CN113093762B - Intelligent immersed tube carrying and installing integrated ship docking control method and control system - Google Patents
Intelligent immersed tube carrying and installing integrated ship docking control method and control system Download PDFInfo
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- CN113093762B CN113093762B CN202110390480.7A CN202110390480A CN113093762B CN 113093762 B CN113093762 B CN 113093762B CN 202110390480 A CN202110390480 A CN 202110390480A CN 113093762 B CN113093762 B CN 113093762B
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- 238000000034 method Methods 0.000 title claims abstract description 100
- 238000003032 molecular docking Methods 0.000 title claims description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 71
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 238000013461 design Methods 0.000 claims abstract description 53
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- 238000002360 preparation method Methods 0.000 claims abstract description 19
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- 230000001276 controlling effect Effects 0.000 claims description 36
- 238000012544 monitoring process Methods 0.000 claims description 19
- 238000005259 measurement Methods 0.000 claims description 18
- 238000012806 monitoring device Methods 0.000 claims description 13
- 238000007667 floating Methods 0.000 claims description 11
- 230000002457 bidirectional effect Effects 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 6
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- 238000005265 energy consumption Methods 0.000 abstract description 15
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention discloses an intelligent immersed tube carrying and installing integrated ship undocking control method and a control system, wherein the control method comprises the following steps: after confirming that the connection state of the pipe and the ship meets the design requirement, dismantling the anchor device to finish the undocking preparation of the integrated ship; comparing the real-time position of the integrated ship with the transverse position deviation of the undocking design route, if so, controlling to reduce the power of the main pushing driving unit, starting the side pushing driving unit, and calculating the anti-transverse flow side pushing power P required by the side pushing driving unit for resisting the transverse water flow force c According to P c The working power of the side pushing driving unit is controlled in real time; and calculating the correction side pushing power of the change required for correcting the position deviation, and controlling and adjusting the working power of the side pushing driving unit in real time according to the correction side pushing power, wherein the integrated ship continues to self-navigate to finish undocking after position correction is finished. The control system and the control method can realize intelligent and automatic control for 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 intelligent immersed tube carrying and installing integrated ship undocking control method and system.
Background
The immersed tube tunnel is a building for underwater traffic, and is usually constructed and installed by carrying out segmented prefabrication and forming on the immersed tube tunnel, and then carrying out water transportation on the prefabricated immersed tube to a designated position. 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 installing integrated ship and a construction process, and the integrated ship can realize the water installation of the immersed tube. Before the integrated ship transports the immersed tube, the integrated ship and the immersed tube can be outfitted by entering the designated position in the dock where the immersed tube is placed according to the designated route. The integrated ship is provided with the driving device to realize self-propulsion running, but the integrated ship has special working conditions in the floating and docking process, the integrated ship needs to be connected with the immersed tube into a whole to float and dock the gate with narrower position accuracy requirement on the motion of the integrated ship, and the existing ship running control method and control system are difficult to realize self-propulsion and docking of the integrated ship, so that the existing integrated ship is mainly realized by adopting a mode of winch movement, tug cooperation and diving operation cooperation.
By adopting the mode, the undocking control process is time-consuming and labor-consuming, the construction efficiency is lower, and the construction cost is higher. If the self-propelled docking of the integrated ship is required to be driven by adopting the self-carried driving mechanism of the integrated ship, the accurate control of the self-propelled docking process of the integrated ship is required to be realized.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the intelligent immersed tube carrying and installing integrated ship undocking control method and the control system, the control system and the control method can realize intelligent and automatic control on the integrated ship undocking process, the accurate control on the integrated ship self-voyage undocking can be conveniently realized, the control system and the control method can drive the integrated ship floating immersed tube to self-voyage by utilizing the driving mechanism of the integrated ship, the undocking process does not need to adopt coordination of winch movement and tug, the integrated ship undocking process time can be saved, the construction efficiency is provided, 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 correcting information acquired in the undocking process, 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 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 above purpose, the invention adopts the following technical scheme:
the invention discloses an intelligent immersed tube carrying and installing integrated ship undocking control method, which takes the width direction of the 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 an immersed tube, the driving mechanism comprises a main pushing driving unit and a side pushing driving unit, the main pushing driving unit is used for driving the integrated ship to advance, and the side pushing driving unit is used for pushing the integrated ship along the transverse direction in a bidirectional manner and driving the integrated ship to rotate; the control method comprises the following steps:
undocking preparation: checking the connection state of the pipe-ship connection mechanism and the immersed pipe, and dismantling the anchor device after confirming that the connection state meets the design requirement to finish the undocking preparation work of the integrated ship;
position deviation monitoring: starting a main pushing driving unit of the integrated ship, starting the immersed tube for undocking and floating under the driving of the main pushing driving unit, comparing the real-time position of the integrated ship with an undocking design route in the undocking and floating process 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-sailing of the integrated ship, if so, controlling to reduce the power of the main pushing driving unit to enable the integrated ship to run at a reduced speed, and then controlling the transverse flow resisting side pushing power;
Lateral flow resistance side thrust power control: monitoring integrated overboard real timeThe water flow information and the opening mode of the lateral pushing driving unit are selected according to the real-time water flow information, so that the lateral pushing driving unit provides pushing force opposite to the direction of the transverse water flow force, and lateral pushing power provided by the lateral pushing driving unit required to resist the transverse water flow force is calculated according to the real-time water flow information and used as lateral pushing power P resisting the transverse water flow c Starting the side pushing driving unit, and controlling the working power of the side pushing driving unit in real time according to the lateral flow resisting side pushing power Pc so as to resist the lateral water flow force borne by the integrated ship;
and (3) correcting deviation and side pushing power control: after the step of controlling the lateral thrust power against the cross flow is completed, calculating the lateral thrust power of the change of the lateral thrust driving unit required for correcting the position deviation according to the position deviation of the real-time position and the undocking design route of the integrated ship, and taking the lateral thrust power as the deviation correcting lateral thrust power to obtain the lateral thrust power P against the cross flow c On the basis of the above, the working power of the side pushing driving unit is controlled and regulated 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: after the correction side pushing power control step is completed, the integrated ship continues to self-navigate until undocking is completed.
