CN117416877A - Wind power installation ship, intelligent safe operation control system and method - Google Patents
Wind power installation ship, intelligent safe operation control system and method Download PDFInfo
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- 239000011435 rock Substances 0.000 abstract description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
Abstract
The invention belongs to the field of intelligent control, and particularly relates to a wind power installation ship, an intelligent safety operation control system and a method. The input module comprises a ship cargo distribution vector, forces and moments of an upper sliding block and a lower sliding block, a wind speed vector, a sea level water particle speed vector, a sea current speed vector, a crane rotation angle, a crane pitching angle and a cargo lifting weight. Substituting parameters of the input module into an offshore hoisting operation safety evaluation calculation model to perform hoisting operation safety evaluation, and if the parameters are safe, normally operating the crane; if the ship is unsafe, the slide block control module calculates a slide block balance compensation track, and the controller controls the upper slide block and the lower slide block to slide so as to realize moment compensation, so that the risk of ship body overturning caused by pile leg structural damage, pile shoe separation from submarine rock soil, pile shoe infiltration into the submarine rock soil and the like under severe sea conditions can be reduced, and the hoisting safety is improved.
Description
Technical Field
The invention belongs to the field of intelligent control, and particularly relates to an intelligent safe operation control system and method for a wind power installation ship.
Background
The wind power installation ship completes the installation operation of the fan through the corresponding track by using the crane. However, in fan installation operation, the problems of damage to the pile leg structure, detachment of the pile shoe from the seabed rock soil, penetration of the pile shoe into the seabed rock soil and the like, and the like may occur due to the influence of severe marine environment, crane rotation angle, lifting load and the like, so that the pile leg is failed, the ship body is overturned, and great threat is caused to operation safety. The traditional wind power installation ship considers the stress analysis and the structural improvement design of the pile legs and the pile boots, and does not diagnose the working safety in real time according to working conditions, so that when the environment is suddenly changed, the risk of capsizing of the ship body exists.
Disclosure of Invention
Aiming at the problems, the intelligent safety operation control system for the wind power installation ship facing the complex sea conditions is provided, and the safe and stable hoisting in the installation operation is realized through the real-time intelligent safety evaluation and the sliding block balance compensation system in the hoisting operation before the hoisting operation. The technical proposal is that,
the wind power installation ship comprises a ship body, a crane, a pile fixing area, an upper slide block, a lower slide block, an upper slide way, a lower slide way, an upper slide block pulley, a lower slide block pulley, a motor, a crane rotating table, pile shoes and truss type pile legs, wherein the crane is connected with the crane rotating table, the crane rotating table is connected with the pile fixing area, the pile fixing area is connected with the ship body, the truss type pile legs are connected with the pile fixing area through a gear rack mechanism, and the pile shoes are positioned at the bottoms of the truss type pile legs; the ship body bottom is equipped with slide and glide slope, and the slide passes through the slider pulley with last slider and is connected, and the glide slope passes through the slider pulley with the glide slope and is connected, and upper slider pulley and glide slope pulley are all connected with corresponding motor, the motor is fixed on corresponding upper slider and glide slope.
Preferably, the lower slide way and the upper slide way are vertically and alternately distributed in space, the motor is in communication connection with the controller, and the motor is respectively connected with the corresponding upper slide block pulley and lower slide block pulley through a brake, a speed reducer, a first coupling and a second coupling.
Preferably, the center of the deck of the ship body is an O point, the direction pointing to the ship head is an X axis, the direction vertical to the ship head is a Y axis, the direction vertical to the plane of the deck is an upward Z axis, the upper slideway is along the Y direction, and the lower slideway is distributed along the X direction;
under normal conditions, the X downward sliding block does not move, and the Y upward sliding block does not move; when the ship body has moment in the Y clockwise direction, the X-direction lower sliding block moves along the X, and the Y-direction upper sliding block does not move; when the ship body has moment in the clockwise direction of-Y, the X-direction lower sliding block moves along the direction of-X, and the Y-direction upper sliding block does not move; when the ship body has moment in the clockwise direction of-X, the X-direction lower sliding block does not move, and the Y-direction upper sliding block moves along the Y; when the moment of X clockwise direction exists on the ship body, the X downward sliding block does not move, and the Y upward sliding block moves along the Y direction; when the ship body has moment in the clockwise direction of Y and-X, the X-direction lower sliding block moves along X, and the Y-direction upper sliding block moves along Y; when the ship body has moment in the clockwise direction of Y and X, the X-direction lower sliding block moves along X, and the Y-direction upper sliding block moves along-Y; when the ship body has moment in the clockwise direction of-Y and-X, the X-direction lower slide block moves along-X, and the Y-direction upper slide block moves along Y; when the ship body has moment in the clockwise direction of-Y and X, the X-direction lower sliding block moves along-X, and the Y-direction upper sliding block moves along-Y.
