JP3313010B2 - Position control system for large structures - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a large structure position control system for controlling the position of a large structure when the large structure is sunk on the water floor.

[0002]

2. Description of the Related Art For example, when a large structure having a length of 200 m, a width of 30 m and a height of 10 m is installed at the bottom of a water, the large structure is supported by a work boat or an anchor installed at the bottom of the water via a wire. After that, a method is employed in which a wire is wound or unwound with a winch provided on a work boat, and a large structure is placed at a predetermined position on the water bottom.

[0003]

However, because of the large inertia of a large structure, a sudden operation is liable to cause a vibration, and it is difficult to stand still. In particular, since sudden braking is not effective, incorrect operation may cause a collision with the underwater ground or existing structures. Therefore, in order to work more efficiently without causing vibrations and collisions, a powerful large winch that can withstand the inertia of large structures is required.However, such a winch must be newly designed and manufactured. There must be.

[0004] Therefore, the present invention provides a large structure capable of controlling the position of a large structure more efficiently by using a versatile winch or cable which can be purchased from a manufacturer without causing vibration or collision accident. It is to provide a position control system.

[0005]

In order to achieve the above object,
According to a first aspect of the present invention, there is provided a position control system for a large structure, comprising at least one pontz floating on water.
Large structures that are installed on
A general-purpose underwater weight-supporting wing that suspends structures via tows
And at least four anchors installed at the bottom of the water
Steering to control the lateral position of large structures with a fixed point
A general-purpose mooring winch that operates
An operation to operate the longitudinal movement of a large structure as a fixed point
Large structure with a general mooring winch to operate
A position control system for a structure , comprising: a movement start position and a stop position for guiding the large structure to a planned position at a water bottom.
The acceleration curve of a large structure including constant acceleration motion between positions
This is set as a speed curve by one-time integration, and then integrated twice.
The current movement start position and final stop based on the position curve
S-shaped adjusted to match the actual travel distance to the stop position
The mold position movement curve is set, and the general-purpose mooring winch and general
A position control system of a large-type structure by controlling the weight bearing winch in water Before moving the large structure along the S-shaped position movement <br/> curve.

[0006] The large structure according to the second aspect of the present invention.
The structure position control system is used to control the movement of large structures.
Of cable length and cable tension of each universal winch
Calculate the position of the large structure
Create a time-series curve of cable length to satisfy
The length of all general-purpose winch cords is controlled by a motor.
It is a position control system of the large structure described.

[0007] A large structure according to the third aspect of the present invention.
The structure position control system creates a time-series curve of cable length.
In the movement start position and the final stop position,
Catenary meter for equilibrium balance of large structures against external force
The initial cable length and final cable length of each general-purpose winch
3. The large-sized apparatus according to claim 2, wherein a target cable length to be controlled is obtained from the control information.
It is a position control system for a structure.

[0008] A large structure according to the invention of claim 4 is provided.
The position control system of the structure is controlled from the control position of the large structure.
Fuzzy controls and fees to prevent
4. The position of the large structure according to claim 3, wherein the feedback control is performed.
It is a control system.

[0009]

[0010]

[0011]

[0012] Position control system for large structure according to the invention of claim 5, underwater anchor, universal mooring c <br/> inches and search Article generic underwater weight supporting winches and rope,
Moving curve creation program large structure, and claim 4 SL composed of mooring and supported winch operation control program
It is a position control system for a large structure mounted on the vehicle.

[0013]

According to the position control system for a large structure of the present invention, a large structure can be safely used without causing a vibration or a collision accident by using a versatile winch or cable that can be purchased from a manufacturer. Position can be controlled more efficiently.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a main control tower 12 and a sub-control tower 13 are erected on the center line (normal line) of the new box 11. As shown in FIG. 2, the main control tower 12 is provided with a reverse winch 6, a rightward forward winch 8 and a leftward forward winch 10, and the winding operation wires 14 c and 14 d are wound by the reverse winch 6. As a result, the new box 11 retreats. In addition, the new box 11 swings the head to the right by winding the box handling wire 15a by the front winch 8 for rightward, and the new box 11 to the left by winding the box 15b by the front winch 10 for left. I'm shaking my head.

On the other hand, the sub-control tower 13 is provided with a forward winch 5, a rightward rear winch 7 and a leftward rear winch 9, and by winding the box handling wires 14a, 14b with the forward winch 5. The new box 11 moves forward. Also, the new box 11 swings its butt to the right by winding the cab wire 15c by the right-handed rear winch 7, and the cab wire 15d by the left-handed rear winch 9.
, The new box 11 swings its butt to the left.

