CN114735140A - Method, equipment and medium for compensating disturbance speed of wind power pile boarding trestle - Google Patents

Method, equipment and medium for compensating disturbance speed of wind power pile boarding trestle Download PDF

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Publication number
CN114735140A
CN114735140A CN202210380956.3A CN202210380956A CN114735140A CN 114735140 A CN114735140 A CN 114735140A CN 202210380956 A CN202210380956 A CN 202210380956A CN 114735140 A CN114735140 A CN 114735140A
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increment
value
interference
formula
speed
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CN114735140B (en
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张松涛
宋吉广
梁利华
史洪宇
吉明
王经甫
杨生
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Harbin Harbin Ship Rolling Reduction Automation Equipment Co ltd
Harbin Engineering University
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Harbin Harbin Ship Rolling Reduction Automation Equipment Co ltd
Harbin Engineering University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B2017/0072—Seaway compensators
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/727—Offshore wind turbines

Abstract

The invention provides a method, equipment and medium for compensating the interference speed of a wind power pile boarding trestle. According to the method, the interference speed (ship movement speed) compensation mode is introduced and is combined with the interference position compensation, so that the rapidity and the compensation effect of the active movement compensation trestle are improved, the use experience of the trestle lapping process is improved, the accessibility of the wind power pile in severe weather is improved, and the safety of boarding personnel is improved.

Description

Method, equipment and medium for compensating disturbance speed of wind power pile boarding trestle
Technical Field
The invention belongs to the technical field of offshore wind power boarding trestles with a wave compensation function, and particularly relates to a method, equipment and medium for compensating the interference speed of a wind power pile boarding trestle. In particular to a control method for compensating the movement speed of a ship to improve the movement compensation precision and realize the smooth lap joint of an offshore wind power pile on a trestle under the condition of high sea.
Background
Wind energy is a clean renewable energy source. Compared with land wind power generation, the offshore wind power generation device has the advantages of not occupying land area, having small influence on birds and the like, and has the advantages of less calm wind period, large wind power and the like. China has abundant wind energy in offshore and middle and far seas, and the development of offshore wind power has important significance for optimizing energy structures in China.
However, offshore wind power is more expensive to install and maintain than terrestrial wind power. Under severe weather conditions, the severe shaking of the operation and maintenance ship makes it difficult and dangerous for operation and maintenance personnel to board the wind power pile. An Active Motion Compensation (AMC) trestle enables the tail end of the trestle to keep static relative to a geodetic coordinate system (a wind power pile fixed on the ground) or reduces the influence of sea waves on the movement of the trestle by compensating the movement of a ship with a plurality of degrees of freedom, so that the accessibility of personnel to the wind power pile in severe weather is improved.
As shown in fig. 1, the three-degree-of-freedom AMC trestle mainly comprises a base (B1), a support (B2), a pitch bridge (B3), a telescopic bridge (B4), and an insertion plate (B5) at the end of the telescopic bridge. When the inserting plate is inserted into the basic ladder stand of the wind turbine generator platform, maintenance personnel can reach the ladder stand through the support, the pitching bridge and the telescopic bridge and can climb to the offshore wind turbine generator platform. According to the requirement of safety regulations, when the distance between the operation and maintenance ship and the ladder stand of the offshore wind turbine generator does not exceed half of the step length of an adult, the user can board the ladder stand of the wind turbine generator. However, the influence of sea tides and waves can cause the ladder of ships and offshore wind power platforms to have a certain distance in the vertical direction and the horizontal direction, and the distance can change along with the shaking of the ships.
A motion measuring unit mounted on the ship measures the motion of the ship with six degrees of freedom, and the yawing, pitching and heaving motions of the ship are compensated by the (Y1) rotary hydraulic cylinder, the (Y2) pitching hydraulic cylinder and the (Y3) telescopic hydraulic cylinder, so that the displacement change of the (B5) insertion plate relative to the ladder stand is caused. Meanwhile, the whole trestle can also keep a relatively stable state.