An intelligent safe operation control system of a wind power installation ship comprises an offshore hoisting operation safety evaluation calculation model, an input module and a sliding block control module,
the input module comprises an input ship cargo distribution vector, upper slide blocks and lower slide blocks, a wind speed vector, a sea level water particle speed vector, a sea current speed vector, a crane rotation angle, a crane pitching angle and a crane weight;
the input module inputs the information into an offshore hoisting operation safety evaluation calculation model;
the marine hoisting operation safety evaluation calculation model comprises the following steps:
the gravity of the ship body is imported into the marine hoisting operation safety evaluation calculation model; according to the translation theorem of force, the dead weight vector of the ship body is equivalently converted into force acting on the center O point of the ship body, and torque is generated，/>Can be decomposed into moments about the X-axis and the Y-axis>,/>；
The gravity of the suspension arm is imported into the offshore hoisting operation safety evaluation calculation model; inputting the rotation angle of the crane and the pitching angle of the crane to obtain the gravity center position of the suspension arm, namely obtaining the gravity vector of the suspension arm; according to the translation theorem of force, the gravity vector of the suspension arm is equivalently converted into force acting on the center O point of the ship body, and torque is generated，/>Can be decomposed into moments about the X-axis and the Y-axis>,；
Inputting the distribution condition of the ship residual cargoes, obtaining a gravity vector by utilizing an equivalent gravity center calculation equation, and equivalently converting the gravity vector of the ship residual cargoes into a force acting on a center O point of a ship body and generating a moment according to a translation theorem of the force，Can be decomposed into moments about the X-axis and the Y-axis>,/>；
The weight of the hoisted goods is input, the rotation angle of the crane and the pitching angle of the crane can be used for obtaining the gravity center position of the goods, namely, the gravity vector of the goods can be obtained, and the gravity vector of the goods is equivalently converted into the force acting on the O point of the center of the ship body according to the translation theorem of the force, so that the moment is generated，/>Can be decomposed into moments about the X-axis and the Y-axis>,/>；
Substituting the wind speed vector into a wind load calculation formula through the wind speed vector, the sea level water particle speed vector and the ocean current speed vector measured by the sensor to obtain a wind pressure vector; substituting the sea level water quality point velocity vector into a Morisen calculation formula to obtain a wave pressure vector; substituting the ocean current velocity vector into an ocean current calculation formula to obtain a current pressure vector; the wind load vector, the wave load vector and the flow load vector can be obtained through integral processing, and are respectively and equivalently converted into forces acting on the center O point of the ship body according to the translation theorem of the forces, and wind load moment is respectively generatedWave load moment->Flow load moment->，/>Can be decomposed into moments around X axis and Y axis 、 />，/>Can be decomposed into moments about the X-axis and the Y-axis> 、 />，/>Can be decomposed into moments about the X-axis and the Y-axis> 、 />；
When the operation safety evaluation is carried out, inputting the obtained equivalent force and equivalent moment at the O point into finite element analysis software to check whether the ship body is safe or not; if the operation is safe, the crane works according to the set hoisting track; if the ship body is unsafe, the slide block control module outputs and calculates a slide block balance compensation track according to the safety evaluation calculation model of the marine hoisting operation, and the upper slide block and the lower slide block are controlled to slide through the controller, so that the crane operates according to the set hoisting track after the ship body is safe.
Preferably, all equivalent moments are total moments，/>Moment generated for the hull itself->Moment generated for the boom->Moment generated for cargo on the remaining hull, < >>Moment generated for lifting goods, +.>Moment generated for wind power, < >>Moment generated by wave force->For the moment generated by the flow force, will +.>Split into a moment about the X-axis>Moment about Y-axis>The optimal moving distance is +.>；/>，For X the distance of movement of the slider downwards, < >>And the weight of the upper sliding block and the lower sliding block is G for the moving distance of the upper sliding block of Y.
Preferably, the center of the deck of the ship body is an O point, the direction pointing to the ship head is an X axis, the direction vertical to the ship head is a Y axis, the direction vertical to the plane of the deck is an upward Z axis, the upper slideway is along the Y direction, and the lower slideway is distributed along the X direction;
under normal conditions, the X downward sliding block does not move, and the Y upward sliding block does not move; when the ship body has moment in the Y clockwise direction, the X-direction lower sliding block moves along the X, and the Y-direction upper sliding block does not move; when the ship body has moment in the clockwise direction of-Y, the X-direction lower sliding block moves along the direction of-X, and the Y-direction upper sliding block does not move; when the ship body has moment in the clockwise direction of-X, the X-direction lower sliding block does not move, and the Y-direction upper sliding block moves along the Y; when the moment of X clockwise direction exists on the ship body, the X downward sliding block does not move, and the Y upward sliding block moves along the Y direction; when the ship body has moment in the clockwise direction of Y and-X, the X-direction lower sliding block moves along X, and the Y-direction upper sliding block moves along Y; when the ship body has moment in the clockwise direction of Y and X, the X-direction lower sliding block moves along X, and the Y-direction upper sliding block moves along-Y; when the ship body has moment in the clockwise direction of-Y and-X, the X-direction lower slide block moves along-X, and the Y-direction upper slide block moves along Y; when the ship body has moment in the clockwise direction of-Y and X, the X-direction lower sliding block moves along-X, and the Y-direction upper sliding block moves along-Y.
