device to complete the undocking preparation work of the integral ship.
12. The method as claimed in claim 11, wherein the vessel-in-vessel connection mechanism comprises a plurality of guys connecting the immersed tube and the vessel, the guys are provided with force sensors for testing the tension of the guys, the force sensors are disposed in one-to-one correspondence with the guys, and during the preparation process of undocking, the force sensors are used to monitor whether the tension of each guy reaches the design value of the vessel-in-vessel connection standard state, so as to determine whether the connection state of the vessel-in-vessel connection mechanism meets the design requirement.
13. The intelligent caisson carrying and installing integrated ship undocking control method of claim 1, further comprising data collection step, wherein said data collection process comprises: and in the undocking control process, collecting monitoring data and deviation correction record data to establish a large database, and analyzing the large database to further optimize and fit the deviation correction side-pushing power control step and the control algorithm of the deviation correction side-pushing power control step.
14. An intelligent control system for undocking of immersed tube carrying and installing integrated ship, characterized in that the control method according to any one of claims 1 to 13 is adopted, the control system comprises a signal acquisition unit, a main controller, a driving mechanism of the immersed tube ship connecting mechanism and the integrated ship, and the driving mechanism comprises a main push driving unit and a side push driving unit;
the signal acquisition unit is used for acquiring real-time water flow information, real-time state information of the integrated ship and connection state information of the pipe ship connection mechanism; the real-time state information of the integral ship comprises the real-time position, the real-time yaw angle and the real-time draft of the integral ship;
the main controller is used for receiving and storing the signals acquired by the signal acquisition unit, storing the undocked designed air route and known parameters, calculating the control method and controlling the driving mechanism and the pipe ship connecting mechanism to work.
15. The intelligent immersed tube carrying and installing integrated ship undocking control system as claimed in claim 14, wherein the signal acquisition unit comprises a marine DP power control system, an attitude instrument and a tube ship connection monitoring device installed on the integrated ship.
16. The intelligent caisson carrying and installing integrated ship undocking control system of claim 14, wherein said pipe-boat connecting mechanism comprises a plurality of guys connecting an integrated ship and the caisson, and said pipe-boat connection monitoring device comprises a plurality of force-sensitive sensors for measuring the tension of said guys, said force-sensitive sensors being disposed in one-to-one correspondence with said guys.
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| CN113879487B (en) * | 2021-10-12 | 2023-02-24 | 中交第四航务工程局有限公司 | Non-self-floating immersed tube discharging method |
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