When sea storms are small, an operator can close the active motion compensation function, the proportional valve group is controlled through the operating handle to control the rotation speed, the pitching speed and the motion speed of the piston rod of the telescopic hydraulic cylinder, the inserting plate at the tail end of the telescopic bridge can be smoothly inserted into the ladder stand, and the establishment of a personnel channel is completed. In a heavy storm state, the swing of the ship can be amplified by the inserting plate positioned at the tail end of the telescopic bridge, so that the process of inserting the ladder becomes difficult. At this time, it is necessary to turn on the active compensation function, to eliminate or reduce the influence of the roll of the vessel on the insertion plate, and when the operation handle is not operated, the coordinates of the end of the insertion plate are kept stationary with respect to the geodetic coordinate system or the influence of the motion of the vessel is reduced. In order to complete active Motion compensation, Motion of a ship in six degrees of freedom needs to be measured by a Motion Reference Unit (MRU), and compensation quantities of a trestle in a rotation degree of freedom, a pitching degree of freedom and a stretching degree of freedom are calculated through a conversion matrix so as to compensate motions of the ship in the directions of yawing, pitching and heaving. In order to keep the insertion plate static relative to a geodetic coordinate system, the active motion compensation trestle needs to compensate the position change of the insertion plate caused by the movement of a ship, so that the trestle is a position servo system for controlling the three degrees of freedom of rotation, pitching and stretching, and the extension amount of a piston rod of a hydraulic cylinder is controlled according to position errors. However, the following problems mainly exist in the active motion compensation process in this compensation method:
(1) due to the influences of ship motion randomness, MRU sampling delay, limitation of hydraulic cylinder motion speed, mechanical clearance of trestle installation and the like, in the working process of the active motion compensation trestle, for ship motion with relatively high frequency, only the measured ship position is used for compensation, tracking delay can be caused, and the compensation effect is poor.
(2) In the process that the operating handle drives the insertion plate to be inserted into the basic ladder stand of the wind turbine generator platform under the high sea condition, only the speed control of the operating handle and the position control of active motion compensation are simply superposed, the experience which is consistent with the process of the operating handle when the compensation function is closed under the calm sea cannot be obtained, and the operation is not smooth.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a method, equipment and medium for compensating the disturbance speed of a wind power pile boarding trestle. According to the method, the interference speed (ship motion speed) compensation mode is introduced and is combined with the interference position compensation, so that the rapidity and the compensation effect of the active motion compensation trestle are improved, the use experience of the trestle lapping process is improved, the accessibility of the wind power pile in severe weather is improved, and the safety of passengers is improved.
The invention is realized by the following technical scheme, and provides a disturbance speed compensation method for a wind power pile boarding trestle, which specifically comprises the following steps:
step 1, setting the position of an insertion plate as x ═ x1,x2,x3]T，x1,x2,x3The coordinate values of the insert plate in three coordinate axes of the geodetic coordinate system O-XYZ are respectively expressed as follows:
Figure BDA0003592964980000021
wherein A, B, C and D represent a system matrix, u (k) ═ r (k), p (k), s (k)]TRespectively a rotation value, a pitching value and a stretching value of the trestle; d (k) ═ rs(k),ps(k),hs(k)]TRespectively the ship's yaw value, pitch value and heave value, and the output value y ═ x1,x2,x3]TK represents a time series;
step 2, changing the equation (1) into a differential form, setting a target function J (k) for converting the tracking errors of the position and the speed, and determining the increment of the control quantity through the target function;
step 3, obtaining the increment of ship motion interference through an Extended State Observer (ESO);
step 4, synthesizing the control quantity increment and the interference quantity increment to obtain a final control quantity;
step 5, recording the system state of the moment when the AMC function is started as x (0), and inserting the target position x of the board when the operating handle does not actr(k) X (0), target speed of insert plate
Figure BDA0003592964980000031
The control quantity at this time is used for compensating the change of the coordinates of the inserting plate caused by the movement of the ship; inserting the target speed of the plate when the operating handle is actuated
Figure BDA0003592964980000032
Proportional to the output voltage of the operating handle, xr(k) Is composed of
Figure BDA0003592964980000033
To track the operation of the handle.