Preferably, the side pushing driving unit includes a plurality of side pushing devices, and the side pushing devices can provide bidirectional pushing force along the transverse direction; the lateral flow resisting side thrust power control includes: judging the direction and the magnitude of the transverse water flow force according to the real-time flow velocity outside the integrated ship, selecting the opening mode of the side pushing driving unit, enabling the sum of the pushing forces of the side pushing devices to be equal to the opposite magnitude of the transverse water flow force direction, and controlling and adjusting the working powers of a plurality of side pushing devices in real time so as to provide the transverse flow resisting side pushing power P c 。
Preferably, the lateral thrust power P is higher than the lateral thrust power P c The method comprises the following steps:
P C ＝(0.5ρ(V L sinθ) 2 L Y C S )/(ηD 3 N 2 )
wherein: v (V) L For the measured real-time flow velocity, ρ is the water flow density, θ is the angle between the measured real-time water flow direction and the undocking design route, L Y For the length of the hull to be a known parameter, C S For the real-time measurement of the draft of the ship body, eta is the known parameter of the effective power conversion coefficient, D is the known parameter of the diameter of the side-thrust propeller, and N is the 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 information of the angle phi of the integrated ship, judging whether the angle phi exists, if not, ending the step S1, if so, selecting a side pushing driving unit opening mode according to the angle phi to provide driving force for driving the integrated ship to rotate towards the direction of reducing the angle phi, and calculating power delta P of the side pushing driving unit change required by eliminating the angle phi according to the angle phi 1 According to DeltaP 1 Controlling and adjusting the power of the side pushing driving unit to drive the integrated ship to rotate until the yaw angle phi is zero, namely finishing yaw angle adjustment;
s2: after step S1 is completed, any point on the axis of the integrated ship is taken as a reference point, the real-time position of the reference point is compared with the transverse position deviation delta Xc of the undocking design route, whether the delta Xc exceeds the allowable error range is judged, if not, step S2 is ended, and if yes, the power delta P required to be changed for eliminating the transverse position deviation delta Xc is calculated according to the transverse position deviation delta Xc 2 According to DeltaP 2 And 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, thus completing the adjustment of the transverse position of the integrated ship.
Preferably, the integrated ship comprises a first ship body and a second ship body which are arranged in parallel, the side pushing driving unit comprises four side pushing devices, wherein the first side pushing device and the third side pushing device are respectively close to a bow and a stern of the first ship body, the second side pushing device and the fourth side pushing device are respectively close to the bow and the stern of the second ship body, and the first side pushing device, the second side pushing device, the third side pushing device and the fourth side pushing device can provide bidirectional pushing force along the transverse direction.
Preferably, the method for selecting the opening mode of the side pushing driving unit in S1 comprises determining two driving ships capable of driving the integrated ship to rotate in the direction of reducing the yaw angle according to the yaw angle informationAnd each side pushing device selects one side pushing device with the thrust direction opposite to the transverse water flow force direction from the two side pushing devices according to the real-time water flow information, and the one side pushing device is used as a rotation driving side pushing device for driving the integrated ship to rotate and is based on delta P 1 And controlling and adjusting the working power of the rotation driving side pushing device.
Preferably, in the step S1, the power Δp 1 The method comprises the following steps:
wherein phi is the deflection angle, t is the real-time measurement value SY The bow period of the integrated ship is a real-time measurement value, G is the weight of the ship body and is a known parameter, G is the gravitational acceleration and is a known parameter, ρ is the water flow density, C S For the draft of the ship body to be a real-time measurement value, eta is an effective power conversion coefficient to be a known parameter, D is a diameter of a side-thrust propeller to be a known parameter, N is a rotating speed of the propeller to be a known parameter, L Y The length of the ship body is a known parameter;
in the step S2, the ΔP is 2 The method comprises the following steps:
wherein t is HD The period of the ship sway is a real-time measurement, and DeltaXc is a real-time measurement of the transverse distance between the reference point and the undocking design route.
Preferably, the lateral-flow-resisting side-pushing power control includes: judging the direction of transverse water flow force according to the real-time flow velocity direction outside the integrated ship, 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 opposite thrust direction of the started side pushing devices and the transverse water flow force direction, and uniformly distributing the two side pushing devices to provide transverse flow resisting side pushing power P c ；
The step S2 includes: according to DeltaXcSelecting two side pushing devices capable of providing thrust for reducing DeltaXc by being simultaneously started, and controlling and adjusting working power of the two side pushing devices in real time, wherein the two side pushing devices are evenly distributed to provide power change DeltaP 2 。
Preferably, after the step S2 is completed to adjust the transverse position of the integrated ship, the step S1 and the step S2 are repeated until the yaw angle Φ is zero and Δxc is within an allowable error range, so as to complete the correction side thrust power control.
Preferably, the main propulsion driving unit includes a first stern main propulsion device mounted to the stern of the first hull, and a second stern main propulsion device mounted to the stern of the second hull.
Preferably, the self-docking process further includes a main boost power control step including: and controlling and adjusting the power of the main pushing driving unit according to the deviation of the real-time ship speed and the design value range of the undocking ship speed, so that the ship speed reaches the design value range, and the integrated ship continues to self-navigate until undocking is completed.
