CN114237121A - Ocean platform and synchronous lifting control method thereof - Google Patents
Ocean platform and synchronous lifting control method thereof Download PDFInfo
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- CN114237121A CN114237121A CN202111548789.0A CN202111548789A CN114237121A CN 114237121 A CN114237121 A CN 114237121A CN 202111548789 A CN202111548789 A CN 202111548789A CN 114237121 A CN114237121 A CN 114237121A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
- E02B17/02—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor placed by lowering the supporting construction to the bottom, e.g. with subsequent fixing thereto
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
- E02B17/04—Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction
- E02B17/08—Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction for raising or lowering
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The application provides a platform and a synchronous lifting control method of the platform, wherein the synchronous lifting control method of the platform is applied to the platform, and the platform comprises a plurality of pile legs for supporting the platform and a lifting motor set arranged on the pile legs. The synchronous lifting control method of the ocean platform comprises the following steps: judging whether the inclination angle of each lifting motor group and the horizontal plane is within a safety range in the lifting process of the ocean platform; if not, respectively calculating an inclination angle difference value and an inclination angle synchronous compensation quantity for each lifting motor group to obtain a power adjustment value required for adjusting the inclination angles of the lifting motor groups and the horizontal plane to be consistent; and the power adjusting value drives the lifting motor sets to adjust the inclination angles of all the lifting motor sets to be consistent with the horizontal plane. By adopting the method provided by the embodiment of the application, the balance control of the ocean platform lifting system can be realized, and the stability of the system can be kept when the system is disturbed by the outside world.
Description
Technical Field
The application relates to the technical field of ocean platforms, in particular to an ocean platform and a synchronous lifting control method of the ocean platform.
Background
Abundant petroleum resources are stored in the ocean, along with the improvement of the exploitation capacity, people use the ocean platform to recover oil to become a mainstream oil recovery mode at present, the oil recovery range comprises various areas of shallow sea and deep sea, and therefore the ocean platform becomes the main equipment for ocean oil recovery.
At the in-process of platform operation, need go up and down to the platform, and the control method who goes up and down to the platform is the core that realizes the steady safe lift of platform, and present platform controls the balance that the motor goes up and down through the absolute height of the speed of adjusting the motor and spud leg, because the inaccurate problem of balanced reference probably appears, hyperstatic problem and "virtual leg" problem appear easily, platform is unbalance easily even turns on one's side in the lift in-process, makes platform and worker have hidden risk.
Disclosure of Invention
An object of the embodiment of the application is to provide an ocean platform and a synchronous lifting control method of the ocean platform, which control the balance lifting of the ocean platform by adjusting the rotating speed of a motor set and the inclination angle of the motor set and the horizontal plane, so that the effect of stable, continuous and synchronous lifting of the ocean platform is achieved.
In a first aspect, an embodiment of the present application provides a method for controlling synchronous lifting of an ocean platform, where the method for controlling synchronous lifting of an ocean platform is used for the ocean platform, and includes: judging whether the inclination angle of each lifting motor group and the horizontal plane is within a safety range or not in the lifting process of the ocean platform; if not, respectively calculating an inclination angle difference value and an inclination angle synchronous compensation quantity for each lifting motor group to obtain a power adjustment value required for adjusting the inclination angle of the lifting motor group to be consistent with the horizontal plane; the power adjustment value drives the lifting motor sets to adjust the inclination angles of all the lifting motor sets to be consistent with the horizontal plane; the inclination angle difference value is the difference value of the average values of the inclination angles of the current lifting motor group and all the lifting motor groups; the inclination angle synchronous compensation quantity is positively correlated with the inclination angle difference.
In the implementation process, when the inclination angle is not in the safety range, synchronous control of the motors is achieved by adjusting the rotating speed of the motors, the inclination angle difference value and the inclination angle synchronous compensation quantity are calculated for the lifting motor set respectively, so that a power adjustment value required for adjusting the inclination angle of the lifting motor set to be consistent with the inclination angle of the horizontal plane is obtained, and then the lifting motor set is driven through the power adjustment value so as to adjust the inclination angles of all the lifting motor sets to be consistent with the inclination angle of the horizontal plane. The inclination angle safety range is [ -0.3 degrees, 0.3 degrees ], the average value of the inclination angle is used for leveling, and the horizontal plane is used as the leveling basis in fact, so that the problem that the ocean platform is unbalanced or even overturns in the lifting process due to inaccurate leveling basis is solved.
Optionally, in this embodiment of the application, if the inclination angle between each of the lifting motor sets and the horizontal plane is within a safe range; respectively calculating a rotating speed difference value and a rotating speed synchronous compensation quantity for each lifting motor group to obtain a power adjustment value required for adjusting the rotating speed consistency of the lifting motor groups; the power adjustment value drives the lifting motor sets to adjust the rotating speeds of all the lifting motor sets to be consistent; the rotating speed difference value is the difference value of the rotating speeds of the current lifting motor set and the average value of the rotating speeds of all the lifting motor sets; the rotation speed synchronous compensation quantity is positively correlated with the rotation speed difference value.