Preferably, the wind speed vector is measured by a wind sensor, the wind pressure vector is calculated by taking the formula into consideration, and the wind pressure vector is calculated according to the formula 、 />，/>For the magnitude of wind pressure resultant force in X-axis direction, < + >>For the magnitude of wind pressure resultant force in Y-axis direction, < ->Is the force arm of wind pressure resultant force around X axis, +.>The force vector and the moment vector of wind are obtained for the moment arm of wind pressure resultant force around the Y axis;
the wave sensor measures the velocity vector of water particle, and the wave pressure vector is calculated by taking the velocity vector into a formula 、 ，/>For the magnitude of the wave pressure force in the X-axis direction, < ->For the magnitude of the wave pressure force in the Y-axis direction, < ->Force arm for wave pressing force around X axis, +.>The force arm of the wave pressing force around the Y axis is used for obtaining a force vector and a moment vector of the wave;
measuring the sea current velocity vector by a current sensor, carrying out formula calculation to obtain a current pressure vector, and obtaining the sea current velocity vector according to the formula 、 ，/>For the magnitude of the flow pressure force in the X-axis direction, is->For the magnitude of the flow pressing force in the Y-axis direction, and (2)>Is the arm of force of the flow pressure force around the X axis, < >>And obtaining a force vector and a moment vector of the flow as force arms of the flow pressing force around the Y axis.
An intelligent safe operation control method for a wind power installation ship comprises the following steps,
step one, a hoisting cargo module is used for measuring the weight of hoisting cargoes before hoisting operation and giving a hoisting track;
step two, discretizing a hoisting track into a limited number of small points, wherein each small point represents the position of hoisting operation of a crane, and calculating the rotation angle and pitch angle of the crane corresponding to each discrete point by using kinematic inverse solution;
step three: the ship cargo distribution vector, the force and moment of the upper sliding block and the lower sliding block, the wind speed vector, the sea level water particle speed vector, the sea current speed vector, the crane rotation angle, the crane pitching angle and the weight of the hoisted cargo are input into a safety evaluation calculation model of the offshore hoisting operation, the safety evaluation calculation model of the offshore hoisting operation is evaluated, if the safety is ensured, the hoisting safety of the cargo is output, and the hoisting operation can be normally carried out; if the sliding block is unsafe, the output goods are not hoisted safely, and the sliding block balance compensation track is required to be calculated; and (3) obtaining the X-direction position and the Y-direction position of the sliding block, repeating the previous steps after determining the balance compensation track of the sliding block, and substituting the intelligent safety evaluation calculation model for the offshore crane operation again until the final evaluation result is safe.
Preferably, the center of the deck of the ship body is an O point, the direction pointing to the ship head is an X axis, the direction vertical to the ship head is a Y axis, the direction vertical to the plane of the deck is an upward Z axis, the upper slideway is along the Y direction, and the lower slideway is distributed along the X direction;
total moment of forceWill->Split into a moment about the X-axis>Moment about Y-axis>The optimal moving distance is +.>；/> ，/>For X-direction slide movement distance, < >>For the Y-direction sliding block moving distance, the weights of the upper sliding block and the lower sliding block are G.
Compared with the prior art, the beneficial effects of the application are as follows:
in the intelligent path safety evaluation method before lifting operation, a lifting cargo module outputs the weight of lifting cargoes and is connected with a lifting track module, the output lifting track is connected with a track discrete module, the track discrete module is connected with a kinematic module, and the kinematic module is connected with an angle result to give a pitching angle and a turning angle. The wind speed vector is measured by a wind sensor, the water outlet particle speed vector is measured by a wave sensor, and the sea current speed vector is measured by a flow sensor. The ship cargo distribution vector, the force and moment of the upper sliding block and the lower sliding block, the wind speed vector, the sea level water particle speed vector, the sea current speed vector, the crane rotation angle, the crane pitching angle and the weight of the hoisted cargo are input into an intelligent safety evaluation calculation model for the offshore hoisting operation, the intelligent safety evaluation result for the offshore hoisting operation is output, and the output is classified as safe or unsafe. The output result is not safely connected with a sliding block balance compensation track calculating module, and the sliding block balance compensation track calculating module is connected with an intelligent safety evaluation calculation model for offshore hoisting operation, so that safe and stable hoisting in installation operation is realized.
Drawings
FIG. 1 is a schematic view of a wind power installation vessel coordinate system;
FIG. 2 is an isometric view of a wind power installation vessel;
FIG. 3 is a front view of a wind power installation vessel;
FIG. 4 is a Z-direction cut-away view of a wind power installation vessel;
FIG. 5 is a partial enlarged view of a pulley of a wind power installation vessel
FIG. 6 is a diagram of an intelligent safety assessment calculation model for offshore lifting operations;
FIG. 7 is a diagram of intelligent path safety assessment before a lifting operation;
FIG. 8 is a diagram of real-time intelligent security assessment during a lifting operation;
in the figure, a 1-hull, a 2-crane, a 3-building, a 4-pile fixing area, a 5-crane rotating table, a 6-pile shoe, a 7-truss pile leg, an 8-lower slide, a 9-lower slide, a 10-upper slide, a 11-upper slide pulley, a 12-upper slide, a 13-lower slide pulley, a 14-motor, a 15-brake, a 16-coupling I, a 17-speed reducer and a 18-coupling II are arranged.
