CN115900637B - Attitude measurement method for offshore nuclear power platform - Google Patents
Attitude measurement method for offshore nuclear power platform Download PDFInfo
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Abstract
The invention discloses a posture measurement method of a marine nuclear power platform, which comprises the following steps: 1) Measuring roll angle, pitch angle, roll period and pitch period information of the offshore nuclear power platform, and heave displacement, heave speed, heave period and motion acceleration information of the 3 mounting points by means of attitude measurement equipment arranged on 3 vertexes of a nuclear reactor compartment of the offshore nuclear power platform; 2) A motion measuring device is arranged in the platform nuclear reactor cabin to measure three-dimensional acceleration information of a mounting point of the motion measuring device in real time; 3) Acquiring attitude information of any point of a nuclear reactor cabin of a platform; 4) Acquiring motion information of any point of the nuclear reactor cabin of the platform according to the speed of the known point; 5) And calculating the gesture and motion information of other key point positions outside the installation point. The method of the invention completes the reliable measurement and monitoring of the attitude of the nuclear power platform, and provides references and bases for ensuring the safe operation of the offshore nuclear power platform and adopting corresponding operation modes.
Description
Technical Field
The invention relates to a nuclear power safety technology, in particular to a posture measurement method of an offshore nuclear power platform.
Background
The offshore nuclear power platform is different from a large-scale nuclear power plant on land, is a small nuclear power system which floats and/or sails in an ocean environment by depending on an ocean floating platform, and can cause various tilting, swinging and other movements of the platform due to the influence of ocean environment factors such as wind, waves, currents and the like, and the safety operation of the platform can be negatively influenced by excessive motion changes such as tilting, swinging and the like.
Therefore, in order to cope with the influence of the ocean conditions, a platform attitude measurement system is required to be arranged in a targeted manner, and the motion characteristics of the ocean floating platform such as inclination, swing and the like are monitored and recorded, so that necessary measures such as power reduction, shutdown and the like are adopted to ensure the safe, reliable and economical operation of the platform. At present, a method for measuring the attitude of the offshore nuclear power platform at home and abroad is not mature and reliable.
Disclosure of Invention
The invention aims to provide a posture measurement method of an offshore nuclear power platform aiming at the defects in the prior art.
The technical scheme adopted for solving the technical problems is as follows: the attitude measurement method of the marine nuclear power platform comprises the following steps:
1) Measuring roll angle, pitch angle, roll period and pitch period information of the offshore nuclear power platform, and heave displacement, heave speed, heave period and motion acceleration information of the 3 mounting points by means of attitude measurement equipment arranged on 3 vertexes of a nuclear reactor compartment of the offshore nuclear power platform;
2) A motion measuring device is arranged in the platform nuclear reactor cabin to measure three-dimensional acceleration information of a mounting point of the motion measuring device in real time;
3) Acquiring attitude information of any point of a nuclear reactor cabin of a platform;
Assume that the cosine matrix of the direction corresponding to the deflection angle between the coordinate system of arbitrary spatial pointing and the known inertial navigation is:
Wherein, Is a known inertial navigation transformation matrix,/>The space to-be-detected point and the pointing deflection angle of the known inertial navigation;
According to Three angles alpha, beta, gamma pointed by three axes of any point in space are extracted, and the specific formula is as follows:
Wherein C jk is the jth row and the kth column of elements in the gesture transformation matrix from the navigation coordinate system to the carrier coordinate system;
4) Acquiring motion information of any point of the nuclear reactor cabin of the platform according to the speed of the known point;
converting the speed of a known point to any point in space through the carrier angular speed calculated by inertial navigation and a lever arm obtained by measuring in advance;
Where v n is the velocity of a spatially known point, For the carrier angular velocity, l nb is the vector of the known point pointing to the point to be monitored; v b is the speed of the point to be monitored in the space;
5) And solving heave displacement, heave speed, heave period and motion acceleration and motion information of other key point positions outside the mounting point according to the method of the step 3) and the step 4) by combining the gesture and motion information measured by the inertial device with the lever arm.