In the implementation process, when the inclination angles of the motor sets and the horizontal plane are within the safety range, the inclination angles can exceed the safety range due to inconsistent rotating speeds of the motor sets, so that the platform is unbalanced, and the rotating speed of the lifting motor sets is controlled to further avoid the situation that the inclination angles of the ocean platform and the horizontal plane are not within the safety range, so that the ocean platform is lifted stably.
In the implementation process, the inclination angle of the control motor set and the horizontal plane is kept in a safe range, the rotation speed of the lifting motor set is controlled to further prevent the inclination angle of the ocean platform and the horizontal plane from being out of the safe range, and therefore stable lifting of the ocean platform is achieved.
Optionally, in this embodiment of the present application, the lifting motor set includes a master motor and a slave motor; the method further comprises the following steps: and during the lifting process, the rotation speed of the slave motor is adjusted to be consistent with that of the main motor, so that the synchronization of the main motor and the slave motor is controlled.
In the implementation process, the rotation speed of the main motor is controlled to be consistent with that of the slave motor, so that the main motor and the slave motor are controlled to be synchronous, the effect of synchronous working of the main motor and the slave motor is achieved, and the ocean platform can be stably and continuously lifted.
Optionally, in this embodiment of the application, the driving, by the power adjustment value, the lift motor sets to adjust the inclination angles of all the lift motor sets to be consistent with the horizontal plane includes: and adjusting the rotating speeds of all the main motors to be consistent, and adjusting the rotating speeds of all the slave motors to be consistent with the rotating speed of the main motor or synchronously adjusting the rotating speeds of all the main motors and the slave motors to be consistent based on the rotating speed of the main motor.
In the implementation process, the adjustment of the inclination angles of all the lifting motor sets and the horizontal plane can be realized by two methods, wherein the first method is to adjust the rotating speeds of the main motor to be consistent and then adjust the rotating speeds of all the auxiliary motors to be consistent through the rotating speed of the main motor; the second method directly and synchronously adjusts the rotating speeds of all the main motors and the slave motors to be consistent. According to the actual situation, one of two methods can be selected to adjust the ocean platform, so that the ocean platform body is always in a balanced state, and the aim of stably lifting the ocean platform is fulfilled.
Optionally, in this embodiment of the present application, the adjusting the rotation speeds of all the main motors to be the same includes: collecting the inclination angles of all main motors and the horizontal plane; calculating the average value of all the dip angles as an evaluation dip angle; calculating the difference value between the evaluation inclination angle and the inclination angle between the corresponding main motor and the horizontal plane to obtain a first difference value; performing PD operation on the first difference to obtain corresponding inclination angle synchronous compensation quantity; and calculating a first power adjustment value required by synchronization of the corresponding main motor according to the inclination angle synchronization compensation quantity, and adjusting the power of the corresponding main motor.
In the implementation process, the power of the main motor is adjusted to be consistent by adjusting the power of the main motor, so that the inclination angles of the main motor and the horizontal plane are consistent, and the working states of the main motor are unified; the PD operation control response is quick, the stability is good, and the quick adjustment of the ocean platform can be realized.
Optionally, in this embodiment of the present application, the adjusting the rotation speeds of all the slave motors to be consistent with the rotation speed of the master motor includes: collecting the rotating speeds of a main motor and a slave motor; calculating a second difference value of the rotating speeds of the main motor and the auxiliary motor; carrying out PID operation on the second difference value to obtain corresponding speed synchronous compensation quantity; and calculating a second power adjustment value required by the synchronization of the corresponding main motor and the slave motor according to the speed synchronization compensation amount, and adjusting the power of the corresponding slave motor.
In the implementation process, the rotating speed of the slave motor is adjusted according to the working state of the main motor, so that the working state of the slave motor is consistent with that of the main motor, and the aim of stably lifting the ocean platform is fulfilled; the PID operation response is quick, the adjusting action is quick, the operation can be carried out in advance according to the change trend of the signals, and the stable lifting of the ocean platform is ensured.
Optionally, in this embodiment of the present application, the synchronously adjusting the rotation speeds of all the master motors and the slave motors to be consistent includes: collecting the inclination angles of all the lifting motor sets and a horizontal plane; calculating the average value of all the dip angles as an evaluation dip angle; calculating the difference value between the evaluation inclination angle and the inclination angle between the corresponding lifting motor set and the horizontal plane to obtain a third difference value; performing PD operation on the third difference to obtain corresponding inclination angle synchronous compensation quantity; and calculating a third power adjustment value required by synchronization of a main motor and a slave motor in the corresponding lifting motor set according to the inclination angle synchronous compensation quantity, and adjusting the power of the corresponding main motor and the slave motor.
In the implementation process, the inclination angles of all the main motors and the auxiliary motors and the horizontal plane are collected, the power values of all the main motors and the auxiliary motors are further adjusted, and the unbalance of the ocean platform caused by the inconsistent rotating speeds of the main motors and the auxiliary motors is avoided.
Optionally, in an embodiment of the present application, the method further includes: and detecting the height of the ocean platform, judging whether the height exceeds a preset height threshold value, and if so, judging whether the inclination angle between each lifting motor set and the horizontal plane is within a safety range.
In the implementation process, the height of the ocean platform is detected before the inclination angle between the ocean platform and the horizontal plane is judged, whether the height of the ocean platform exceeds a preset height threshold value is judged, if the height of the ocean platform exceeds the preset height, the inclination angle is adjusted, and the flexible control of the height of the ocean platform is realized.