Preferably, the undocking preparation process further comprises the step of monitoring whether the connection state of the pipe-boat connection mechanism meets the design requirement by adopting a pipe-boat connection monitoring device, if so, removing the anchor device to complete the undocking preparation work of the integrated boat, and if not, adjusting the connection state of the pipe-boat connection mechanism and the immersed tube until the pipe-boat connection monitoring device monitors that the connection state meets the design requirement, and removing the anchor device to complete the undocking preparation work of the integrated boat.
Preferably, the pipe-boat connecting mechanism comprises a plurality of stay ropes connected with the immersed tube and the integrated boat, the stay ropes are provided with force-sensitive sensors for testing the tension of the stay ropes, the force-sensitive sensors are arranged in one-to-one correspondence with the stay ropes, and in the undocking preparation process, whether the tension of each stay rope reaches the design value of the pipe-boat connection standard reaching state is monitored through the force-sensitive sensors so as to judge whether the connection state of the pipe-boat connecting mechanism reaches the design requirement.
Preferably, the method further comprises a data collection step, wherein the data collection process comprises: in the undocking control process, monitoring data and deviation correcting record data are collected to establish a big database, and big data analysis is carried out to further optimize and fit the deviation correcting side pushing power control step and the control algorithm of the deviation correcting side pushing power control step.
The invention further discloses an intelligent immersed tube carrying and installing integrated ship undocking control system, which adopts the control method, wherein the control system comprises a signal acquisition unit, a main controller, a tube ship connecting mechanism and a driving mechanism of the integrated ship, and the driving mechanism comprises a main pushing driving unit and a side pushing 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 integrated ship comprises the real-time position, the real-time deflection angle and the real-time draft of the integrated ship;
the main controller is used for receiving and storing the signals acquired by the signal acquisition unit, storing the docking design 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 DP power control system for a ship, an attitude meter and a pipe-ship connection monitoring device which are arranged on the integrated ship.
Preferably, the pipe-boat connection mechanism comprises a plurality of inhaul cables for connecting the integrated boat and the immersed tube, the pipe-boat connection monitoring device comprises a plurality of force-sensitive sensors for testing tension of the inhaul cables, and the force-sensitive sensors are arranged in one-to-one correspondence with the inhaul cables.
The beneficial effects of the invention are as follows: the intelligent sinking pipe carrying and installing integrated ship undocking control method and the control system can realize intelligent and automatic control aiming at the integrated ship undocking process, can conveniently realize the accurate control of the integrated ship self-propulsion undocking, can drive the integrated ship floating sinking pipe to self-propulsion undocking by utilizing the driving mechanism of the integrated ship, do not need to adopt winch movement and tug coordination in the undocking process, can save the integrated ship undocking process time, provide the construction efficiency, can also accurately control the driving mechanism energy consumption of the integrated ship in real time in the undocking process, reduce the energy consumption and reduce the construction cost. Meanwhile, the control system can store and record real-time data information such as monitoring information and deviation correcting information acquired in the undocking process, 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 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 of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of the intelligent immersed tube carrying and installing integrated ship undocking control method of the invention;
FIG. 2 is a schematic illustration of the undocked state of the integrated vessel of the present invention;
FIG. 3 is a schematic view of the connection state of the pipe-boat of the present invention;
FIG. 4 is a schematic diagram of the intelligent immersed tube carrying and installing integrated ship undocking control system;
in fig. 2, the dashed line AA ' represents the integral midship axis, BB ' represents the dock design course, CC ' represents the water flow direction, and the dashed box represents the integral ship design position.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
As shown in fig. 1-3, the present embodiment provides a smart submerged pipe carrying and installing integrated vessel undocking control method, taking the width direction of the integrated vessel 1 as the transverse direction, the length direction of the integrated vessel 1 as the longitudinal direction (as in fig. 2, the coordinate system takes the transverse direction as the X-axis direction, the longitudinal direction is the Y-axis direction, the midship position on the axis of the integrated vessel 1 is 0 point, the transverse direction from the first hull 11 to the second hull 12 is the X-axis forward direction, the axis of the integrated vessel 1 is from the stern to the bow direction as the Y-axis forward direction), the integrated vessel 1 comprises a driving mechanism and a pipe vessel connecting mechanism 6 for connecting the integrated vessel 1 and the submerged pipe 8, the driving mechanism comprises a main pushing driving unit 2 and a side pushing driving unit 3, the main pushing driving unit 2 is used for driving the integrated vessel 1 to advance, and the side pushing driving unit 3 is used for pushing the integrated vessel 1 to rotate along the transverse direction in both directions; the control method comprises the following steps:
undocking preparation: checking the connection state of the pipe-boat connection mechanism 6 and the immersed tube 8, and dismantling the anchor device after confirming that the connection state meets the design requirement to finish the undocking preparation work of the integrated boat 1;
position deviation monitoring: starting a main pushing driving unit 2 of the integrated ship 1, starting the sinking pipe 8 to carry out undocking floating transportation by the integrated ship under the driving of the main pushing driving unit 2, comparing the real-time position of the integrated ship 1 with an undocking design route in the undocking floating transportation process to obtain the transverse position deviation of the integrated ship 1, judging whether the transverse position deviation exceeds an allowable error range, if not, continuing self-sailing of the integrated ship 1, and if so, controlling to reduce the power of the main pushing driving unit 2 to enable the integrated ship 1 to run at a reduced speed, and then controlling the transverse flow resisting side pushing power;
Lateral flow resistance side thrust power control: monitoring real-time water flow outside integrated ship 1Information, and according to the real-time water flow information, selecting the opening mode of the side pushing driving unit 3, so that the side pushing driving unit 3 provides a pushing force opposite to the direction of the transverse water flow force, and according to the real-time water flow information, calculating the side pushing power provided by the side pushing driving unit 3 required to resist the transverse water flow force as the side pushing power P resisting the transverse water flow force c Starting the side pushing driving unit 3, and controlling the working power of the side pushing driving unit 3 in real time according to the lateral flow resisting side pushing power Pc so as to resist the lateral water flow force borne by the integrated ship 1;
and (3) correcting deviation and side pushing power control: after the step of controlling the lateral thrust power against the cross flow is completed, the variable lateral thrust power of the lateral thrust driving unit 3 required for correcting the position deviation is calculated according to the position deviation between the real-time position of the integrated ship 1 and the undocking design route, and is used as the correction lateral thrust power, and the lateral thrust power against the cross flow P is calculated c On the basis of the above, the working power of the side pushing driving unit is controlled and regulated 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 correction and side pushing power control step is completed, the integrated ship 1 continues to self-navigate until undocking is completed.
