CN115359693A - Marine engineering platform lifting simulation operation system and operation method thereof - Google Patents
Marine engineering platform lifting simulation operation system and operation method thereof Download PDFInfo
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Abstract
The utility model provides a maritime work platform goes up and down to simulate operating system, including the full material object lift control platform, the three-dimensional virtual model of lift platform, the full material object lift control platform is including controlling the panel, the PLC controller, it includes mechanical type input component to control the panel, the PLC controller includes action instruction generation module, the three-dimensional virtual model of lift platform includes the three-dimensional model of lift platform, action execution module, when this system moves, operate mechanical type input component earlier, action instruction generation module generates the action instruction of lift platform according to the control instruction of mechanical type input component input again, and send it for action execution module, action execution module drives lift platform three-dimensional model and carries out corresponding action according to lift platform's action instruction. The operation training of the maritime work platform lifting system is efficiently realized.
Description
Technical Field
The invention belongs to the field of operation simulation of ship maritime work lifting systems, and particularly relates to a hydraulic bolt type maritime work platform lifting simulation operation system and an operation method thereof.
Background
The maritime work lifting platform is used as an important component of the maritime work platform, whether an operator or a ship operator can quickly and skillfully master the operation steps and the operation method of the lifting system directly determines whether the maritime work lifting platform can be quickly and safely put into use, and meanwhile, the safety of the maritime work platform in the use process is directly determined by the proficiency of operation. Therefore, training in the operation of the marine platform hoist system is necessary. At present, no mature and efficient method exists for enabling an operator of a lifting platform to quickly and skillfully master an operation method of a real ship.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a maritime work platform lifting simulation operation system for operation simulation training and an operation method thereof.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a maritime work platform lifting simulation operation system comprises a full-physical lifting control platform and a lifting platform three-dimensional virtual model, wherein the full-physical lifting control platform comprises a control panel and a PLC (programmable logic controller), the control panel comprises a mechanical input assembly, the PLC comprises a motion instruction generation module, the lifting platform three-dimensional virtual model comprises a lifting platform three-dimensional model and a motion execution module, a signal input end of the motion instruction generation module is connected with a signal output end of the mechanical input assembly, and a signal output end of the motion instruction generation module is connected with the lifting platform three-dimensional model through the motion execution module;
the action instruction generating module is used for generating an action instruction of the lifting platform according to the control instruction input by the mechanical input assembly and sending the action instruction to the action executing module;
the action execution module is used for driving the three-dimensional model of the lifting platform to execute corresponding actions according to the action instructions of the lifting platform.
The control panel further comprises a mechanical alarm output assembly, the PLC controller further comprises an early warning module, the three-dimensional virtual model of the lifting platform further comprises a lifting platform state feedback module, a signal input end of the lifting platform state feedback module is connected with a signal output end of the three-dimensional model of the lifting platform, and a signal output end of the lifting platform state feedback module is connected with the mechanical alarm output assembly through the early warning module;
the lifting platform state feedback module is used for sending the state simulation data of the lifting platform to the early warning module in real time in the action execution process;
the early warning module is used for controlling the mechanical alarm output assembly to carry out early warning when the state simulation data of the lifting platform exceeds a normal range.
The control modes of the PLC controller comprise a manual mode for load working conditions and an automatic mode for other working conditions.
The three-dimensional virtual model of the lifting platform further comprises a multimedia display module, and the multimedia display module is used for displaying the oil cylinder state, the bolt state and the two-dimensional orthogonal view of the model.
The three-dimensional model of the lifting platform is obtained based on unity3D modeling.
An operation method of a maritime work platform lifting simulation operation system sequentially comprises the following steps:
firstly, operating a mechanical input assembly;
step two, the action instruction generating module generates an action instruction of the lifting platform according to the control instruction input by the mechanical input assembly and sends the action instruction to the action executing module;
and step three, the action execution module drives the three-dimensional model of the lifting platform to execute corresponding actions according to the action instructions of the lifting platform, wherein the corresponding actions comprise the lifting of the pile legs.
In the third step, displacement correction of the pile leg in the X direction and the Z direction is performed once in each time period T, which specifically includes:
and updating the displacement deviation of the pile leg in the X direction and the displacement deviation of the pile leg in the Z direction to be zero.
In the third step, when the lifting platform three-dimensional model carries out lifting of the pile leg, the displacement correction of the pile leg in the Y direction is carried out according to the following method:
the method comprises the steps of firstly equally dividing a maximum displacement value N of a pile leg in the Y direction to obtain N displacement values which are respectively recorded as L1 and L2.