Optionally, in this embodiment of the present application, the control of the ocean platform is received through the touch screen, and the information of the ocean platform is displayed on the touch screen.
In the implementation process, the touch screen is communicated with the main controller, the system state is detected on the touch screen, various signal changes are displayed, and the real-time monitoring of the ocean platform is realized.
In a second aspect, an embodiment of the present application provides an ocean platform, including: the device comprises a plurality of pile legs for supporting the ocean platform, a lifting motor set and an inclination angle sensor which are arranged on the pile legs, and a controller; the inclination angle sensor is used for judging whether the inclination angle between each lifting motor set and the horizontal plane is within a safe range or not in the lifting process of the ocean platform; the controller is used for calculating an inclination angle difference value and an inclination angle synchronous compensation quantity of each lifting motor set, obtaining a power adjustment value required for adjusting the inclination angle of each lifting motor set to be consistent with the inclination angle of a horizontal plane, and transmitting the power adjustment value to the lifting motor sets; the lifting motor sets are used for adjusting the inclination angles of all the lifting motor sets to be consistent with the horizontal plane according to the power adjustment value; the inclination angle difference value is the difference value of the average values of the inclination angles of the current lifting motor group and all the lifting motor groups; the inclination angle synchronous compensation quantity is positively correlated with the inclination angle difference.
In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a memory and a processor, where the memory stores program instructions, and the processor executes steps in any one of the foregoing implementation manners when reading and executing the program instructions.
In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where computer program instructions are stored in the computer-readable storage medium, and when the computer program instructions are read and executed by a processor, the steps in any of the foregoing implementation manners are performed.
Through the synchronous lifting control method of the ocean platform, the inclination angle of the motor set and the horizontal plane can be detected, and the rotating speed of the motor set is adjusted, so that the ocean platform can be synchronously, stably and continuously lifted, and the problem of unbalance of the ocean platform in the lifting process is effectively solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a synchronous lifting control method in which an inclination angle of each lifting motor group with respect to a horizontal plane is not within a safe range according to an embodiment of the present application;
fig. 2 is a flowchart of a synchronous lifting control method for controlling the inclination angle of each lifting motor group to the horizontal plane within a safe range according to an embodiment of the present application;
FIG. 3 is a flowchart of a method for adjusting the rotational speeds of all main motors to be consistent according to an embodiment of the present disclosure;
FIG. 4 is a flowchart of a method for adjusting the rotational speeds of all slave motors to be consistent with the rotational speed of a master motor according to an embodiment of the present disclosure;
FIG. 5 is a flowchart of a method for synchronously adjusting the rotational speeds of all the master motors and the slave motors according to an embodiment of the present disclosure;
fig. 6 is a schematic view of an ocean platform capable of performing synchronous lifting control according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. For example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
Referring to fig. 1, fig. 1 is a flowchart of a synchronous lifting control method for controlling the inclination angle of each lifting motor group to the horizontal plane out of the safe range according to an embodiment of the present application; the control method comprises the following steps:
step S100: and in the lifting process of the ocean platform, judging whether the inclination angle of each lifting motor group and the horizontal plane is within a safety range.
In step S100, the inclination angle of each elevator motor set from the horizontal plane may be detected by using an inclination angle sensor, where the inclination angle sensor may be: instruments such as an optical theodolite, an electronic theodolite and a total station which can measure the inclination angle; in the specific implementation process, the inclination angle can be measured by an optical angle measuring method, a return measuring method, a full-combination angle measuring method and the like. Illustratively, the safe range of the inclination angle of the lifting motor set and the horizontal plane can be [ -0.3 degrees, 0.3 degrees ].
Step S101: and if the inclination angle between the lifting motor set and the horizontal plane is not in the safety range in the step S100, calculating the inclination angle difference of the lifting motor set.
In step S101, an average value of the detected tilt angles of the elevator motor group and the horizontal plane is used as an evaluation tilt angle, and the evaluation tilt angle is compared with the detected tilt angle of the elevator motor group and the horizontal plane to obtain a difference value, where the difference value is a tilt angle difference value of the elevator motor group.
It can be understood that the average value of the detected inclination angles of the lifting motor sets and the horizontal plane is used as an evaluation inclination angle, the evaluation inclination angle is used as a leveling basis, the horizontal plane is used as a leveling basis substantially, and the leveling bases of the lifting motor sets are unified, so that the system unbalance condition caused by inaccurate leveling basis is avoided.
Step S102: and calculating the dip angle synchronous compensation amount of the lifting motor set.
In step S102, the difference between the tilt angles of the elevator motor assembly obtained in step S101 is sent to a device for calculating the difference between the two tilt angles, where the device may be a tilt angle synchronous compensator; and obtaining the corresponding inclination angle synchronous compensation amount through PD operation.
Step S103: and obtaining a power adjustment value required for adjusting the inclination angle of the lifting motor group to be consistent with the horizontal plane.
In step S103, the tilt angle synchronous compensation amount in step S102 may be processed by the controller, so as to obtain a power adjustment value required for adjusting the tilt angle of the lifting motor set to be consistent with the tilt angle of the horizontal plane; the power adjustment value may be, for example, a power value, a voltage value, a current value, mechanical work.