As shown in fig. 4, this embodiment provides an intelligent immersed tube carrying and installing integrated ship undocking control system, and the control method is adopted, where the control system includes a signal acquisition unit 5, a main controller 4, a tube ship connection mechanism 6 and a driving mechanism of the integrated ship, and the driving mechanism includes a main pushing driving unit 2 and a side pushing 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 integrated ship 1 comprises the real-time position, the real-time deflection angle and the real-time draft of the integrated ship 1;
the main controller 4 is used for receiving and storing the signals acquired by the signal acquisition unit 5, storing the dock design route and known parameters, calculating the control method and controlling the driving mechanism and the pipe-ship connecting mechanism 6 to work.
The self-propelled docking of the integrated ship 1 requires that the pipe-ship connection be determined firstThe docking can be carried out after the connection state of the connecting mechanism 6 and the immersed tube 8 meets the design requirement, and the control system and the control method can adopt the signal acquisition unit 5 to directly detect the connection state of the tube-ship connecting mechanism 6, thereby realizing intelligent detection control without manual detection operation. During undocking, the transverse water flow force is an important factor affecting the undocking process of the integrated ship, the integrated ship 1 is provided with a side pushing driving unit 3, the side pushing driving unit 3 can provide side pushing force resisting the transverse water flow force, and the transverse water flow resisting side pushing power P provided by the side pushing driving unit 3 can be regulated and controlled according to real-time water flow information through the transverse water flow resisting side pushing power control process in the control system and the control method c The lateral flow side pushing power P is realized while the influence of the lateral water flow force on the undocking process of the integrated ship is resisted c Is controlled accurately in real time. 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 undocking design route through the deviation correction 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 change amount required by the side thrust driving unit 3 for realizing the position deviation regulation) for correcting the position deviation. The control system and the control method can realize intelligent and automatic control for the undocking process of the integrated ship 1, can conveniently realize accurate control of the self-propelled undocking of the integrated ship, can drive the floating immersed tube 8 of the integrated ship 1 to self-fly undocking by using the driving mechanism of the integrated ship 1, do not need to coordinate with a tug and a winch in the undocking process, can save the undocking process time of the integrated ship 1, provide the construction efficiency, can meet the acceleration and deceleration operations of the floating of the ship tube under the action of cross flow, can also accurately control the energy consumption of the driving mechanism of the integrated ship 1 in real time in the undocking process, reduce the energy consumption and reduce the construction cost. In addition, the main controller 4 of the control system can store and record real-time data information such as monitoring information, deviation correction information and the like of the signal acquisition unit 5, can provide basis for building a large database, and optimally fits an algorithm adopted in a control method through large data analysis, so that the undocking efficiency is further improved, the energy consumption is reduced, and the immersed tube construction process is improved The degree of intelligent control.
Specifically, the side pushing driving unit 3 includes a plurality of side pushing devices, which can provide a bidirectional pushing force in the lateral direction; the lateral flow resisting side thrust power control includes: judging the direction and the magnitude of the transverse water flow force according to the real-time flow velocity outside the integrated ship, selecting the opening mode of the side pushing driving unit, enabling the sum of the pushing forces of the side pushing devices to be equal to the opposite magnitude of the transverse water flow force direction, and controlling and adjusting the working powers of a plurality of side pushing devices in real time so as to provide the transverse flow resisting side pushing power P c 。
Specifically, the lateral flow resistance power P c The method comprises the following steps:
P C ＝(0.5ρ(V L sinθ) 2 L Y C S )/(ηD 3 N 2 )
wherein: v (V) L For the measured real-time flow velocity, ρ is the water flow density, θ is the angle between the measured real-time water flow direction and the undocking design route, L Y For the length of the hull to be a known parameter, C S For the real-time measurement of the draft of the ship body, eta is the known parameter of the effective power conversion coefficient, D is the known parameter of the diameter of the side-thrust propeller, and N is the known parameter of the rotating speed of the propeller.
The integrated ship receives transverse water flow force F HL ＝0.5ρC HL (V L sinθ) 2 S H ＝0.5ρ(V L sinθ) 2 L Y C S ；
Side thrust T of side thrust driving unit 3 CT ＝ηD 3 N 2 P C ；
Lateral-flow-resistant lateral-thrust power P of lateral-thrust driving unit 3 c According to P above c The calculation formula is controlled in real time, so that the side thrust T can be realized CT With transverse water flow force F HL Equal and opposite to each other to precisely resist the transverse water flow force.