Detailed Description
The techniques are further described below in conjunction with figures 1-8 and the specific embodiments to aid in understanding the present invention.
The wind power installation ship is schematically shown in figures 1-5, wherein the center of a deck of a ship body 1 is an O point, the direction pointing to the ship head is an X axis, and the positive direction is the direction pointing to the ship head; the direction vertical to the bow is a Y axis; the direction perpendicular to the deck plane is the Z axis, and the positive direction is the upper side direction of the ship body.
The wind power installation ship comprises a ship body 1, a crane 2, a building 3, a pile fixing area 4, a crane rotating table 5, pile shoes 6, truss type pile legs 7, a lower slide way 8, a lower slide block 9, an upper slide block 10, an upper slide block pulley 11, an upper slide way 12, a lower slide block pulley 13, a motor 14, a brake 15, a first coupler 16, a speed reducer 17 and a second coupler 18.
The loop wheel machine 2 is connected with loop wheel machine revolving stage 5, and loop wheel machine revolving stage 5 is connected with solid stake district 4, and solid stake district 4 and hull 1 fixed connection, truss-like spud leg 7 are connected through rack and pinion mechanism with solid stake district 4 (prior art 2023101543220), and pile shoe 6 is located truss-like spud leg 7 bottom, inserts the seabed, and building 3 is located the bow, and upper slide 12 is connected through upper slide pulley 11 with upper slide 10, and lower slide 8 is connected through lower slide pulley 13 with lower slide 9. The center of the deck of the ship body 1 is an O point, the direction pointing to the ship head is an X axis, the direction vertical to the ship head is a Y axis, and the direction vertical to the plane of the deck is an upward Z axis. The number of truss type spud legs is 4, and the truss type spud legs are symmetrically distributed along the X-axis direction. The section of the pile shoe is round. The crane rotary table is square, and the corners of the crane rotary table are provided with round corners. The number of the cranes is 1, the cranes are positioned on the crane rotating table, the crane pitching joints are positioned at the front part of the crane rotating table, the slide ways are divided into an upper slide way and a lower slide way, the upper slide way is along the Y direction, the lower slide way is along the X direction, the upper pulleys and the lower pulleys are circular, and the upper pulleys and the lower pulleys are connected with the upper slide way and the lower slide way through the slide grooves. The upper slider pulley 11 and the lower slider pulley 13 are driven by a corresponding motor 14, a brake 15 and a decelerator 17 in sequence. The motor 14 is in communication connection with the controller and is connected with the corresponding upper slide block pulley 11 and lower slide block pulley 13 through a brake 15, a first coupling 16, a speed reducer 17 and a second coupling 18.
The intelligent safety operation control system for the wind power installation ship comprises an offshore hoisting operation safety evaluation calculation model, an input module and a sliding block control module, wherein the input module comprises an input ship cargo distribution vector,
The force and moment of the upper slide block and the lower slide block, the wind speed vector, the sea level water particle speed vector, the ocean current speed vector, the crane rotation angle, the crane pitching angle and the weight of the hoisted goods. The input module inputs the information into an offshore hoisting operation safety evaluation calculation model;
the marine hoisting operation safety evaluation calculation model comprises the following steps:
the gravity of the ship body is imported into the marine hoisting operation safety evaluation calculation model; according to the translation theorem of force, the dead weight vector of the ship body is equivalently converted into force acting on the center O point of the ship body, and torque is generated，/>Can be decomposed into moments about the X-axis and the Y-axis>,/>；
The gravity of the suspension arm is imported into the offshore hoisting operation safety evaluation calculation model; inputting the rotation angle of the crane and the pitching angle of the crane to obtain the gravity center position of the suspension arm, namely obtaining the gravity vector of the suspension arm; according to the translation theorem of force, the gravity vector of the suspension arm is converted into force acting on the center O point of the ship body, and moment is generated，/>Can be decomposed into moments about the X-axis and the Y-axis>,/>；
Inputting the distribution condition of the ship residual cargoes, obtaining a gravity vector by utilizing an equivalent gravity center calculation equation, converting the gravity vector of the ship residual cargoes into a force acting on a center O point of a ship body according to a force translation theorem, and generating a moment，/>Can be decomposed into moments about the X-axis and the Y-axis>,/>；
The weight of the lifted goods is input, the rotation angle of the crane and the pitching angle of the crane can be used for obtaining the gravity center position of the goods, namely, the gravity vector of the goods can be obtained, and according to the translation theorem of the force, the gravity vector of the goods is converted into the force acting on the O point of the center of the ship body, and the moment is generated，/>Can be decomposed into moments about the X-axis and the Y-axis>,/>；
Substituting the wind speed vector into a wind load calculation formula through the wind speed vector, the sea level water particle speed vector and the ocean current speed vector measured by the sensor to obtain a wind pressure vector; substituting the sea level water quality point velocity vector into a Morisen calculation formula to obtain a wave pressure vector; substituting the ocean current velocity vector into an ocean current calculation formula to obtain a current pressure vector; the wind load vector, the wave load vector and the flow load vector can be obtained through integral processing, and are respectively and equivalently converted into forces acting on the center O point of the ship body according to the translation theorem of the forces, and wind load moment is respectively generatedWave load moment->Flow load moment->，/>Can be decomposed into moments around X axis and Y axis 、 />，/>Can be decomposed into moments about the X-axis and the Y-axis> 、 />，/>Can be decomposed into moments about the X-axis and the Y-axis>、/>；