Step S104: and adjusting the inclination angles of all the lifting motor sets to be consistent with the horizontal plane.
In the step S104, the power adjustment value obtained in the step S103 is output to a module of a related data path through a driving hardware, where the module may be an analog output module, and is sent to a corresponding frequency converter, and each frequency converter drives a corresponding motor, so that the rotation speed of the motor is adjusted; the frequency converter can be composed of a rectifying unit, a filtering unit, an inverting unit, a braking unit, a driving unit, a detecting unit micro-processing unit and the like.
Therefore, according to the flow chart of the synchronous lifting control method for controlling the inclination angle of each lifting motor group and the horizontal plane to be out of the safe range, when the inclination angle of each lifting motor group and the horizontal plane is out of the safe range, the method uses the average value of the inclination angles of the lifting motor groups and the horizontal plane as a leveling basis, substantially uses the horizontal plane as the leveling basis, and avoids the problems that the bearing object of the ocean platform slides and even falls off when the ocean platform inclines.
Referring to fig. 2, fig. 2 is a flowchart of a synchronous lifting control method for controlling the inclination angle of each lifting motor group and the horizontal plane within a safe range according to an embodiment of the present application; the control method comprises the following steps:
step S200: and judging whether the inclination angle of the lifting motor set and the horizontal plane is within a safety range.
In step S200, the inclination angle of each elevator motor set from the horizontal plane may be detected by using an inclination angle sensor, where the inclination angle sensor may be: instruments such as an optical theodolite, an electronic theodolite and a total station which can measure the inclination angle; in the specific implementation process, the inclination angle can be measured by an optical angle measuring method, a return measuring method, a full-combination angle measuring method and the like. Illustratively, the safe range of the inclination angle of the lifting motor set and the horizontal plane can be [ -0.3 degrees, 0.3 degrees ].
Step S201: and if the inclination angle between the lifting motor set and the horizontal plane is within the safety range in the step S200, calculating the difference value of the rotating speeds of the lifting motor set.
In step S201, the average value of the detected rotation speeds of the elevator motor sets is used as an evaluation rotation speed, and the evaluation rotation speed is compared with the detected rotation speed of the elevator motor sets to obtain a difference value, where the difference value is an elevator motor set rotation speed difference value.
Step S202: and calculating the synchronous compensation quantity of the speed of the lifting motor set.
In the above step S202, the difference between the rotation speeds of the elevator motor set obtained in the step S201 is sent to a device for calculating the difference between the rotation speeds, wherein the device may be a speed synchronous compensator; and obtaining the corresponding speed synchronous compensation quantity through PID operation.
Step S203: and adjusting the power adjustment value required by the consistency of the rotating speed of the lifting motor set.
In step S203, the speed synchronization compensation amount in step S202 may be processed by the controller to obtain a power adjustment value required for adjusting the rotating speed of the elevator motor set to be consistent; the power adjustment value may be, for example, a power value, a voltage value, a current value, mechanical work.
Step S204: and adjusting the rotating speeds of all the lifting motor sets to be consistent.
In the above step S204, the power adjustment value obtained in step S203 is sent to the corresponding frequency converter through a module for driving hardware output and related data path, where the module may be an analog output module, and each frequency converter drives the corresponding motor again, so that the rotation speed of the motor is adjusted; the frequency converter mainly comprises a rectifying unit, a filtering unit, an inverting unit, a braking unit, a driving unit, a detecting unit micro-processing unit and the like.
Therefore, the flow chart of the synchronous lifting control method for the inclination angle of each lifting motor group and the horizontal plane within the safety range provided by the embodiment of the application embodies that when the inclination angle of each lifting motor group and the horizontal plane is within the safety range, the rotating speed of each lifting motor group is integrally adjusted, the situation that the inclination angle of each lifting motor group and the horizontal plane exceeds the safety range of the inclination angle is further avoided, and the ocean platform can be continuously and stably lifted.
Referring to fig. 3, fig. 3 is a flowchart of a method for adjusting the rotational speeds of all the main motors to be consistent according to an embodiment of the present application; the control method comprises the following steps:
step S300: and collecting the inclination angle of the main motor and the horizontal plane.
In step S300, the inclination angle of the main motor with respect to the horizontal plane is collected. Illustratively, the ocean platform is a four-leg platform, each leg is provided with 2 motors which are respectively a main motor and a slave motor, the numbers of the lifting motor groups are respectively motor 1, motor 2, motor 3, motor 4, motor 5, motor 6, motor 7 and motor 8, the odd motor is selected as the main motor, the even motor is selected as the slave motor, and the inclination angles of the four main motors and the horizontal plane are respectively theta1、θ3、θ5、θ7。
Step S301 of calculating the average value of all the dip angles as the evaluation dip angle
In step S301, the average of the inclination angles of the main motor and the horizontal plane, which are collected in step S300, is used as an evaluation inclination angle. In an exemplary manner, the first and second electrodes are,
the evaluation inclination angle in the inclination angle adjustment process of the ocean platform is shown.