Further, equation (1) is changed to differential form:
Figure BDA0003592964980000034
in the formula (I), the compound is shown in the specification,
Figure BDA0003592964980000035
respectively increment of the state quantity, the control quantity and the interference quantity; in the system matrix
Figure BDA0003592964980000036
Figure BDA0003592964980000037
O is a zero matrix and I is an identity matrix.
Further, the increments of the control variables are obtained by solving the following objective function, taking into account the magnitude constraint and the velocity constraint of the control variables u (k):
Figure BDA0003592964980000038
Figure BDA0003592964980000039
in the formula, NpFor predicting the time domain, matrices Q and S are semi-positive definite matrices, matrices R and P are positive definite matrices,
Figure BDA00035929649800000310
Figure BDA00035929649800000311
representing a state error, xr(k) For inserting into the target position of the plate, xd(k) The differential of x (k), i.e., the velocity of the insert plate, thus the error includes both position and velocity errors;
Figure BDA00035929649800000312
increased degree of freedom for controlled quantity increments
Figure BDA00035929649800000313
To simulate the increase in the amount of interference.
Further, minimizing the objective function j (k) yields the following control sequence:
Figure BDA00035929649800000314
therefore, solving the objective function problem at each sampling period can be converted to a quadratic programming as follows:
Figure BDA00035929649800000315
Subject to Lη≤b
wherein L and b are used to limit the magnitude and speed of the control quantity; the matrices F and H are defined as follows and obtained by real-time calculation:
Figure BDA0003592964980000041
Figure BDA0003592964980000042
Figure BDA0003592964980000043
Figure BDA0003592964980000044
status of state
Figure BDA0003592964980000045
Can be expressed as:
Figure BDA0003592964980000046
further, formula (5) is adopted to optimize eta in real time*An optimized value of the control quantity increment can be obtained
Figure BDA0003592964980000047
At the same time, optimized interference value increment can be obtained
Figure BDA0003592964980000048
The control amount increment can thus be obtained by the following equation:
Figure BDA0003592964980000049
in which mu (k) is used to compensate for interference
Figure BDA00035929649800000410
Which pass through
Figure BDA00035929649800000411
Obtaining; minimize error E (k), μ (k) satisfies
Figure BDA00035929649800000412
In the formula (I), the compound is shown in the specification,
Figure BDA00035929649800000413
is an estimate of the interference, while μ (k) is calculated by:
Figure BDA00035929649800000414
further, in order to obtain the interference increment
Figure BDA00035929649800000415
Is estimated value of
Figure BDA00035929649800000416
The disturbance is observed using the extended state observer ESO as follows:
Figure BDA0003592964980000051
in the formula (I), the compound is shown in the specification,
Figure BDA0003592964980000052
an estimate of the value of the symbol x,
Figure BDA0003592964980000053
represents an estimate of the differential of x,
Figure BDA0003592964980000054
represents an estimate of x second derivative; t issFor the sampling period, θ is the observer gain, ko1,ko2,ko3And ko4Is the observer coefficient; function gi(i-1, 2,3,4) is represented by:
Figure BDA0003592964980000055
in the formula, alpha1＝γ,α2＝2γ-1,α3＝3γ-2,α44 γ -3, γ ∈ (3/4, 1); k is a positive definite matrix; based on the estimation of d (k) by equation (10), obtaining
Figure BDA0003592964980000056
And calculating μ (k) by equation (9); the control variable to be optimized is
Figure BDA0003592964980000057
Further, the maximum and minimum values of the control quantity are respectively determined to be u through the stroke of the hydraulic cylinder and the mechanical structuresU、usL(ii) a The maximum value and the minimum value of the control quantity increment are respectively determined by the flow of the proportional valve
Figure BDA0003592964980000058
Namely that
Figure BDA0003592964980000059
μ (k) in equation (9) may be re-described as:
Figure BDA00035929649800000510
in the formula (I), the compound is shown in the specification,
Figure BDA00035929649800000511
the magnitude constraint of the control quantity can therefore be expressed by the following inequality:
Figure BDA00035929649800000512
in the formula (I), the compound is shown in the specification,
Figure BDA0003592964980000061
also, the constraint on the control quantity increment can be expressed by the following inequality:
Figure BDA0003592964980000062
in the formula (I), the compound is shown in the specification,
Figure BDA0003592964980000063
and
Figure BDA0003592964980000064
are respectively as
Figure BDA0003592964980000065
And
Figure BDA0003592964980000066
an increment of (d);
Figure BDA0003592964980000067
the invention provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the interference speed compensation method for the wind power pile boarding trestle when executing the computer program.