When operation safety evaluation is carried out, inputting the obtained equivalent force and equivalent moment at the O point into computer finite element analysis software, and calculating to obtain the actual load of each pile leg, wherein an offshore hoisting operation safety evaluation calculation model evaluates the damage condition of the pile leg structure, the pile leg falling off the seabed and the condition of the pile leg penetrating into the seabed rock soil; inputting pile leg structural strength parameters in the aspect of pile leg structural damage; inputting a pile leg load range under the stability constraint of a ship body in the aspect that the pile leg breaks away from the seabed and is overturned; inputting the maximum bearing capacity of the pile leg under the stability constraint of the submarine rock soil in the aspect that the pile leg penetrates into the submarine rock soil; the safety evaluation calculation model of the marine hoisting operation carries out evaluation, and if the safety is high, the crane operates according to the set hoisting track; if the ship body is unsafe, the slide block control module outputs and calculates a slide block balance compensation track according to the safety evaluation calculation model of the marine hoisting operation, and controls the upper slide block and the lower slide block to slide, so that the crane works according to the set hoisting track after the ship body is balanced.
Wind power installation ship slider pulley driving mode: the motor 14 is connected with the brake 15, the brake 15 is connected with the first coupler 16, the first coupler 16 is connected with the speed reducer 17, the speed reducer 17 is connected with the second coupler 18, and the second coupler 18 is connected with the left pulley of the X-direction sliding block, so that the X-direction sliding block is driven to move. The principle of movement of the Y-direction slide block is the same as that of the X-direction slide block, and is not described here.
The balance compensation process of the wind power installation ship sliding block is as follows: when a moment in a certain direction exists on the ship body, the X-direction sliding block and the Y-direction sliding block move to corresponding positions to offset the moment. Under normal conditions, the X downward sliding block does not move, and the Y upward sliding block does not move; when the ship body has moment in the Y clockwise direction, the X-direction lower sliding block moves along the X, and the Y-direction upper sliding block does not move; when the ship body has moment in the clockwise direction of-Y, the X-direction lower sliding block moves along the direction of-X, and the Y-direction upper sliding block does not move; when the ship body has moment in the clockwise direction of-X, the X-direction lower sliding block does not move, and the Y-direction upper sliding block moves along the Y; when the moment of X clockwise direction exists on the ship body, the X downward sliding block does not move, and the Y upward sliding block moves along the Y direction; when the ship body has moment in the clockwise direction of Y and-X, the X-direction lower sliding block moves along X, and the Y-direction upper sliding block moves along Y; when the ship body has moment in the clockwise direction of Y and X, the X-direction lower sliding block moves along X, and the Y-direction upper sliding block moves along-Y; when the ship body has moment in the clockwise direction of-Y and-X, the X-direction lower slide block moves along-X, and the Y-direction upper slide block moves along Y; when the ship body has moment in the clockwise direction of-Y and X, the X-direction lower sliding block moves along-X, and the Y-direction upper sliding block moves along-Y.
Total moment of forceWill->Split into a moment about the X-axis>Moment about Y-axis>The optimal moving distance is +.>；/>，/>For X-direction slide movement distance, < >>For the Y-direction sliding block moving distance, the weights of the upper sliding block and the lower sliding block are G.
As shown in fig. 7-8, an intelligent safety operation control method for a wind power installation ship,
step one, a hoisting cargo module is used for measuring the weight of hoisting cargoes before hoisting operation and giving a hoisting track;
step two, discretizing a hoisting track into a limited number of small points, wherein each small point represents the position of hoisting operation of a crane, and calculating the rotation angle and pitch angle of the crane corresponding to each discrete point by using kinematic inverse solution;
step three: the ship cargo distribution vector, the force and moment of the upper sliding block and the lower sliding block, the wind speed vector, the sea level water particle speed vector, the sea current speed vector, the crane rotation angle, the crane pitching angle and the weight of the hoisted cargo are input into a safety evaluation calculation model of the offshore hoisting operation, the safety evaluation calculation model of the offshore hoisting operation is evaluated, if the safety is ensured, the hoisting safety of the cargo is output, and the hoisting operation can be normally carried out; if the sliding block is unsafe, the output goods are not hoisted safely, and the sliding block balance compensation track is required to be calculated; and (3) obtaining the X-direction position and the Y-direction position of the sliding block, repeating the previous steps after determining the balance compensation track of the sliding block, and substituting the intelligent safety evaluation calculation model for the offshore crane operation again until the final evaluation result is safe.