The control panel further comprises a mechanical alarm output assembly, the PLC controller further comprises an early warning module, the three-dimensional virtual model of the lifting platform further comprises a lifting platform state feedback module, a signal input end of the lifting platform state feedback module is connected with a signal output end of the three-dimensional model of the lifting platform, and a signal output end of the lifting platform state feedback module is connected with the mechanical alarm output assembly through the early warning module;
in the third step, when the three-dimensional model of the lifting platform executes corresponding actions, the state feedback module of the lifting platform sends the state simulation data of the lifting platform to the early warning module in real time, and then the early warning module controls the mechanical alarm output assembly to perform early warning when judging that the state simulation data of the lifting platform exceeds a normal range, wherein the state simulation data of the lifting platform comprise the displacement of 4 pile legs, the load of 4 pile legs, the displacement of an oil cylinder, the states of all the pins and the inclination angle of the platform.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention relates to a maritime work platform lifting simulation operating system which comprises a full-physical lifting control platform and a lifting platform three-dimensional virtual model, wherein the full-physical lifting control platform comprises a control panel and a PLC (programmable logic controller), the control panel comprises a mechanical input assembly, the PLC comprises a motion instruction generating module, the lifting platform three-dimensional virtual model comprises a lifting platform three-dimensional model and a motion executing module, when the system operates, an operator inputs a control instruction through operating the mechanical input assembly, then the motion instruction generating module generates a motion instruction of a lifting platform according to the control instruction and sends the motion instruction to the motion executing module, and the motion executing module drives the lifting platform three-dimensional model to execute corresponding motion according to the motion instruction of the lifting platform. Therefore, the operation training of the maritime work platform lifting system is efficiently realized.
2. The operation method of the maritime work platform lifting simulation operation system provided by the invention provides an operation of correcting the displacement deviation of the pile leg in the X direction and the Z direction to be zero at intervals of a time period T in the process that the action execution module drives the lifting platform three-dimensional model to execute corresponding actions, and the method effectively solves the problem that the pile leg has larger position deviation on the X axis and the Z axis due to small calculation error accumulation in a physical engine. Therefore, the invention realizes the correction of the position error of the pile leg movement on the X axis and the Z axis.
3. The invention provides a method for operating a marine platform lifting simulation operation system, which comprises the steps of dividing a maximum displacement value N of a pile leg in a Y direction equally to obtain N displacement values which are respectively recorded as L1 and L2. Therefore, the invention realizes the displacement correction of the pile leg in the Y direction.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic diagram of accumulated errors in the X-axis and Z-axis directions caused by the movement of the pile leg in the invention.
Fig. 3 is a schematic diagram illustrating the correction of the accumulated error of the Y-axis motion of the leg in embodiment 1.
In the figure, the full-physical lifting console 1, the control panel 11, the mechanical input component 111, the mechanical alarm output component 112, the PLC controller 12, the motion instruction generation module 121, the early warning module 122, the lifting platform three-dimensional virtual model 2, the lifting platform three-dimensional model 21, the motion execution module 22, the lifting platform state feedback module 23, and the multimedia display module 24.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1, a maritime work platform lifting simulation operation system comprises a full-physical lifting control platform 1 and a lifting platform three-dimensional virtual model 2, wherein the full-physical lifting control platform 1 comprises a control panel 11 and a PLC controller 12, the control panel 11 comprises a mechanical input component 111, the PLC controller 12 comprises a motion instruction generation module 121, the lifting platform three-dimensional virtual model 2 comprises a lifting platform three-dimensional model 21 and a motion execution module 22, a signal input end of the motion instruction generation module 121 is connected with a signal output end of the mechanical input component 111, and a signal output end of the motion instruction generation module 121 is connected with the lifting platform three-dimensional model 21 through the motion execution module 22;
the action instruction generating module 121 is configured to generate an action instruction of the lifting platform according to the control instruction input by the mechanical input component 111, and send the action instruction to the action executing module 22;
the action execution module 22 is configured to drive the three-dimensional lifting platform model 21 to execute a corresponding action according to the action instruction of the lifting platform.