Specifically, the deviation correcting and side pushing power control includes comparing the real-time position of the integrated ship with a docking design 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-sailing of the integrated ship until docking is completed, if so, controlling to reduce the power of the main pushing driving unit to enable the ship body to run at a reduced speed, and starting position deviation correcting and adjusting after starting a corresponding side pushing device to resist transverse flow.
Specifically, the deviation rectifying and side pushing power control includes: and (3) monitoring the positions of a bow, a midship (0 point in fig. 2) and a stern on the axis of the integrated ship 1 in real time as position test sites, and respectively testing the positions of the three position test sites and the position of the undocking design route to obtain three real-time transverse position deviation values, judging whether the real-time transverse position deviation values in the three real-time transverse position deviation values exceed an allowable error range, if not, continuing to self-navigate the integrated ship until undocking is completed, and if so, controlling to reduce the power of the main pushing driving unit 3 to enable the ship to run at a reduced speed, and starting position deviation correction adjustment.
Specifically, the allowable error range of the real-time lateral position deviation value is less than 10cm. The main controller 4 measures that the deviation value of the transverse position of any point and the designed route is more than or equal to 10cm in the three points of the bow, the midship and the stern on the axis of the integrated ship 1, and the control system controls the integrated ship to reduce the power of the main pushing driving unit 3 by 60 percent and open corresponding side pushing devices on the same side to resist transverse flow.
Specifically, as shown in fig. 1, the deviation rectifying and side pushing power control includes the following steps:
s1: collecting real-time information of the yaw angle phi of the integrated ship 1, wherein the yaw angle phi is an included angle between the central axis of the integrated ship 1 and the undocking design route, judging whether the yaw angle phi exists, if not, ending the step S1, if not, selecting an opening mode of the side pushing driving unit 3 according to the yaw angle phi to provide driving force for driving the integrated ship 1 to rotate towards the direction of reducing the yaw angle phi, and calculating the power delta P of the side pushing driving unit 3 required to change according to the yaw angle phi 1 According to DeltaP 1 Controlling and adjusting the power of the side pushing driving unit to drive the integrated ship 1 to rotate until the deflection angle phi is zero, namely finishing the yaw angle adjustment, wherein the central axis of the integrated ship 1 (the central axis of the integrated ship is the central axis of the integrated ship in the length direction) is parallel to the undocking design route;
s2: after step S1 is completed, the central axis of the integrated ship 1 is used for arbitraryOne point is used as a reference point (for example, an O point is used as a reference point), the real-time position of the reference point is compared with the transverse position deviation delta Xc of the undocking design route, whether the delta Xc exceeds the allowable error range is judged, if not, the step S2 is ended, and if yes, the power delta P required to be changed for eliminating the transverse position deviation delta Xc is calculated according to the transverse position deviation delta Xc 2 According to DeltaP 2 And 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. Self-docking may continue along its design route.
By adopting the control method, the integrated ship 1 is firstly adjusted to the state of the deflection angle phi through the step S1, then the transverse position deviation between the integrated ship and the undocking design route is adjusted through the step S2, the adjustment of the position of the integrated ship can be realized in a subsection manner through the steps S1 and S2, and meanwhile, the real-time accurate control of the side pushing power of the side pushing driving unit 3 is realized in the adjustment process, so that the energy consumption in the position correction process is effectively controlled and saved.
Specifically, as shown in fig. 2, the integrated ship 1 includes a first hull 11 and a second hull 12 disposed in parallel, and the side-pushing driving unit 3 includes four side-pushing devices, where a first side-pushing device 31 and a third side-pushing device 33 are disposed near a bow and a stern of the first hull 11, respectively, a second side-pushing device 32 and a fourth side-pushing device 34 are disposed near the bow and the stern of the second hull 12, respectively, and the first side-pushing device 31, the second side-pushing device 32, the third side-pushing device 33 and the fourth side-pushing device 34 may all provide bidirectional thrust in the transverse direction.
Specifically, the first side pushing device 31 and the second side pushing device 32 are symmetrically arranged with respect to the central axis AA' of the integrated ship; the third and fourth thrust devices 33, 34 are symmetrically arranged with respect to the central axis AA' of the integrated 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 a 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 used to provide a lateral pushing force directed from the first hull to the second hull, and the pushing force directions of the second side pushing device 32 and the fourth side pushing device 34 may be opposite to the first side pushing device 31.
Specifically, when the side-pushing driving unit 3 is configured as described above, the method for selecting the opening mode of the side-pushing driving unit S1 includes: two side pushing devices (for example, in a yaw angle state shown in fig. 2, a first side pushing device 31 and a fourth side pushing device 34) capable of driving the integrated boat to rotate in a yaw angle reducing direction are determined according to the yaw angle phi information, one side pushing device with a thrust direction opposite to a transverse water flow direction is selected from the two side pushing devices according to the real-time water flow information as a rotation driving side pushing device for driving the integrated boat to rotate (as shown in fig. 2, the thrust direction of the fourth side pushing device 34 coincides with the transverse water flow direction, so the first side pushing device 31 is selected as the rotation driving side pushing device), and according to delta P 1 And controlling and adjusting the working power of the rotation driving side pushing device.
Specifically, in the step S1, the power Δp 1 The method comprises the following steps:
wherein phi is the deflection angle, t is the real-time measurement value SY The bow period of the integrated ship is a real-time measurement value, G is the weight of the ship body and is a known parameter, G is the gravitational acceleration and is a known parameter, ρ is the water flow density, C S For the draft of the ship body to be a real-time measurement value, eta is an effective power conversion coefficient to be a known parameter, D is a diameter of a side-thrust propeller to be a known parameter, N is a rotating speed of the propeller to be a known parameter, L Y Is a known parameter for the length of the hull.