Real-time intelligent safety assessment in lifting operation, as shown in fig. 8, when the crane is operated to a certain positionAt a location, it may be affected by the harsh environment at sea, where the otherwise safe path may no longer be safe. Therefore, real-time intelligent safety assessment is required in the hoisting operation. Obtaining the rotation angle by using the rotation angle sensorComparing the discretized paths to obtain just-passed revolving discrete points ++>The rotation discrete set value is the position. The revolving discrete set value of the next moment can be obtained through the discrete set value>The next rotation angle is the next rotation angle. Obtaining a pitch angle by using a pitch angle sensor>Obtaining the just-passed pitching discrete point by comparing the set discretized paths>The pitch discrete set value is the set value. The pitch discrete set value +_of the next moment can be obtained through the discrete set value>I.e. the next pitch angle. Then according to a wind load calculation formula, using a wind sensor to actually measure a wind speed vector; according to the Morisen calculation formula, using a wave sensor to actually measure the velocity vector of the water outlet particle; according to the ocean current calculation formula, the ocean current velocity vector is actually measured by using a current sensor. The dispersion condition of ship cargoes and sliding blocks, the wind speed vector, the water particle speed vector, the ocean current speed vector, the crane rotation angle target discrete set value and the crane pitching angle target discrete set value are input into an intelligent safety evaluation calculation model of the offshore hoisting operation to obtain the safety evaluation result of the offshore hoisting operation, if the safety evaluation result is safe, the cargo hoisting safety is output, and the hoisting operation is carried outThe crane swing angle target discrete set value and the crane pitching angle target discrete set value can be normally carried out according to the target operation track, a signal is output to a swing driving system by a swing accurate operation controller, the swing driving system acts to enable the crane to swing, and the swing angle is continuously fed back through a swing angle sensor in the process, so that the crane is operated to the target swing angle. The pitching accurate operation controller outputs signals to the pitching driving system, the pitching driving system acts to pitch the crane, and the pitching angle is continuously fed back through the pitching angle sensor in the process, so that the crane runs to the target pitching angle. If the sliding block is unsafe, calculating a sliding block balance compensation track, outputting a sliding block X-direction position and a sliding block Y-direction position, inputting the output sliding block X-direction position into an X-direction sliding block position controller module, outputting a signal to a sliding block driving system module by the X-direction sliding block position controller, and controlling the sliding block to move by a sliding block driving system. In the process, the position of the X-direction downward sliding block is continuously fed back through the sliding block position sensor, and a signal can be input to the X-direction sliding block position controller, so that the X-direction downward sliding block can move to a designated position. The output Y-position of the sliding block is input into a Y-direction sliding block position controller module, and the Y-direction sliding block position controller outputs a signal to a sliding block driving system module, and the sliding block driving system controls the sliding block to move. In the process, the position of the Y-direction sliding block is continuously fed back through the sliding block position sensor, and a signal can be input to the Y-direction sliding block position controller, so that the Y-direction sliding block can move to a specified position. Through real-time intelligent safety evaluation in the lifting operation, the operation safety of the crane can be judged in real time.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (9)
1. The wind power installation ship is characterized by comprising a ship body, a crane, a pile fixing area, an upper slide block, a lower slide block, an upper slide rail, a lower slide rail, an upper slide block pulley, a lower slide block pulley, a motor, a crane rotating table, pile shoes and truss type pile legs, wherein the crane is connected with the crane rotating table, the crane rotating table is connected with the pile fixing area, the pile fixing area is connected with the ship body, the truss type pile legs are connected with the pile fixing area through a gear rack mechanism, and the pile shoes are positioned at the bottoms of the truss type pile legs; the ship body bottom is equipped with slide and glide slope, and the slide passes through the slider pulley with last slider and is connected, and the glide slope passes through the slider pulley with the glide slope and is connected, and upper slider pulley and glide slope pulley are all connected with corresponding motor, the motor is fixed on corresponding upper slider and glide slope.
2. A wind power installation vessel according to claim 1, wherein the glide slope and the upper slope are vertically and crosswise distributed in space, the motor is in communication connection with the controller, and is connected with the corresponding upper slide block pulley and lower slide block pulley through a brake, a speed reducer, a coupling one and a coupling two.