The control panel 11 further comprises a mechanical alarm output component 112, the PLC controller 12 further comprises an early warning module 122, the lifting platform three-dimensional virtual model 2 further comprises a lifting platform state feedback module 23, a signal input end of the lifting platform state feedback module 23 is connected with a signal output end of the lifting platform three-dimensional model 21, and a signal output end of the lifting platform state feedback module 23 is connected with the mechanical alarm output component 112 through the early warning module 122;
the lifting platform state feedback module 23 is configured to send the state simulation data of the lifting platform to the early warning module 122 in real time in the action execution process;
the early warning module 122 is configured to control the mechanical alarm output component 112 to perform early warning when the state simulation data of the lifting platform exceeds a normal range.
The control modes of the PLC controller 12 include a manual mode for load conditions and an automatic mode for other conditions.
The three-dimensional virtual model 2 of the lifting platform further comprises a multimedia display module 24, and the multimedia display module 24 is used for displaying the oil cylinder state, the bolt state and the two-dimensional orthogonal view of the model.
The three-dimensional model 21 of the lifting platform is obtained based on unity3D modeling.
An operation method of a maritime work platform lifting simulation operation system sequentially comprises the following steps:
firstly, operating a mechanical input component 111;
step two, the action instruction generating module 121 generates an action instruction of the lifting platform according to the control instruction input by the mechanical input component 111, and sends the action instruction to the action executing module 22;
and step three, the action execution module 22 drives the lifting platform three-dimensional model 21 to execute corresponding actions according to the action instructions of the lifting platform, wherein the corresponding actions comprise the lifting of the pile legs.
In the third step, displacement correction of the pile leg in the X direction and the Z direction is performed once in each time period T, which specifically comprises the following steps:
and updating the displacement deviation of the pile leg in the X direction and the displacement deviation of the pile leg in the Z direction to be zero.
In the third step, when the lifting platform three-dimensional model 21 performs lifting of the pile leg, the displacement correction of the pile leg in the Y direction is performed according to the following method:
the method comprises the steps of firstly, equally dividing a maximum displacement value N of a pile leg in the Y direction to obtain N displacement values which are respectively recorded as L1 and L2.
The control panel 11 further comprises a mechanical alarm output component 112, the PLC controller 12 further comprises an early warning module 122, the lifting platform three-dimensional virtual model 2 further comprises a lifting platform state feedback module 23, a signal input end of the lifting platform state feedback module 23 is connected with a signal output end of the lifting platform three-dimensional model 21, and a signal output end of the lifting platform state feedback module 23 is connected with the mechanical alarm output component 112 through the early warning module 122;
in the third step, when the three-dimensional lifting platform model 21 executes a corresponding action, the state feedback module 23 of the lifting platform sends the state simulation data of the lifting platform to the early warning module 122 in real time, and then the early warning module 122 controls the mechanical alarm output assembly 112 to perform early warning when determining that the state simulation data of the lifting platform exceeds a normal range, wherein the state simulation data of the lifting platform includes the displacement of 4 spud legs, the load of 4 spud legs, the displacement of an oil cylinder, the states of all pins and the inclination angle of the platform.
The principle of the invention is illustrated as follows:
in the simulation system, in order to simulate the normal lifting working condition of the lifting platform vividly, 4 pile legs are only provided with one degree of freedom, namely the pile legs are only allowed to lift and move on the Y axis (vertical to the direction of the platform). However, in the physical engine, as time goes on, the leg model normally moves at a predetermined speed on the Y axis, and also slightly moves on the X axis (parallel to the platform length direction) and the Z axis (parallel to the platform width direction), and the longer the movement time is, the larger the accumulated error is, and finally, the larger position deviation occurs in 4 legs in the three-dimensional model 21 of the lifting platform, and the influence of the accumulated error is shown in fig. 2. In order to control the position error of the pile leg movement within a reasonable range, the invention realizes the correction of the error by updating the demand designation at regular intervals, namely correcting the displacement deviation of the pile leg in the X direction and the Z direction to be zero at intervals.
In addition, although the 4 pile legs can move up and down on the Y axis according to the designated speed, the accumulated errors of the pile legs on the Y axis can be caused due to the tiny calculation errors of the physical engine, and the accumulated errors can cause the actual displacement of the pile legs in the virtual model to be inconsistent with the preset displacement along with the accumulation of time, so that the actual position and the expected position of the pile legs in the virtual model are inconsistent, the pile legs can not return to the zero position finally, and the correct calculation of the platform load data can be influenced; meanwhile, in the pile leg movement process, the displacement of the pile leg needs to be fed back to the full-physical lifting control platform 1 in real time, the full-physical lifting control platform 1 judges the position of the pile leg through the fed-back displacement so as to adjust and send out a corresponding control instruction, and if the fed-back pile leg displacement data has large deviation, the full-physical lifting control platform is misled to send out an error control instruction. Based on the problems, in the full-stroke process of the pile leg, the pile leg displacement correction is carried out at a plurality of key point positions, so that the movement rule of the pile leg in a virtual system is basically consistent with that of a real system.