In step S2, the conditions for the optimal thrust Δt provided by the side-pushing driving unit 3 during Φ adjustment are:
M ΔT -M F ＝0，
m in the formula F Bending moment generated by water flow force, namely:
K SY for the ship bow stiffness coefficient, the formula K can be adopted SY ＝(2π/t SY ) 2 [(G/g)+0.5ρπ(C S ) 2 ]Calculating; therefore, the above-mentioned ΔP is used 1 The calculation result of the calculation formula controls the power change of the side pushing driving unit 3 in real time, can provide the optimal pushing force to drive the integrated ship 1 to rotate to eliminate the deflection angle phi, effectively controls the energy consumption of the S1 process, and saves the energy consumption in the undocking process.
Specifically, in the step S2, the Δp 2 The method comprises the following steps:
wherein t is HD The period of the ship sway is a real-time measurement, and DeltaXc is a real-time measurement of the transverse distance between the reference point and the undocking design route.
In step S2, the optimum thrust Δt provided by the side-thrust driving unit 3 during the lateral position deviation adjustment CT The conditions are as follows:
ΔT CT ＝ηD 3 N 2 (ΔP 2 )＝K HD (ΔX C )
wherein K is HD For the fluid cross stiffness coefficient, the fluid cross stiffness coefficient can be calculated by the formula K HD ＝(2π/t HD ) 2 [(G/g)+ρπ(C S ) 2 ]Calculating; therefore, the above-mentioned ΔP is used 2 The power change of the side pushing driving unit 3 is controlled in real time by the calculation result of the calculation formula, so that the optimal thrust driving integrated ship 1 can be provided 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 lateral-flow-resisting side-pushing power control comprises: judging the direction of the transverse water flow force according to the real-time flow velocity direction outside the integrated ship 1, selectively simultaneously opening the first side pushing device 31 and the third side pushing device 33 or simultaneously opening the second side pushing device 32 or the fourth side pushing device 34, selectively opening the first side pushing device 31 and the third side pushing device 33 to resist the transverse water flow according to the opposite direction of the thrust of the opened side pushing devices to the transverse water flow force (such as the direction of the water flow force shown in fig. 2), and controlling and adjusting the working powers of the two side pushing devices in real time, wherein the two side pushing devices are evenly distributed to provide the transverse water flow resisting side pushing power P c 。
Specifically, in the step S2: based on Δxc, two side pushing devices capable of providing thrust force for reducing Δxc are selected to be simultaneously started (for example, in the state of lateral position deviation shown in fig. 2, the first side pushing device 31 and the third side pushing device 33 are selected to be started for lateral position adjustment), the working powers of the two side pushing devices are controlled and adjusted in real time, and the two side pushing devices are evenly distributed to provide power change Δp 2 。
Specifically, after the step S2 is completed to adjust the transverse position of the integrated ship, the step S1 and the step S2 are repeated until the yaw angle Φ is zero and Δxc is within an allowable error range, so that the deviation rectifying and side pushing power control is completed. After the step S2 is completed, the position of the integrated ship 1 can be regulated and controlled more accurately by monitoring the deflection angle phi again.
Specifically, the main propulsion unit 2 includes a first stern main propulsion device 21 provided at the stern of the first hull 11, and a second stern main propulsion device 22 provided at the stern of the second hull 12.
Specifically, the self-propelled docking process further includes a main propulsion power control step including: and controlling and adjusting the power of the main pushing driving unit 2 according to the deviation of the real-time ship speed and the design value range of the undocking ship speed, so that the ship speed reaches the design value range, and the integrated ship 1 continues to self-navigate until undocking is completed.
Specifically, the signal acquisition unit 5 includes a marine DP power control system 51, an attitude meter 52 and a pipe-ship connection monitoring device 53, which are installed on the integrated ship 1. The DP power control system 51 is used for collecting real-time water flow information outside the ship and real-time position information of the integrated ship, draft of the ship, real-time ship speed and the like, the attitude meter 52 is used for collecting the integrated ship rolling period and the integrated ship bow rolling period in real time, and the pipe-ship connection monitoring device 53 is used for monitoring the connection state of the immersed tube 8 and the pipe-ship connection mechanism 6. Besides the above structure, the signal acquisition unit 5 can also adopt other monitoring and signal acquisition devices to realize signal acquisition, such as GPS to acquire real-time position information of an integrated ship.
Specifically, the undocking preparation process further includes monitoring, by using the pipe-ship connection monitoring device 53, whether the connection state of the pipe-ship connection mechanism 6 meets the design requirement, if yes, removing the anchor device to complete the undocking preparation of the integrated ship 1, and if not, controlling, by the main controller 4, to adjust the connection state of the pipe-ship connection mechanism 6 and the immersed tube 8 until the pipe-ship connection monitoring device 6 monitors that the connection state meets the design requirement, removing the anchor device to complete the undocking preparation of the integrated ship 1.
Specifically, the pipe-boat connection mechanism 6 includes a plurality of stay cables 61 for connecting the integrated boat 1 and the immersed tube 8, and the pipe-boat connection monitoring device 53 includes a plurality of force-sensitive sensors for testing the tension of the stay cables 61, where the force-sensitive sensors are arranged in one-to-one correspondence with the stay cables 61. In the undocking preparation process, the force sensor can monitor whether the tension of each inhaul cable 61 reaches the design value of the pipe-ship connection standard state or not, so as to judge whether the connection state of the pipe-ship connection mechanism 6 reaches the design requirement or not.