3. A wind power installation vessel according to claim 1, wherein the center of the deck of the vessel is an O-point, the direction pointing to the bow is an X-axis, the direction perpendicular to the bow is a Y-axis, the direction perpendicular to the plane of the deck is an upward Z-axis, the upper slipway is along the Y-direction, and the lower slipway is along the X-direction;
under normal conditions, the X downward sliding block does not move, and the Y upward sliding block does not move; when the ship body has moment in the Y clockwise direction, the X-direction lower sliding block moves along the X, and the Y-direction upper sliding block does not move; when the ship body has moment in the clockwise direction of-Y, the X-direction lower sliding block moves along the direction of-X, and the Y-direction upper sliding block does not move; when the ship body has moment in the clockwise direction of-X, the X-direction lower sliding block does not move, and the Y-direction upper sliding block moves along the Y; when the moment of X clockwise direction exists on the ship body, the X downward sliding block does not move, and the Y upward sliding block moves along the Y direction; when the ship body has moment in the clockwise direction of Y and-X, the X-direction lower sliding block moves along X, and the Y-direction upper sliding block moves along Y; when the ship body has moment in the clockwise direction of Y and X, the X-direction lower sliding block moves along X, and the Y-direction upper sliding block moves along-Y; when the ship body has moment in the clockwise direction of-Y and-X, the X-direction lower slide block moves along-X, and the Y-direction upper slide block moves along Y; when the ship body has moment in the clockwise direction of-Y and X, the X-direction lower sliding block moves along-X, and the Y-direction upper sliding block moves along-Y.
4. An intelligent safe operation control system of a wind power installation ship is characterized by comprising an offshore hoisting operation safety evaluation calculation model, an input module and a sliding block control module,
the input module comprises an input ship cargo distribution vector, forces and moments of an upper sliding block and a lower sliding block, a wind speed vector, a sea level water particle speed vector, a sea current speed vector, a crane rotation angle, a crane pitching angle and a cargo lifting weight;
the input module inputs the information into an offshore hoisting operation safety evaluation calculation model;
the marine hoisting operation safety evaluation calculation model comprises the following steps:
the gravity of the ship body is imported into the marine hoisting operation safety evaluation calculation model; according to the translation theorem of force, the dead weight vector of the ship body is equivalently converted into force acting on the center O point of the ship body, and torque is generated，/>Can be decomposed into moments about the X-axis and the Y-axis>,/>；
The gravity of the suspension arm is imported into the offshore hoisting operation safety evaluation calculation model; inputting the rotation angle of the crane and the pitching angle of the crane to obtain the gravity center position of the suspension arm, namely obtaining the gravity vector of the suspension arm; according to the translation theorem of force, the gravity vector of the suspension arm is equivalently converted into force acting on the center O point of the ship body, and torque is generated，/>Can be decomposed into moments about the X-axis and the Y-axis>,/>；
Inputting the distribution condition of the ship residual cargoes, obtaining a gravity vector by utilizing an equivalent gravity center calculation equation, and equivalently converting the gravity vector of the ship residual cargoes into a force acting on a center O point of a ship body and generating a moment according to a translation theorem of the force，/>Can be decomposed into moments about the X-axis and the Y-axis>,/>；
The weight of the lifted goods is input, the rotation angle of the crane and the pitching angle of the crane can be used for obtaining the gravity center position of the goods, namely, the gravity vector of the goods can be obtained, and the gravity vector of the goods is equivalently converted into the force acting on the center O point of the ship body and the moment is generated according to the translation theorem of the force，/>Can be decomposed into moments about the X-axis and the Y-axis>,/>；
Substituting the wind speed vector into a wind load calculation formula through the wind speed vector, the sea level water particle speed vector and the ocean current speed vector measured by the sensor to obtain a wind pressure vector; substituting the sea level water quality point velocity vector into a Morisen calculation formula to obtain a wave pressure vector; substituting the ocean current velocity vector into an ocean current calculation formula to obtain a current pressure vector; the wind load vector, the wave load vector and the flow load vector can be obtained through integral processing, and are respectively and equivalently converted into forces acting on the center O point of the ship body according to the translation theorem of the forces, and wind load moment is respectively generatedWave load moment->Flow load moment->，/>Can be decomposed into moments around X axis and Y axis 、 />，/>Can be decomposed into moments about the X-axis and the Y-axis> 、 />，/>Can be decomposed into windingsMoment of X-axis and Y-axis> 、 />；
When operation safety evaluation is carried out, the offshore hoisting operation safety evaluation calculation model inputs all the obtained equivalent force and equivalent moment at the O point into finite element analysis software, so as to determine whether the ship body is safe or not, and if the ship body is safe, the crane operates according to the set hoisting track; if the ship body is unsafe, the slide block control module outputs and calculates a slide block balance compensation track according to the safety evaluation calculation model of the marine hoisting operation, and the upper slide block and the lower slide block are controlled to slide through the controller, so that the crane operates according to the set hoisting track after the ship body is safe.
5. The intelligent safety operation control system for wind power installation vessel according to claim 4, wherein all equivalent moments，/>Moment generated for the hull itself->Moment generated for the boom->Moment generated for cargo on the remaining hull, < >>Moment generated for lifting goods, +.>Moment generated for wind power, < >>Moment generated by wave force->For the moment generated by the flow force, will +.>Split into a moment about the X-axis>Moment about Y-axis>The optimal moving distance is +.>；/> ，/>For X the distance of movement of the slider downwards, < >>And the weight of the upper sliding block and the lower sliding block is G for the moving distance of the upper sliding block of Y.