Lifting platform three-dimensional model 21: in the invention, the modeling method of the three-dimensional model 21 of the lifting platform sequentially comprises the following steps:
establishing a lifting platform 3DMAX model and leading the model into unity, correcting a three-dimensional model material mapping, adjusting the size proportion, and manufacturing a seawater environment, an underwater effect environment and a sky environment.
Example 1:
referring to fig. 1, a maritime work platform lifting simulation operation system comprises a full-physical lifting control platform 1 and a lifting platform three-dimensional virtual model 2, wherein the full-physical lifting control platform 1 is the same as a delivered lifting system product, and comprises a control panel 11 and a PLC controller 12, the control panel 11 comprises a mechanical input component 111, the mechanical input component 111 is at least one of a handle, a button, a knob and a switch, the PLC controller 12 adopts a siemens S7-1500 series PLC, and comprises an action instruction generating module 121, a control mode of the PLC controller 12 comprises a manual mode for load working conditions such as diagonal punching, diagonal pulling, fault troubleshooting and the like and an automatic mode for other working conditions, the lifting platform three-dimensional virtual model 2 comprises a lifting platform three-dimensional model 21, an action executing module 22 and a multimedia display module 24, the signal input end of the action instruction generating module 121 is connected with the signal output end of the mechanical input component 111, and the signal output end of the action instruction generating module 121 is connected with the lifting platform three-dimensional virtual model 21 through the action executing module 22;
the operation method of the marine platform lifting simulation operation system is sequentially carried out according to the following steps:
firstly, operating a mechanical input component 111 by an operator;
step two, the action instruction generating module 121 generates an action instruction of the lifting platform according to the control instruction input by the mechanical input component 111, and sends the action instruction to the action executing module 22 through a socket TCP network protocol;
step three, the action execution module 22 drives the three-dimensional model 21 of the lifting platform to execute corresponding actions according to the action instructions of the lifting platform, and meanwhile, the multimedia display module 24 displays the oil cylinder state, the bolt state and the two-dimensional orthogonal view of the model, wherein the corresponding actions comprise lifting pile legs, the lifting platform, preloading, pile punching, pile pulling and pile inserting, and in the process of executing the corresponding actions by the three-dimensional model 21 of the lifting platform, displacement correction of the pile legs in the X direction and the Z direction is performed every second, specifically:
updating the displacement deviation of the pile leg in the X direction and the displacement deviation of the pile leg in the Z direction to be zero;
referring to fig. 3, when the three-dimensional model 21 of the lifting platform performs leg lifting, the displacement correction in the Y direction of the leg is performed according to the following method:
the method comprises the steps of dividing the maximum displacement value of a pile leg in the Y direction, namely the maximum stroke value 9, into 9 displacement values which are respectively recorded as L1 and L2.
Example 2:
the difference from example 1 is that:
the control panel 11 further includes a mechanical alarm output component 112, the mechanical alarm output component 112 may be an indicator light and/or a buzzer, the PLC controller 12 further includes an early warning module 122, the three-dimensional virtual model 2 of the lifting platform further includes a lifting platform state feedback module 23, a signal input end of the lifting platform state feedback module 23 is connected with a signal output end of the three-dimensional model 21 of the lifting platform, and a signal output end of the lifting platform state feedback module 23 is connected with the mechanical alarm output component 112 through the early warning module 122;
in the third step, when the three-dimensional lifting platform model 21 executes a corresponding action, the lifting platform state feedback module 23 sends the state simulation data of the lifting platform to the early warning module 122 in real time, and then the early warning module 122 controls the mechanical alarm output assembly 112 to perform early warning when the state simulation data of the lifting platform is judged to exceed a normal range, wherein the state simulation data comprises displacement of 4 pile legs, load of 4 pile legs, displacement of an oil cylinder, states of all pins and a platform inclination angle.