Specifically, the control method further comprises a data collection step, wherein the data collection process comprises the following steps: in the undocking control process, monitoring data and deviation correcting record data are collected to establish a big database, and big data analysis is carried out to further optimize and fit the deviation correcting side pushing power control step and the control algorithm of the deviation correcting side pushing power control step.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention. In addition, the technical solutions between the embodiments may be combined with each other, but must be based on the implementation by those of ordinary skill in the art; when the combination of the technical solutions is contradictory or impossible to realize, it should be considered that the combination of the technical solutions does not exist and is not within the scope of protection claimed by the present invention.
Claims (16)
1. The intelligent immersed tube carrying and installing integrated ship undocking control method 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 for connecting the integrated ship and the immersed tube, the driving mechanism comprises a main pushing driving unit and a side pushing driving unit, the main pushing driving unit is used for driving the integrated ship to advance, and the side pushing driving unit is used for pushing the integrated ship in the transverse direction in a bidirectional manner and driving the integrated ship to rotate; the control method comprises the following steps:
Undocking preparation: checking the connection state of the pipe-ship connection mechanism and the immersed pipe, and dismantling the anchor device after confirming that the connection state meets the design requirement to finish the undocking preparation work of the integrated ship;
position deviation monitoring: starting a main pushing driving unit of the integrated ship, starting the immersed tube for undocking and floating under the driving of the main pushing driving unit, comparing the real-time position of the integrated ship with an undocking design route in the undocking and floating process 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-sailing of the integrated ship, if so, controlling to reduce the power of the main pushing driving unit to enable the integrated ship to run at a reduced speed, and then controlling the transverse flow resisting side pushing power;
lateral flow resistance side thrust power control: monitoring real-time water flow information outside the integrated ship, selecting the opening mode of the lateral pushing driving unit according to the real-time water flow information, enabling the lateral pushing driving unit to provide pushing force opposite to the direction of transverse water flow force, calculating lateral pushing power provided by the lateral pushing driving unit required to resist the transverse water flow force according to the real-time water flow information, and taking the lateral pushing power as lateral pushing power P resisting the transverse water flow force c Starting the side pushing driving unit and according to the lateral flow resisting side pushing power P c Real-time control of the side pushing driving unit workerPower is applied to resist transverse water flow force applied to the integrated ship;
and (3) correcting deviation and side pushing power control: after the step of controlling the lateral thrust power against the cross flow is completed, calculating the lateral thrust power of the change of the lateral thrust driving unit required for correcting the position deviation according to the position deviation of the real-time position and the undocking design route of the integrated ship, and taking the lateral thrust power as the deviation correcting lateral thrust power to obtain the lateral thrust power P against the cross flow c On the basis of the above, the working power of the side pushing driving unit is controlled and regulated 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: after the correction side pushing power control step is completed, the integrated ship continues to self-navigate until undocking is completed.
2. The intelligent immersed tube carrying and installing integrated ship undocking control method according to 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 lateral flow resisting side thrust power control includes: judging the direction and the magnitude of the transverse water flow force according to the real-time flow velocity outside the integrated ship, selecting the opening mode of the side pushing driving unit, enabling the sum of the pushing forces of the side pushing devices to be equal to the opposite magnitude of the transverse water flow force direction, and controlling and adjusting the working powers of a plurality of side pushing devices in real time so as to provide the transverse flow resisting side pushing power P c 。
3. The intelligent immersed tube carrying and installing integrated ship undocking control method as claimed in claim 2, wherein the lateral flow resisting side thrust power P c The method comprises the following steps:
P C ＝(0.5ρ(V L sinθ) 2 L Y C S )/(ηD 3 N 2 )
wherein: v (V) L For the measured real-time flow velocity, ρ is the water flow density, θ is the angle between the measured real-time water flow direction and the undocking design route, L Y For the length of the hull to be a known parameter, C S For the draft of the ship body to be a real-time measurement value, eta is an effective power conversion coefficient to be a known parameter, D is a diameter of a side-thrust propeller to be a known parameter, and N is a rotating speed of the propeller to be a known parameterThe parameters are known.
4. The intelligent immersed tube carrying and installing integrated ship undocking control method as claimed in claim 1, wherein the deviation correcting side pushing power control comprises the following steps:
s1: collecting real-time information of the angle phi of the integrated ship, judging whether the angle phi exists, if not, ending the step S1, if so, selecting a side pushing driving unit opening mode according to the angle phi to provide driving force for driving the integrated ship to rotate towards the direction of reducing the angle phi, and calculating power delta P of the side pushing driving unit change required by eliminating the angle phi according to the angle phi 1 According to DeltaP 1 Controlling and adjusting the power of the side pushing driving unit to drive the integrated ship to rotate until the yaw angle phi is zero, namely finishing yaw angle adjustment;
S2: after step S1 is completed, any point on the axis of the integrated ship is taken as a reference point, the real-time position of the reference point is compared with the transverse position deviation delta Xc of the undocking design route, whether the delta Xc exceeds the allowable error range is judged, if not, step S2 is ended, and if yes, the power delta P required to be changed for eliminating the transverse position deviation delta Xc is calculated according to the transverse position deviation delta Xc 2 According to DeltaP 2 And 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, thus completing the adjustment of the transverse position of the integrated ship.
5. The intelligent immersed tube carrying and installing integrated ship undocking control method according to claim 4, wherein the integrated ship comprises a first ship body and a second ship body which are arranged in parallel, the side pushing driving unit comprises four side pushing devices, wherein the first side pushing device and the third side pushing device are respectively arranged close to a bow and a stern of the first ship body, the second side pushing device and the fourth side pushing device are respectively arranged close to the bow and the stern of the second ship body, and the first side pushing device, the second side pushing device, the third side pushing device and the fourth side pushing device can provide bidirectional pushing force along the transverse direction.