The invention provides a computer-readable storage medium for storing computer instructions, which when executed by a processor, implement the steps of the disturbance speed compensation method for a wind power pile boarding trestle.
The beneficial effects of the invention are as follows:
(1) the difference form of the trestle model is adopted, and the tracking speed error is added into the error, so that the rapidity and the dynamic compensation precision of the active motion compensation are improved;
(2) the value proportional to the output voltage of the operating handle is used as the tracking speed, the integral of the tracking speed is used as the target position, and the operation experience of the handle is improved;
(3) the speed limit of the movement of the hydraulic cylinder and the position constraint of the trestle are considered in the control quantity solving control, so that the obtained control quantity is physically feasible control, the emergency braking caused by limiting the movement amplitude by a limit switch is avoided, and the movement stability at the extreme position is ensured.
Drawings
FIG. 1 is a schematic diagram of an AMC trestle; wherein Y1 is a rotary hydraulic cylinder; a Y2 pitch cylinder; y3 telescopic hydraulic cylinder; b1 base; b2 support; b3 pitch bridge; b4 telescopic bridge; b5 insert plate;
FIG. 2 is a schematic diagram of a trestle lapped wind power pile; wherein B4 telescopic bridge; b5 insert plate; c1 wind turbine platform; c2 climbing a ladder;
fig. 3 is a functional block diagram of disturbance speed compensation.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With reference to fig. 1 to 3, the invention provides a disturbance speed compensation method for a wind power pile boarding trestle, wherein the lapping process of the trestle is as shown in fig. 2, and an insertion plate is inserted into a basic ladder of a wind turbine platform to complete the establishment of a personnel channel; the method specifically comprises the following steps:
step 1, setting the position of an insertion plate as x ═ x1,x2,x3]T，x1,x2,x3The coordinate values of the insert plate on three coordinate axes of the geodetic coordinate system O-XYZ are respectively shown as follows:
Figure BDA0003592964980000071
wherein A, B, C and D are system matrices, u (k) ═ r (k), p (k), s (k)]TRespectively a rotation value, a pitching value and a stretching value of the trestle; d (k) ═ rs(k),ps(k),hs(k)]TRespectively the ship's yaw value, pitch value and heave value, and the output value y ═ x1,x2,x3]TK represents a time series;
step 2, in order to process the rapidly changing ship motion, changing the equation (1) into a difference form, setting a target function J (k) for converting the position and speed tracking error, and determining the increment of the control quantity through the target function;
step 3, obtaining the increment of ship motion interference through an Extended State Observer (ESO);
step 4, synthesizing the control quantity increment and the interference quantity increment to obtain a final control quantity;
step 5, recording the system state at the moment when the AMC function is started as x (0), and inserting the target position x of the board when the operating handle is not operatedr(k) X (0), target speed of the insert plate
Figure BDA0003592964980000072
The control quantity at the moment is used for compensating the change of the coordinates of the inserting plate caused by the movement of the ship, and the error comprises a speed error; inserting the target speed of the plate when the operating handle is actuated
Figure BDA0003592964980000073
Proportional to the output voltage of the operating handle, xr(k) Is composed of
Figure BDA0003592964980000074
To track the operation of the handle. Target position of the insert plate in equation (3) when the handle is operated
Figure BDA0003592964980000075
(in a digital control system, the integral value is replaced by a sum of sums)Target speed of the end of the insert plate
Figure BDA0003592964980000076
(vrOutput voltage k for three degrees of freedom of the operating handlevA scaling factor). The control amount at this time is used to compensate for the change in the coordinates of the insert plate due to the movement of the vessel, and is also responsive to the operation of the handle. By adjusting kvIs obtained by vrThe speed of the opening of the proportional valve is directly controlled to be consistent, so that the handle operation is smoother, and the operation experience of the handle after the AMC function is started is improved.