Claims (9)
1. The utility model provides a maritime work platform goes up and down to simulate operating system which characterized in that:
the system comprises a full-physical lifting control platform (1) and a lifting platform three-dimensional virtual model (2), wherein the full-physical lifting control platform (1) comprises a control panel (11) and a PLC (programmable logic controller) (12), the control panel (11) comprises a mechanical input assembly (111), the PLC (12) comprises a motion instruction generating module (121), the lifting platform three-dimensional virtual model (2) comprises a lifting platform three-dimensional model (21) and a motion executing module (22), a signal input end of the motion instruction generating module (121) is connected with a signal output end of the mechanical input assembly (111), and a signal output end of the motion instruction generating module (121) is connected with the lifting platform three-dimensional model (21) through the motion executing module (22);
the action instruction generating module (121) is used for generating an action instruction of the lifting platform according to the control instruction input by the mechanical input assembly (111) and sending the action instruction to the action executing module (22);
the action execution module (22) is used for driving the lifting platform three-dimensional model (21) to execute corresponding actions according to the action instructions of the lifting platform.
2. The marine platform lifting simulation operation system of claim 1, wherein:
the control panel (11) further comprises a mechanical alarm output assembly (112), the PLC (12) further comprises an early warning module (122), the lifting platform three-dimensional virtual model (2) further comprises a lifting platform state feedback module (23), a signal input end of the lifting platform state feedback module (23) is connected with a signal output end of the lifting platform three-dimensional model (21), and a signal output end of the lifting platform state feedback module (23) is connected with the mechanical alarm output assembly (112) through the early warning module (122);
the lifting platform state feedback module (23) is used for sending the state simulation data of the lifting platform to the early warning module (122) in real time in the action execution process;
the early warning module (122) is used for controlling the mechanical alarm output component (112) to carry out early warning when the state simulation data of the lifting platform exceeds a normal range.
3. The marine platform lifting simulation operating system of claim 1 or 2, wherein: the control modes of the PLC controller (12) include a manual mode for load conditions and an automatic mode for other conditions.
4. The marine platform lifting simulation operating system of claim 1 or 2, wherein: the three-dimensional virtual model (2) of the lifting platform further comprises a multimedia display module (24), and the multimedia display module (24) is used for displaying the oil cylinder state, the bolt state and the two-dimensional orthogonal view of the model.
5. The marine platform lifting simulation operating system of claim 1 or 2, wherein: the three-dimensional model (21) of the lifting platform is obtained based on unity3D modeling.
6. An operation method of the marine platform lifting simulation operation system according to claim 1, characterized by comprising:
the operation method sequentially comprises the following steps:
firstly, operating a mechanical input component (111);
step two, the action instruction generating module (121) generates an action instruction of the lifting platform according to the control instruction input by the mechanical input component (111) and sends the action instruction to the action executing module (22);
and step three, the action execution module (22) drives the three-dimensional model (21) of the lifting platform to execute corresponding actions according to the action instructions of the lifting platform, wherein the corresponding actions comprise the lifting of the pile legs.
7. The operation method of the marine platform lifting simulation operation system according to claim 6, wherein:
in the third step, displacement correction of the pile leg in the X direction and the Z direction is performed once in each time period T, which specifically comprises the following steps:
and updating the displacement deviation of the pile leg in the X direction and the displacement deviation of the pile leg in the Z direction to be zero.
8. The operation method of the marine platform lifting simulation operation system according to claim 6, characterized in that:
in the third step, when the lifting platform three-dimensional model (21) carries out lifting of the pile leg, the displacement correction of the pile leg in the Y direction is carried out according to the following method:
the method comprises the steps of firstly equally dividing a maximum displacement value N of a pile leg in the Y direction to obtain N displacement values which are respectively recorded as L1 and L2.
9. The operation method of the marine platform lifting simulation operation system according to claim 6, wherein:
the control panel (11) further comprises a mechanical alarm output assembly (112), the PLC (12) further comprises an early warning module (122), the lifting platform three-dimensional virtual model (2) further comprises a lifting platform state feedback module (23), a signal input end of the lifting platform state feedback module (23) is connected with a signal output end of the lifting platform three-dimensional model (21), and a signal output end of the lifting platform state feedback module (23) is connected with the mechanical alarm output assembly (112) through the early warning module (122);
in the third step, when the three-dimensional lifting platform model (21) executes corresponding actions, the state feedback module (23) of the lifting platform sends the state simulation data of the lifting platform to the early warning module (122) in real time, and then the early warning module (122) controls the mechanical alarm output assembly (112) to give an early warning when judging that the state simulation data of the lifting platform exceeds a normal range, wherein the state simulation data of the lifting platform comprises the displacement of 4 pile legs, the load of 4 pile legs, the displacement of an oil cylinder, the states of all the bolts and the inclination angle of the platform.
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