Step S302: and calculating the difference between the evaluation inclination angle and the inclination angle of the corresponding main motor and the horizontal plane to obtain a first difference.
In the above step S302, the evaluation inclination angle in the step S301 is differentiated from the inclination angle of the corresponding main motor and the horizontal plane to obtain a first difference value, which is exemplarily a first difference value
The means for calculating the first difference may be a tilt synchronous compensator.
Step S303: and performing PD operation on the first difference to obtain corresponding inclination angle synchronous compensation quantity.
In the above step S303, PD operation, for example, if the inclination angle average value
Equal to the angle of inclination theta1When the speed compensation is needed, the original speed motion of the main motor is kept, and the speed compensation is not carried out; if mean value of inclination
Greater than the angle of inclination theta1When, i.e. the angle of inclination theta1Is negative, D1Positive, the speed of the motor is compensated for acceleration, according to the difference D1Performing acceleration compensation; if mean value of inclination
Less than the angle of inclination theta1When, i.e. the angle of inclination theta1Is positive, D1Is negative, the speed of the motor is compensated into deceleration according to the difference D1And (4) performing deceleration compensation. The PD operation control response is quick, the stability is good, and the quick adjustment of the ocean platform can be realized.
Step S304: a first power adjustment value required for adjusting synchronization of the corresponding main motor is obtained.
In the above step S304, the power adjustment value may be, for example, a power value, a voltage value, a current value, or mechanical work.
Step S305: the power of the corresponding main motor is adjusted.
In the above step S305, by driving a module of the hardware output and related data path, which may be an analog output module, the power value in step S304 is sent to the corresponding frequency converter, and each frequency converter drives the corresponding main motor, so that the rotation speed of the main motor is adjusted; the frequency converter can be composed of a rectifying unit, a filtering unit, an inverting unit, a braking unit, a driving unit, a detecting unit micro-processing unit and the like.
Referring to fig. 4, fig. 4 is a flowchart of a method for adjusting the rotational speeds of all slave motors to be consistent with the rotational speed of a master motor according to an embodiment of the present application; the control method comprises the following steps:
step S400: and collecting the rotating speeds of the main motor and the slave motor.
In the step S400, the ocean platform is a four-leg platform, each leg has 2 motors, which are a master motor and a slave motor, the numbers of the lifting motor group are respectively motor 1, motor 2, motor 3, motor 4, motor 5, motor 6, motor 7 and motor 8, the singular motor is selected as the master motor, the even motors are slave motors, that is, motor 1, motor 3, motor 5 and motor 7 are master motors, and the rest are slave motors, and the rotation speeds of the collected master motors are respectively: n is1、n3、n5、n7And the collected rotating speeds of the slave motors are respectively as follows: n is2、n4、n6、n8。
Step S401: and calculating a second difference value of the rotating speeds of the master motor and the slave motor.
In step S401, the rotation speeds of the master motor and the slave motor collected in step S400 are differentiated to obtain a second difference value. Exemplarily, S1＝n1-n2，S2＝n3-n4，S3＝n5-n6，S4＝n7-n8(ii) a The means for calculating the second difference may be a velocity synchronous compensator.
Step S402: and carrying out PID operation on the second difference value to obtain corresponding speed synchronous compensation quantity.
In the above step S402, the PID calculation is, for example, No. 1 leg, if S1If the rotation speed is 0, the original rotation speed of the slave motor is kept, and speed compensation is not carried out; if S1If greater than 0, then according to the difference S1Carrying out acceleration compensation on the size; if S1If less than 0, then according to the difference S1Carrying out deceleration compensation on the size; and the rotating speed of the slave motor is adjusted to be consistent with that of the master motor. The PID operation response is quick, the adjusting action is quick, the operation can be carried out in advance according to the change trend of the signals, and the stable lifting of the ocean platform is ensured.
Step S403: and calculating a second power adjustment value required for synchronization of the corresponding master motor and the slave motor.
Step S403: the power of the corresponding slave motor is adjusted.
In the above step S403, the speed synchronization compensation amount in the step S402 can be processed by the controller to obtain a second power adjustment value required for adjusting the rotation speed of the slave motor to be consistent with the rotation speed of the master motor; the second power adjustment value may be, for example, a power value, a voltage value, a current value, mechanical work.
Referring to fig. 5, fig. 5 is a flowchart of a method for synchronously adjusting the rotational speeds of all the master motors and the slave motors according to an embodiment of the present application; the control method comprises the following steps:
step S500: and collecting the inclination angles of all the lifting motor sets and the horizontal plane.
In step S500, the inclination angles of all the lifting motor sets with respect to the horizontal plane are collected. Display deviceFor example, the ocean platform is a four-leg platform, each leg is provided with 2 motors which are respectively a main motor and a slave motor, the numbers of the lifting motor sets are respectively motor 1, motor 2, motor 3, motor 4, motor 5, motor 6, motor 7 and motor 8, the single motor is selected as the main motor, the double motors are selected as the slave motors, and the collected inclination angles of all the lifting motor sets and the horizontal plane are respectively theta1、θ2、θ3、θ4、θ5、θ6、θ7。
Step S501: the average of all the inclination angles was calculated as the evaluation inclination angle.