Changing equation (1) to differential form:
Figure BDA0003592964980000081
in the formula (I), the compound is shown in the specification,
Figure BDA0003592964980000082
respectively increment of the state quantity, the control quantity and the interference quantity; in the system matrix
Figure BDA0003592964980000083
Figure BDA0003592964980000084
O is a zero matrix and I is an identity matrix.
The increments of the control variables are obtained by solving the following objective function, taking into account the magnitude constraint and the velocity constraint of the control variables u (k):
Figure BDA0003592964980000085
Figure BDA0003592964980000086
in the formula, NpFor predicting the time domain, matrices Q and S are semi-positive definite matrices, matrices R and P are positive definite matrices,
Figure BDA0003592964980000087
Figure BDA0003592964980000088
representing a state error, xr(k) For inserting into the target position of the plate, xd(k) The differential of x (k), i.e., the velocity of the insertion plate, thus the error includes both position and velocity errors;
Figure BDA0003592964980000089
increased degree of freedom for controlled quantity increments
Figure BDA00035929649800000810
To simulate the increase in the amount of interference.
The objective function contains the speed error and the increment of the disturbance quantity (equivalent to the disturbance speed), so that the rapidly changing ship motion can be reflected.
Minimizing the objective function j (k) yields the following control sequence:
Figure BDA00035929649800000811
therefore, solving the objective function problem at each sampling period can be converted to a quadratic programming as follows:
Figure BDA00035929649800000812
Subject to Lη≤b
wherein L and b are used to limit the magnitude and speed of the control quantity; the matrices F and H are defined as follows and are obtained by real-time calculation:
Figure BDA0003592964980000091
Figure BDA0003592964980000092
Figure BDA0003592964980000093
Figure BDA0003592964980000094
status of state
Figure BDA0003592964980000095
Can be expressed as:
Figure BDA0003592964980000096
real-time optimization of eta using equation (5)*An optimized value of the control quantity increment can be obtained
Figure BDA0003592964980000097
At the same time, optimized interference value increment can be obtained
Figure BDA0003592964980000098
The control amount increment can thus be obtained by the following equation:
Figure BDA0003592964980000099
in which mu (k) is used to compensate for interference
Figure BDA00035929649800000910
Which pass through
Figure BDA00035929649800000911
Obtaining; minimize error E (k), μ (k) satisfies
Figure BDA00035929649800000912
In the formula (I), the compound is shown in the specification,
Figure BDA00035929649800000913
is an estimate of the interference, while μ (k) is calculated by:
Figure BDA00035929649800000914
to obtain an increase in the amount of interference
Figure BDA00035929649800000915
Is estimated value of
Figure BDA00035929649800000916
The disturbance is observed using the extended state observer ESO as follows:
Figure BDA0003592964980000101
in the formula (I), the compound is shown in the specification,
Figure BDA0003592964980000102
an estimate of the value of x is represented,
Figure BDA0003592964980000103
represents an estimate of the differential of x,
Figure BDA0003592964980000104
represents an estimate of x second derivative; t issFor the sampling period, θ is the observer gain, ko1,ko2,ko3And ko4Is the observer coefficient; function gi(i ═ 1,2,3,4) is represented by:
Figure BDA0003592964980000105
in the formula, alpha1＝γ,α2＝2γ-1,α3＝3γ-2,α44 γ -3, γ ∈ (3/4, 1); k is a positive definite matrix; obtaining based on the estimation of d (k) by equation (10)
Figure BDA0003592964980000106
And calculating μ (k) by equation (9); the control variable to be optimized is
Figure BDA0003592964980000107
Determining the maximum and minimum values of the control quantity to be u through the stroke and the mechanical structure of the hydraulic cylindersU、usL(ii) a The maximum value and the minimum value of the control quantity increment are respectively determined by the flow of the proportional valve
Figure BDA0003592964980000108
Namely that
Figure BDA0003592964980000109
μ (k) in equation (9) may be re-described as:
Figure BDA00035929649800001010
in the formula (I), the compound is shown in the specification,
Figure BDA00035929649800001011
the magnitude constraint of the control quantity can therefore be expressed by the following inequality:
Figure BDA00035929649800001012
in the formula (I), the compound is shown in the specification,
Figure BDA0003592964980000111
also, the constraint on the control quantity increment can be expressed by the following inequality:
Figure BDA0003592964980000112
in the formula (I), the compound is shown in the specification,
Figure BDA0003592964980000113
and
Figure BDA0003592964980000114
are respectively as
Figure BDA0003592964980000115
And
Figure BDA0003592964980000116
an increment of (d);
Figure BDA0003592964980000117
as shown in fig. 3, the system of the active motion compensation method based on disturbance velocity compensation of the present invention includes an operation handle integration unit, a quadratic programming unit, a controlled variable calculation unit, an extended state observer unit, a controlled trestle object, and an MRU.