6. The method for controlling undocking of an intelligent immersed tube carrying and installing integrated ship according to claim 5, wherein the step S1 of selecting the opening mode of the side pushing driving unit comprises determining two side pushing 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 pushing device with the thrust direction opposite to the transverse water flow direction from the two side pushing devices according to the real-time water flow information as the rotation driving side pushing device for driving the integrated ship to rotate according to delta P 1 And controlling and adjusting the working power of the rotation driving side pushing device.
7. The intelligent immersed tube carrying and installing integrated vessel undocking control method as claimed in claim 6, wherein in step S1, the power Δp is 1 The method comprises the following steps:
wherein phi is the deflection angle, t is the real-time measurement value SY The bow period of the integrated ship is a real-time measurement value, G is the weight of the ship body and is a known parameter, G is the gravitational acceleration and is a known parameter, ρ is the water flow density, C S For the draft of the ship body to be a real-time measurement value, eta is an effective power conversion coefficient to be a known parameter, D is a diameter of a side-thrust propeller to be a known parameter, N is a rotating speed of the propeller to be a known parameter, L Y The length of the ship body is a known parameter;
In the step S2, the ΔP is 2 The method comprises the following steps:
wherein t is HD The period of the ship sway is a real-time measurement, and DeltaXc is a real-time measurement of the transverse distance between the reference point and the undocking design route.
8. The intelligent immersed tube carrying and installing integrated ship out of claim 5The dock control method is characterized in that the cross-flow-resistant side-pushing power control comprises the following steps: judging the direction of transverse water flow force according to the real-time flow velocity direction outside the integrated ship, selecting to simultaneously start the first side pushing device and the third side pushing device or simultaneously start the second side pushing device and the fourth side pushing device, selecting to adjust the working power of the two side pushing devices in real time according to the reverse thrust direction of the started side pushing devices and the transverse water flow force direction, and uniformly distributing the two side pushing devices to provide transverse flow resisting side pushing power P c ；
The step S2 includes: according to DeltaXc, two side pushing devices capable of providing thrust for reducing DeltaXc are selected to be simultaneously started, the working power of the two side pushing devices is controlled and regulated in real time, and the two side pushing devices are evenly distributed to provide power change DeltaP 2 。
9. The method for controlling the undocking of an intelligent immersed tube carrying and installing integrated ship according to claim 4, wherein after the step S2 is completed for adjusting the transverse position of the integrated ship, the step S1 and the step S2 are repeated until the deflection angle Φ is zero and Δxc is within an allowable error range, so that the correction side thrust power control is completed.
10. The intelligent immersed tube carrying and installing integrated ship undocking control method according to claim 1, wherein the main pushing driving unit comprises a first stern main pushing device installed on a first ship stern and a second stern main pushing device installed on a second ship stern; the self-propelled docking process further includes a main propulsion power control, the main propulsion power control step including: and controlling and adjusting the power of the main pushing driving unit according to the deviation of the real-time ship speed and the design value range of the undocking ship speed, so that the ship speed reaches the design value range, and the integrated ship continues to self-navigate until undocking is completed.
11. The intelligent immersed tube carrying and installing integrated ship undocking control method according to claim 1, wherein the undocking preparation process further comprises the steps of monitoring whether the connection state of a tube-ship connection mechanism meets design requirements by adopting a tube-ship connection monitoring device, if so, removing an anchor device to complete the integrated ship undocking preparation work, and if not, adjusting the connection state of the tube-ship connection mechanism and an immersed tube until the tube-ship connection monitoring device monitors that the connection state meets the design requirements, removing the anchor device to complete the integrated ship undocking preparation work.
12. The intelligent immersed tube carrying and installing integrated ship undocking control method according to claim 11, wherein the tube ship connecting mechanism comprises a plurality of inhaul cables for connecting the immersed tube and the integrated ship, the inhaul cables are provided with force sensors for testing tension of the inhaul cables, the force sensors are arranged in one-to-one correspondence with the inhaul cables, and in the undocking preparation process, whether the tension of each inhaul cable reaches a design value of a tube ship connection standard reaching state is monitored through the force sensors, so that whether the connection state of the tube ship connecting mechanism reaches the design requirement is judged.
13. The intelligent immersed tube carrying and installing integrated vessel undocking control method as claimed in claim 1, further comprising a data collection step, wherein the data collection process comprises: in the undocking control process, monitoring data and deviation correcting record data are collected to establish a big database, and big data analysis is carried out to further optimize and fit the deviation correcting side pushing power control step and the control algorithm of the deviation correcting side pushing power control step.
14. An intelligent immersed tube carrying and installing integrated ship undocking control system, characterized in that the control system comprises a signal acquisition unit, a main controller, a tube ship connecting mechanism and a driving mechanism of the integrated ship, wherein the driving mechanism comprises a main pushing driving unit and a side pushing 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 integrated ship comprises the real-time position, the real-time deflection angle and the real-time draft of the integrated ship;
the main controller is used for receiving and storing the signals acquired by the signal acquisition unit, storing the docking design 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 vessel undocking control system of claim 14, wherein the signal acquisition unit comprises a marine DP power control system, an attitude meter and a vessel connection monitoring device installed on the integrated vessel.
16. The intelligent immersed tube carrying and installing integrated vessel undocking control system according to claim 15, wherein the tube-vessel connecting mechanism comprises a plurality of inhaul cables for connecting the integrated vessel and the immersed tube, the tube-vessel connecting monitoring device comprises a plurality of force-sensitive sensors for testing tension of the inhaul cables, and the force-sensitive sensors are arranged in one-to-one correspondence with the inhaul cables.
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