In step S501, the average value of the inclination angles of all the elevator motor sets with respect to the horizontal plane, which is collected in step S500, is used as the evaluation inclination angle. In an exemplary manner, the first and second electrodes are,
the evaluation inclination angle in the inclination angle adjustment process of the ocean platform is shown.
Step S502: and calculating the difference between the evaluation inclination angle and the inclination angle between the corresponding lifting motor set and the horizontal plane to obtain a third difference.
In the above step S502, the evaluation inclination angle in the step S501 is differentiated from the inclination angle of the corresponding elevator motor group and the horizontal plane by a third difference value, which is exemplarily the third difference value
The means for calculating the third difference may be a tilt synchronous compensator.
Step S503: and performing PD operation on the third difference to obtain corresponding inclination angle synchronous compensation quantity.
In the above-mentioned step S503,PD calculation, illustratively, if dip mean
Equal to the angle of inclination theta1When the speed compensation is needed, the original speed motion of the main motor is kept, and the speed compensation is not carried out; if mean value of inclination
Greater than the angle of inclination theta1When, i.e. the angle of inclination theta1Is negative, X1Positive, the speed compensation for the motor is acceleration, according to the difference, X1Performing acceleration compensation; if mean value of inclination
Less than the angle of inclination theta1When, i.e. the angle of inclination theta1Is positive, X1Is negative, the speed of the motor is compensated into deceleration according to the difference X1And (4) performing deceleration compensation. The PD operation control response is quick, the stability is good, and the quick adjustment of the ocean platform can be realized.
Step S504: and obtaining a third power adjustment value required for adjusting the synchronization of the master motor and the slave motor.
In the above step S504, the power adjustment value may be, for example, a power value, a voltage value, a current value, or mechanical work.
Step S505: the power of the corresponding master and slave motors is adjusted.
In the step S505, the module, which may be an analog output module, for driving the hardware output and related data path sends the power value in the step S504 to the corresponding frequency converter, and each frequency converter drives the corresponding master motor and slave motor, so that the rotation speeds of the master motor and the slave motor are adjusted; the frequency converter can be composed of a rectifying unit, a filtering unit, an inverting unit, a braking unit, a driving unit, a detecting unit micro-processing unit and the like.
In an optional embodiment, before step S100, the method further includes: and detecting the height H of the ocean platform, judging whether the height H exceeds a preset height threshold value H, and if so, judging whether the inclination angle between each lifting motor set and the horizontal plane is within a safety range.
In an optional embodiment, after the rotating speed of the motor is acquired, the data is transmitted to the controller, the touch screen is communicated with the controller, and the system state is detected and various signal changes are displayed on the touch screen; similarly, the inclination angle sensor collects each inclination angle and transmits the inclination angle to the controller, and the touch screen is communicated with the controller, detects the system state on the touch screen and displays various signal changes; the touch screen may be a capacitive touch screen, a resistive touch screen, an infrared touch screen, an ultrasonic touch screen, or the like.
Referring to fig. 6, fig. 6 is a schematic view of an ocean platform capable of performing synchronous elevation control according to an embodiment of the present disclosure. The devices of the ocean platform in this embodiment are used for executing the steps of the above method embodiments, and the ocean platform 600 includes: the device comprises a plurality of pile legs for supporting the ocean platform, a lifting motor set and an inclination angle sensor which are arranged on the pile legs, and a controller; the inclination angle sensor 601 is configured to determine whether an inclination angle between each lifting motor set and a horizontal plane is within a safety range in the lifting process of the ocean platform.
In an alternative embodiment, the tilt sensor 601 may be: the device can be used for measuring the inclination angle by an optical theodolite, an electronic theodolite, a total station and the like.
And the controller 602 is used for calculating the inclination angle difference and the inclination angle synchronous compensation quantity of each lifting motor group, obtaining a power adjustment value required for adjusting the inclination angle of the lifting motor group to be consistent with the horizontal plane, and transmitting the power adjustment value to the lifting motor group. The inclination angle difference value is the difference value of the average values of the inclination angles of the current lifting motor group and all the lifting motor groups; the inclination angle synchronous compensation quantity is positively correlated with the inclination angle difference. In the implementation process, the controller collects and processes the data and communicates with the touch screen, so that the real-time monitoring of the ocean platform is realized, and the lifting condition of the ocean platform can be synchronously monitored.
And the lifting motor sets 603 are used for adjusting the inclination angles of all the lifting motor sets to be consistent with the horizontal plane according to the power adjustment value.
In an optional embodiment, the ocean platform is a four-leg platform, each leg is provided with 2 motors which are respectively a main motor and a slave motor, the numbers of the lifting motor groups are respectively motor 1, motor 2, motor 3, motor 4, motor 5, motor 6, motor 7 and motor 8, the odd number motor is selected as the main motor, the even number motors are slave motors, namely motor 1, motor 3, motor 5 and motor 7 are the main motors, and the rest are the slave motors; the main motor is a main driving motor, and the auxiliary motor is an auxiliary motor.