The invention provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the interference speed compensation method for the wind power pile boarding trestle when executing the computer program.
The invention provides a computer-readable storage medium for storing computer instructions, which when executed by a processor implement the steps of the disturbance speed compensation method for a wind power pile boarding trestle.
The method, the device and the medium for compensating the disturbance speed of the wind power pile boarding trestle are introduced in detail, a specific example is applied in the method for explaining the principle and the implementation mode of the method, and the description of the embodiment is only used for helping to understand the method and the core idea of the method; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (9)

1. The method for compensating the disturbance speed of the wind power pile boarding trestle is characterized by comprising the following steps of:
step 1, setting the position of an insertion plate as x ═ x1,x2,x3]T，x1,x2,x3The coordinate values of the insert plate in three coordinate axes of the geodetic coordinate system O-XYZ are respectively expressed as follows:
Figure FDA0003592964970000011
wherein A, B, C and D are system matrices, u (k) ═ r (k), p (k), s (k)]TRespectively a rotation value, a pitching value and a stretching value of the trestle; d (k) ═ rs(k),ps(k),hs(k)]TRespectively the ship's yaw value, pitch value and heave value, and the output value y ═ x1,x2,x3]TK represents a time series;
step 2, changing the equation (1) into a differential form, setting a target function J (k) for converting the tracking errors of the position and the speed, and determining the increment of the control quantity through the target function;
step 3, obtaining the increment of ship motion interference through an Extended State Observer (ESO);
step 4, synthesizing the control quantity increment and the interference quantity increment to obtain a final control quantity;
step 5, recording the system state at the moment when the AMC function is started as x (0), and inserting the target position x of the board when the operating handle is not operatedr(k) X (0), target speed of insert plate
Figure FDA0003592964970000012
The control quantity at this time is used for compensating the change of the coordinates of the inserting plate caused by the movement of the ship; inserting the target speed of the plate when the operating handle is actuated
Figure FDA0003592964970000013
Proportional to the output voltage of the operating handle, xr(k) Is composed of
Figure FDA0003592964970000014
To track the operation of the handle.
2. The method of claim 1, wherein equation (1) is transformed into a differential form:
Figure FDA0003592964970000015
in the formula (I), the compound is shown in the specification,
Figure FDA0003592964970000016
respectively increment of the state quantity, the control quantity and the interference quantity; in the system matrix
Figure FDA0003592964970000017
Figure FDA0003592964970000018
O is a zero matrix and I is an identity matrix.
3. A method according to claim 2, characterized in that the increments of the control variables are obtained by solving the following objective function, taking into account the magnitude constraint and the velocity constraint of the control variables u (k):
Figure FDA0003592964970000021
Figure FDA0003592964970000022
in the formula, NpFor predicting the time domain, matrices Q and S are semi-positive definite matrices, matrices R and P are positive definite matrices,
Figure FDA0003592964970000023
Figure FDA0003592964970000024
representing a state error, xr(k) For inserting into the target position of the plate, xd(k) The differential of x (k), i.e., the velocity of the insert plate, thus the error includes both position and velocity errors;
Figure FDA0003592964970000025
increased degree of freedom for controlled quantity increments
Figure FDA0003592964970000026
To simulate the increase in the amount of interference.