According to the scheme, the method further comprises a step of judging the measurement reliability of the attitude of the nuclear power platform, and the method specifically comprises the following steps:
6) Determining a transformation matrix relation between any two sets of attitude measurement equipment through an installation deflection angle, and transferring inertia measurement information measured by the attitude measurement equipment of a first installation vertex to a coordinate axis of a second installation vertex through the following relation:
Comparing the conversion value with a measured value of a second installation vertex of the gesture measurement device, comparing the difference value of the two groups with a threshold value, and if the difference value exceeds the threshold value, primarily judging the gesture measurement device;
If two groups of conversion values corresponding to a certain vertex are compared with the measured value of the installation vertex, and the difference value exceeds a threshold value at the same time, proving that the gesture measurement equipment of the installation vertex is abnormal;
And the inertia measurement information selects one of angular velocity sensitive information, acceleration information, speed, position and gesture information to perform abnormality diagnosis.
The invention has the beneficial effects that:
According to the method, the inertial device and the accelerometer are arranged at certain point positions of the nuclear reactor cabin, meanwhile, the mode of fault detection of internal equipment is adopted, and reliable measurement and monitoring of the attitude of the nuclear power platform are completed, so that references and bases are provided for ensuring that the offshore nuclear power platform safely operates in a corresponding operation mode.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a layout scheme of an attitude measurement apparatus according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of fault detection of an attitude measurement internal device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the attitude measurement method of the offshore nuclear power platform comprises the following steps:
1) Measuring roll angle, pitch angle, roll period and pitch period information of the offshore nuclear power platform, and heave displacement, heave speed, heave period and motion acceleration information of the 3 mounting points by means of attitude measurement equipment arranged on 3 vertexes of a nuclear reactor compartment of the offshore nuclear power platform; as shown in fig. 2, three inertial devices are respectively installed at 3 vertexes Q1, Q3 and Q5 of the nuclear reactor compartment of the platform;
2) A motion measuring device is arranged in the platform nuclear reactor cabin to measure three-dimensional acceleration information of a mounting point of the motion measuring device in real time; the motion measuring device is an acceleration sensitive component and is arranged at a designated point Q6 of the stacking cabin;
3) Acquiring attitude information of any point of a nuclear reactor cabin of a platform;
Assume that the cosine matrix of the direction corresponding to the deflection angle between the coordinate system of arbitrary spatial pointing and the known inertial navigation is:
Wherein, Is a known inertial navigation transformation matrix,/>The space to-be-detected point and the pointing deflection angle of the known inertial navigation;
According to Three angles alpha, beta, gamma pointed by three axes of any point in space are extracted, and the specific formula is as follows:
Wherein C jk is the jth row and the kth column of elements in the gesture transformation matrix from the navigation coordinate system to the carrier coordinate system;
4) Acquiring motion information of any point of the nuclear reactor cabin of the platform according to the speed of the known point;
converting the speed of a known point to any point in space through the carrier angular speed calculated by inertial navigation and a lever arm obtained by measuring in advance;
Where v n is the velocity of a spatially known point, For the carrier angular velocity, l nb is the vector of the known point pointing to the point to be monitored; v b is the speed of the point to be monitored in the space;
5) Calculating heave displacement, heave speed, heave period and motion acceleration motion information of other key point positions outside the mounting point according to the method of the step 3) and the step 4) by combining the gesture and the motion information measured by the inertial device with the lever arm;
6) The transformation matrix relation between any two sets of gesture measurement equipment is determined through the installation deflection angle, and the angular velocity sensitive information of the installation vertex Q3 is transferred to the coordinate axis of the installation vertex Q1 through the following relation:
Comparing the difference value of the two groups with a threshold value through comparison with an inertial group Q1 measured value w ins, and if the difference value exceeds the threshold value, primarily judging that the inertial device is abnormal. And similarly, abnormality diagnosis and isolation can be performed through information such as acceleration information, speed, position, gesture and the like.