In an optional embodiment, the ocean platform is a four-leg platform, each leg is provided with 2 motors which are respectively a main motor and a slave motor, the numbers of the lifting motor groups are respectively motor 1, motor 2, motor 3, motor 4, motor 5, motor 6, motor 7 and motor 8, odd motors are selected as the main motors, even motors are selected as the slave motors, motor 1 and motor 2 are first motor components, motor 3 and motor 4 are second motor components, motor 5 and motor 6 are third motor components, and motor 7 and motor 8 are fourth motor components; each motor group is installed on four corners of platform body, and each motor synchronous working drives the gear rotation among the elevating gear through transmission mode, and the gear among the elevating gear passes through rack and pinion meshing transmission with the rack spud leg again to drive the platform body and rise or descend, realize the lift of platform body. Wherein, the lifting device, the rack pile leg, the motor and the reduction gearbox form a mechanical transmission system of the system.
In an alternative embodiment, if the tilt sensor 601 detects that the tilt angle of each of the lift motor sets 603 with respect to the horizontal plane is within a safe range; the controller 602 calculates a rotation speed difference value and a rotation speed synchronous compensation amount for each of the lifting motor sets 603 to obtain a power adjustment value required for adjusting the rotation speed of the lifting motor sets 603 to be consistent; the lifting motor sets 603 are driven by the power adjusting value so as to adjust the rotating speeds of all the lifting motor sets 603 to be consistent; the rotating speed difference value is the difference value of the rotating speeds of the current lifting motor set and the average value of the rotating speeds of all the lifting motor sets; the rotation speed synchronous compensation quantity is positively correlated with the rotation speed difference value.
In an alternative embodiment, the elevator motor assembly 603 includes a master motor and a slave motor; the method further comprises the following steps: in the lifting process, the rotation speed of the slave motor is adjusted to be consistent with that of the main motor through the controller 602, and the controller 602 controls the main motor and the slave motor to be synchronous.
In an alternative embodiment, the driving of the lift motor sets 603 by the power adjustment value output by the controller 602 to adjust the tilt angles of all the lift motor sets 603 with respect to the horizontal plane includes: the controller 602 adjusts the rotation speeds of all the master motors to be consistent, and adjusts the rotation speeds of all the slave motors to be consistent with the rotation speed of the master motor based on the rotation speed of the master motor, or the controller 602 synchronously adjusts the rotation speeds of all the master motors and the slave motors to be consistent.
In an alternative embodiment, the controller 602 adjusts the rotational speeds of all the main motors to be uniform, including: the tilt angle sensor 601 collects tilt angles of all main motors and a horizontal plane; the controller 602 calculates an average value of all the tilt angles as an evaluation tilt angle; the controller 602 calculates a difference between the evaluation inclination and an inclination of the corresponding main motor and the horizontal plane to obtain a first difference; the controller 602 performs PD operation on the first difference to obtain a corresponding tilt synchronization compensation amount; the controller 602 calculates a first power adjustment value required for synchronization of the corresponding main motor according to the tilt synchronization compensation amount, and adjusts the power of the corresponding main motor.
In an alternative embodiment, the controller 602 adjusts the rotation speed of all the slave motors to be consistent with the rotation speed of the master motor, including: collecting the rotating speeds of a main motor and a slave motor; the controller 602 calculates a second difference between the rotation speeds of the master motor and the slave motor; the controller 602 performs PID operation on the second difference to obtain a corresponding speed synchronization compensation amount; the controller 602 calculates a second power adjustment value required for synchronization of the corresponding master motor and slave motor according to the speed synchronization compensation amount, and adjusts the power of the corresponding slave motor.
In an alternative embodiment, the controller 602 synchronously adjusts the rotation speeds of all the master and slave motors to be consistent, including: the inclination angle sensor 601 collects the inclination angles of all the lifting motor sets and the horizontal plane; the controller 602 calculates an average value of all the tilt angles as an evaluation tilt angle; the controller 602 calculates a difference between the evaluation inclination angle and the inclination angle of the corresponding lifting motor group and the horizontal plane to obtain a third difference; the controller 602 performs PD operation on the third difference to obtain a corresponding tilt synchronization compensation amount; the controller 602 calculates a third power adjustment value required by synchronization of the main motor and the slave motor in the corresponding lifting motor set according to the tilt angle synchronous compensation amount, and adjusts the power of the corresponding main motor and the slave motor.
In an optional embodiment, the method further comprises: the height of the ocean platform is detected, the controller 602 determines whether the height exceeds a preset height threshold, and if the height exceeds the preset height threshold, the controller determines whether the inclination angle between each lifting motor set and the horizontal plane is within a safety range.
In an alternative embodiment, the controller 602 receives control of the ocean platform via a touch screen and displays information about the ocean platform on the touch screen.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, where the memory stores program instructions, and the processor executes the steps in any one of the above implementation manners when reading and executing the program instructions.
Based on the same inventive concept, embodiments of the present application further provide a computer-readable storage medium, where computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the computer program instructions perform steps in any of the above-mentioned implementation manners.
The computer-readable storage medium may be a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and other various media capable of storing program codes. The storage medium is used for storing a program, and the processor executes the program after receiving an execution instruction.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
Alternatively, all or part of the implementation may be in software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part.
The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.).