4. A method according to claim 3, characterized in that minimizing the objective function j (k) results in a control sequence as follows:
Figure FDA0003592964970000027
therefore, solving the objective function problem at each sampling period can be converted to a quadratic programming as follows:
Figure FDA0003592964970000028
Subject to Lη≤b
wherein L and b are used to limit the magnitude and speed of the control quantity; the matrices F and H are defined as follows and are obtained by real-time calculation:
Figure FDA0003592964970000029
Figure FDA00035929649700000210
Figure FDA00035929649700000211
Figure FDA00035929649700000212
status of state
Figure FDA00035929649700000213
Can be expressed as:
Figure FDA0003592964970000031
5. the method of claim 4, wherein η is optimized in real time using equation (5)*An optimized value of the control quantity increment can be obtained
Figure FDA0003592964970000032
At the same time, optimized interference value increment can be obtained
Figure FDA0003592964970000033
The control amount increment can thus be obtained by the following equation:
Figure FDA0003592964970000034
in which mu (k) is used to compensate for interference
Figure FDA0003592964970000035
Which pass through
Figure FDA0003592964970000036
Obtaining; minimize error E (k), μ (k) satisfies
Figure FDA0003592964970000037
In the formula (I), the compound is shown in the specification,
Figure FDA0003592964970000038
is an estimate of interference, while μ (k) is calculated by:
Figure FDA0003592964970000039
6. method according to claim 5, characterized in that, in order to obtain the interference increment
Figure FDA00035929649700000310
Is estimated value of
Figure FDA00035929649700000311
The disturbance is observed using the extended state observer ESO as follows:
Figure FDA00035929649700000312
in the formula (I), the compound is shown in the specification,
Figure FDA00035929649700000313
an estimate of the value of x is represented,
Figure FDA00035929649700000314
representing the estimated value of the differential of x,
Figure FDA00035929649700000315
represents an estimate of x second derivative; t is a unit ofsFor the sampling period, θ is the observer gain, ko1,ko2,ko3And ko4Is the observer coefficient; function gi(i ═ 1,2,3,4) is represented by:
Figure FDA00035929649700000316
in the formula, alpha1＝γ,α2＝2γ-1,α3＝3γ-2,α44 γ -3, γ ∈ (3/4, 1); k is a positive definite matrix; obtaining based on the estimation of d (k) by equation (10)
Figure FDA00035929649700000317
And calculating μ (k) by equation (9); and then the optimized control variable is
Figure FDA00035929649700000318
7. Method according to claim 6, characterized in that the maximum and minimum values of the controlled variable are determined as u, respectively, by the stroke of the hydraulic cylinder and the mechanical structuresU、usL(ii) a The maximum value and the minimum value of the control quantity increment are respectively determined by the flow of the proportional valve
Figure FDA0003592964970000041
Namely, it is
Figure FDA0003592964970000042
μ (k) in equation (9) may be re-described as:
Figure FDA0003592964970000043
in the formula (I), the compound is shown in the specification,
Figure FDA0003592964970000044
the magnitude constraint of the control quantity can therefore be expressed by the following inequality:
Figure FDA0003592964970000045
in the formula (I), the compound is shown in the specification,
Figure FDA0003592964970000046
also, the constraint on the control quantity increment can be expressed by the following inequality:
Figure FDA0003592964970000047
in the formula (I), the compound is shown in the specification,
Figure FDA0003592964970000048
and
Figure FDA0003592964970000049
are respectively as
Figure FDA00035929649700000410
And
Figure FDA00035929649700000411
an increment of (d);
Figure FDA00035929649700000412
8. an electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method according to any one of claims 1-7 when executing the computer program.
9. A computer-readable storage medium storing computer instructions, which when executed by a processor, perform the steps of the method of any one of claims 1 to 7.
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