As shown in fig. 3, inertial group information is input into a corresponding comparator, Q1 abnormality is proved if comparators 1 and 2 are out of tolerance at the same time, Q3 abnormality is illustrated if comparators 1 and 3 are out of tolerance at the same time, and inertial Q5 abnormality is illustrated if comparators 2 and 3 are out of tolerance at the same time. And the inertial device for finding abnormal data is checked and replaced in time, so that the nuclear power control and related protection systems are prevented from being affected to make error operations according to fault inertial navigation.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (2)
1. The attitude measurement method of the marine nuclear power platform is characterized by comprising the following steps of:
1) Measuring roll angle, pitch angle, roll period and pitch period information of the offshore nuclear power platform, and heave displacement, heave speed, heave period and motion acceleration information of the 3 mounting points by means of attitude measurement equipment arranged on 3 vertexes of a nuclear reactor compartment of the offshore nuclear power platform;
2) A motion measuring device is arranged in the platform nuclear reactor cabin to measure three-dimensional acceleration information of a mounting point of the motion measuring device in real time;
3) Acquiring attitude information of any point of a nuclear reactor cabin of a platform;
Assume that the cosine matrix of the direction corresponding to the deflection angle between the coordinate system of arbitrary spatial pointing and the known inertial navigation is:
Wherein, Is a known inertial navigation transformation matrix,/>The space to-be-detected point and the pointing deflection angle of the known inertial navigation;
according to a direction cosine matrix Three angles alpha, beta, gamma pointed by three axes of any point in space are extracted, and the specific formula is as follows:
Wherein C jk is the jth row and the kth column of elements in the gesture transformation matrix from the navigation coordinate system to the carrier coordinate system;
Acquiring attitude information of any point of the nuclear reactor cabin of the platform according to three angles pointed by three axes of any point of the space obtained by calculation;
4) Acquiring motion information of any point of the nuclear reactor cabin of the platform according to the speed of the known point;
converting the speed of a known point to any point in space through the carrier angular speed calculated by inertial navigation and a lever arm obtained by measuring in advance;
Where v n is the velocity of a spatially known point, For the carrier angular velocity, l nb is the vector of the known point pointing to the point to be monitored; v b is the speed of the point to be monitored in the space;
5) And solving heave displacement, heave speed, heave period and motion acceleration and motion information of other key point positions outside the mounting point according to the method of the step 3) and the step 4) by combining the gesture and motion information measured by the inertial device with the lever arm.
2. The method for measuring the attitude of the offshore nuclear power platform according to claim 1, further comprising a step of judging the measurement reliability of the attitude of the nuclear power platform, specifically comprising the following steps:
6) Determining a transformation matrix relation between any two sets of attitude measurement equipment through an installation deflection angle, and transferring inertia measurement information measured by the attitude measurement equipment of a first installation vertex to a coordinate axis of a second installation vertex through the following relation:
Comparing the conversion value with a measured value of a second installation vertex of the gesture measurement device, comparing the difference value of the two groups with a threshold value, and if the difference value exceeds the threshold value, primarily judging the gesture measurement device;
If two groups of conversion values corresponding to a certain vertex are compared with the measured value of the installation vertex, and the difference value exceeds a threshold value at the same time, proving that the gesture measurement equipment of the installation vertex is abnormal;
And the inertia measurement information selects one of angular velocity sensitive information, acceleration information, speed, position and gesture information to perform abnormality diagnosis.
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| CN109374000A (en) * | 2018-11-12 | 2019-02-22 | 浙江大学 | High-precision real-time monitoring system for the positioning of remote submarine cable and deformation |
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| CN110793518B (en) * | 2019-11-11 | 2021-05-11 | 中国地质大学（北京） | Positioning and attitude determining method and system for offshore platform |
| CN111323116A (en) * | 2020-03-26 | 2020-06-23 | 中国水产科学研究院黄海水产研究所 | Marine culture platform deformation and vibration monitoring system and using method |
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| 船舶运动姿态测量系统设计与实现;唐原广;王志光;;舰船科学技术;20170708(13);全文 * |
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