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A synchronous lifting control method of an ocean platform is characterized in that the method is applied to the ocean platform, and the ocean platform comprises a plurality of pile legs for supporting the ocean platform and a lifting motor set arranged on the pile legs; the method comprises the following steps:
judging whether the inclination angle of each lifting motor group and the horizontal plane is within a safety range or not in the lifting process of the ocean platform;
if not, respectively calculating an inclination angle difference value and an inclination angle synchronous compensation quantity for each lifting motor group to obtain a power adjustment value required for adjusting the inclination angle of the lifting motor group to be consistent with the horizontal plane; the power adjustment value drives the lifting motor sets to adjust the inclination angles of all the lifting motor sets to be consistent with the horizontal plane;
the inclination angle difference value is the difference value of the average values of the inclination angles of the current lifting motor group and all the lifting motor groups; the inclination angle synchronous compensation quantity is positively correlated with the inclination angle difference.
2. The method of claim 1, further comprising: if the inclination angle between each lifting motor group and the horizontal plane is within a safety range, respectively calculating a rotating speed difference value and a rotating speed synchronous compensation quantity for each lifting motor group to obtain a power adjustment value required for adjusting the rotating speed consistency of the lifting motor groups; the power adjustment value drives the lifting motor sets to adjust the rotating speeds of all the lifting motor sets to be consistent;
the rotating speed difference value is the difference value of the rotating speeds of the current lifting motor set and the average value of the rotating speeds of all the lifting motor sets; the rotation speed synchronous compensation quantity is positively correlated with the rotation speed difference value.
3. The method of claim 1, wherein the hoist motor assembly includes a master motor and a slave motor; the method further comprises the following steps: and during the lifting process, the rotation speed of the slave motor is adjusted to be consistent with that of the main motor, so that the synchronization of the main motor and the slave motor is controlled.
4. The method of claim 3, wherein driving the lift motor sets with the power adjustment value to adjust the tilt of all lift motor sets to be consistent with a horizontal plane comprises: and adjusting the rotating speeds of all the main motors to be consistent, and adjusting the rotating speeds of all the slave motors to be consistent with the rotating speed of the main motor or synchronously adjusting the rotating speeds of all the main motors and the slave motors to be consistent based on the rotating speed of the main motor.
5. The method of claim 4, wherein said adjusting the rotational speeds of all the primary motors to be uniform comprises:
collecting the inclination angles of all main motors and the horizontal plane;
calculating the average value of all the dip angles as an evaluation dip angle;
calculating the difference value between the evaluation inclination angle and the inclination angle between the corresponding main motor and the horizontal plane to obtain a first difference value;
performing PD operation on the first difference to obtain corresponding inclination angle synchronous compensation quantity; and
and calculating a first power adjustment value required by synchronization of the corresponding main motor according to the inclination angle synchronization compensation quantity, and adjusting the power of the corresponding main motor.
6. The method of claim 4, wherein said adjusting the rotational speed of all slave motors to be in accordance with the rotational speed of the master motor comprises:
collecting the rotating speeds of a main motor and a slave motor;
calculating a second difference value of the rotating speeds of the main motor and the auxiliary motor;
carrying out PID operation on the second difference value to obtain corresponding speed synchronous compensation quantity; and
and calculating a second power adjustment value required by the synchronization of the corresponding main motor and the slave motor according to the speed synchronization compensation amount, and adjusting the power of the corresponding slave motor.
7. The method of claim 4, wherein said synchronously adjusting the rotational speeds of all master and slave motors to be consistent comprises:
collecting the inclination angles of all the lifting motor sets and a horizontal plane;
calculating the average value of all the dip angles as an evaluation dip angle;
calculating the difference value between the evaluation inclination angle and the inclination angle between the corresponding lifting motor set and the horizontal plane to obtain a third difference value;
performing PD operation on the third difference to obtain corresponding inclination angle synchronous compensation quantity;
and calculating a third power adjustment value required by synchronization of a main motor and a slave motor in the corresponding lifting motor set according to the inclination angle synchronous compensation quantity, and adjusting the power of the corresponding main motor and the slave motor.
8. The method of claim 1, further comprising: and detecting the height of the ocean platform, judging whether the height exceeds a preset height threshold value, and if so, judging whether the inclination angle between each lifting motor set and the horizontal plane is within a safety range.
9. The method of claim 1, further comprising: the control of the ocean platform is received through the touch screen, and the information of the ocean platform is displayed on the touch screen.
10. An ocean platform, comprising: the device comprises a plurality of pile legs for supporting the ocean platform, a lifting motor set and an inclination angle sensor which are arranged on the pile legs, and a controller;
the inclination angle sensor is used for judging whether the inclination angle between each lifting motor set and the horizontal plane is within a safe range or not in the lifting process of the ocean platform; the controller is used for calculating an inclination angle difference value and an inclination angle synchronous compensation quantity of each lifting motor set, obtaining a power adjustment value required for adjusting the inclination angle of each lifting motor set to be consistent with the inclination angle of a horizontal plane, and transmitting the power adjustment value to the lifting motor sets;
the lifting motor sets are used for adjusting the inclination angles of all the lifting motor sets to be consistent with the horizontal plane according to the power adjustment value;
the inclination angle difference value is the difference value of the average values of the inclination angles of the current lifting motor group and all the lifting motor groups; the inclination angle synchronous compensation quantity is positively correlated with the inclination angle difference.
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Application publication date: 20220325 |