6. The intelligent safety operation control system of the wind power installation ship according to claim 4, wherein an O point is arranged at the center of a deck of the ship body, the direction pointing to the ship head is an X axis, the direction perpendicular to the ship head is a Y axis, the direction perpendicular to the plane of the deck is an upward Z axis, an upper slideway is along the Y direction, and a lower slideway is distributed along the X direction;
under normal conditions, the X downward sliding block does not move, and the Y upward sliding block does not move; when the ship body has moment in the Y clockwise direction, the X-direction lower sliding block moves along the X, and the Y-direction upper sliding block does not move; when the ship body has moment in the clockwise direction of-Y, the X-direction lower sliding block moves along the direction of-X, and the Y-direction upper sliding block does not move; when the ship body has moment in the clockwise direction of-X, the X-direction lower sliding block does not move, and the Y-direction upper sliding block moves along the Y; when the moment of X clockwise direction exists on the ship body, the X downward sliding block does not move, and the Y upward sliding block moves along the Y direction; when the ship body has moment in the clockwise direction of Y and-X, the X-direction lower sliding block moves along X, and the Y-direction upper sliding block moves along Y; when the ship body has moment in the clockwise direction of Y and X, the X-direction lower sliding block moves along X, and the Y-direction upper sliding block moves along-Y; when the ship body has moment in the clockwise direction of-Y and-X, the X-direction lower slide block moves along-X, and the Y-direction upper slide block moves along Y; when the ship body has moment in the clockwise direction of-Y and X, the X-direction lower sliding block moves along-X, and the Y-direction upper sliding block moves along-Y.
7. The intelligent safety operation control system for a wind power installation vessel according to claim 4, wherein the wind speed vector is measured by a wind sensor, the wind pressure vector is calculated by taking a formula into the wind speed vector, and the wind pressure vector is calculated according to the formula 、 />，/>For the magnitude of wind pressure resultant force in X-axis direction, < + >>For the magnitude of wind pressure resultant force in Y-axis direction, < ->Is a force arm of wind pressure resultant force around the X axis,the force vector and the moment vector of wind are obtained for the moment arm of wind pressure resultant force around the Y axis;
the wave sensor measures the velocity vector of water particle, and the wave pressure vector is calculated by taking the velocity vector into a formula 、 ，/>For the magnitude of the wave pressure force in the X-axis direction, < ->For the magnitude of the wave pressure force in the Y-axis direction, < ->Force arm for wave pressing force around X axis, +.>The force arm of the wave pressing force around the Y axis is used for obtaining a force vector and a moment vector of the wave;
measuring the sea current velocity vector by a current sensor, carrying out formula calculation to obtain a current pressure vector, and obtaining the sea current velocity vector according to the formula 、 ，/>For the magnitude of the flow pressure force in the X-axis direction, is->For the magnitude of the flow pressing force in the Y-axis direction, and (2)>Is the arm of force of the flow pressure force around the X axis, < >>Is the arm of force of the flow pressing force around the Y axis, and is obtainedForce vectors and moment vectors to the flow.
8. The intelligent safe operation control method for the wind power installation ship is characterized by comprising the following steps of,
step one, a hoisting cargo module is used for measuring the weight of hoisting cargoes before hoisting operation and giving a hoisting track;
step two, discretizing a hoisting track into a limited number of small points, wherein each small point represents the position of hoisting operation of a crane, and calculating the rotation angle and pitch angle of the crane corresponding to each discrete point by using kinematic inverse solution;
step three: the ship cargo distribution vector, the force and moment of the upper sliding block and the lower sliding block, the wind speed vector, the sea level water particle speed vector, the sea current speed vector, the crane rotation angle, the crane pitching angle and the weight of the hoisted cargo are input into a safety evaluation calculation model of the offshore hoisting operation, the safety evaluation calculation model of the offshore hoisting operation is evaluated, if the safety is ensured, the hoisting safety of the cargo is output, and the hoisting operation can be normally carried out; if the sliding block is unsafe, the output goods are not hoisted safely, and the sliding block balance compensation track is required to be calculated; and (3) obtaining the X-direction position of the lower sliding block and the Y-direction position of the upper sliding block, repeating the previous steps after determining the balance compensation track of the sliding block, and substituting the balance compensation track into the intelligent safety evaluation calculation model for the offshore crane operation again until the final evaluation result is safe.
9. The intelligent safe operation control method for the wind power installation ship according to claim 8, wherein an O point is arranged at the center of a deck of the ship body, the direction pointing to the ship head is an X axis, the direction perpendicular to the ship head is a Y axis, the direction perpendicular to the plane of the deck is an upward Z axis, an upper slideway is along the Y direction, and a lower slideway is distributed along the X direction;
all equivalent momentsWill->Split into a moment about the X-axis>Moment about Y-axis>The optimal moving distance is +.>；/>，/>For X the distance of movement of the slider downwards, < >>And the weight of the upper sliding block and the lower sliding block is G for the moving distance of the upper sliding block of Y.
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