The winches 1, 2, 3, and 4 on the two sinking pontoons 16 mounted on the new box 11 while pouring water into a ballast tank (not shown) provided in the new box 11.
The new box 11 can be settled by rewinding the box operation wires 17a to 17d. To the right front anchor 18a of the new box 11, the tip of the operation wire 14a, 15a is connected, to the left front anchor 18b, the tip of the operation wire 14b, 15b is connected, and to the right rear anchor 18c. Is connected to the distal ends of cab wires 14c, 15c, and the right rear anchor 18d is connected to the distal ends of cab wires 14d, 15d. The anchors 18a and 18b are located on an extension of the rear end face 19a of the existing box 19, as shown in FIG.

The rear end 19b of the existing box 19 is provided with a transmission frame 20a constituting an end face exploring apparatus 20, and the front face 11b of the new box 11 constitutes the end face exploring apparatus 20. A receiving frame 20b is provided. Further, a receiving attachment 21 is provided at a rear end portion 19 b of the existing box 19, and a stroke sensor 22 is provided at a front portion 11 b of the new box 11.

FIG. 3 is a diagram of a centralized control and monitoring system provided in the main control tower 12, wherein 23 is a winch control personal computer, 24 is a ballast control personal computer, and 25 and 2.
6 is an I / O expansion box, 27 is a lightwave type position measuring device, 2
8 is a sonic position measuring device, 29 is a pontoon draft meter, 3
0 is a communication pipe inclinometer, 31 is a cable chord meter, 32 is a cable tension meter, 33 is a winch console, 34 is a video distributor, and the video distributor 34 controls the display 35 of the main tower 12 and other displays 36. To distribute the video. 37 is a keyboard, 38 is a printer.

On the other hand, the ballast control personal computer 24 also distributes an image to the display 40 of the main tower 12 and another display 41 by the image distributor 39 in the same manner. Reference numeral 42 denotes an image switch, and 43 denotes an image distributor. The image distributor 43 controls the display 44 of the main tower measurement room, the display 45 of the main tower machine room, the display 46 of the sub tower measurement room, and the display of the sub tower machine room. 47, display 48 of the pontoon operation room,
Images are distributed to the display 49 in the box. 50 is a keyboard, 51 is an environment measuring device, 52 is a tank water level gauge, and 53 is a ballast console.

FIG. 4 is a block diagram of the box position control system. In the processing unit 23a of the computer 23, a box position command 54 and a box position detected by the box position detector 55 are calculated by a position error calculator 56. After the fuzzy calculation 57, a cable length command correction 59 is performed based on the cable length command theoretical value 58, and further, P
The PID control 60 is performed by the ID control unit 23b and the winch 1
To 10 are controlled. In addition, the cord length meters 1 'to 10' and the tension meters 1 "to 10 '
The signal of 10 ″ is fed back immediately before the PID control 60. On the other hand, the box tilt detector 61
The inclination of the box due to is also contributed to the correction of the box.

FIG. 5 is a flowchart showing the entire operation program, and FIG.
FIG. 7 is a diagram showing a box operation simulation and an automatic box operation. In the box operation simulation unit 70, setting, calculation, drawing and display of a movement position curve between two points of a movement start position and a final guidance position of the new box 11 are performed. (N1). That is, in the box operation simulation unit 70, 1) creation of an acceleration curve of the box (S-shaped curve + constant velocity curve) →
Calculation of velocity curve (integral once) and position curve (integral twice) 2) Calculation of equilibrium state (static equilibrium state) at the current position (stop state) of submerged box (new box 11) (Catenary calculation: by Newton Rapso Solving the balancing conditions from the wire geometric conditions and calculating the initial cable length and tension Estimating external force from the calculated cable length and tension (fluid force, wind force, etc.) 3) Submerging box (new box 11) Equilibrium state (static equilibrium state) calculation taking into account the estimated external force at the target position (catenary calculation: successive approximation method by Newton Rapso) Calculate the target cable length and tension by solving the equilibrium conditions from the wire geometric conditions 4 ) The initial cable length and the target cable length are determined for each wire (10 wires).

→ A time-series curve of the cable length is created so as to match the box position curve (movement position curve). Display is performed (however, the feeding and winding wires have opposite polarities). When the automatic operation is started based on the moving position curve (S-shaped position curve) (n2), the winches 1 to 10 are operated based on the cable length time series data (n).
3) Compare the time series data of the box (new box 11) with the measured position values (feedback value) of the box (n4), and correct the cable length time series data by fuzzy calculation (n)
5).

Then, as shown in FIG. 7 and FIG. 8, the new box 11 advances horizontally from the reference numeral, then ballasts it, and sinks largely vertically as shown in FIG. Then, it moves forward horizontally from the position, furthermore, it slightly sinks vertically, then it moves forward very slightly horizontally, furthermore, it sinks very slightly vertically, and the existing box 19 Connected.

In the above description, the new box 11 is replaced by the existing box 19
However, it is needless to say that the present invention can be widely applied to a case where a large structure floating on or under water is laid down.

[0025]

As described above, according to the position control system for a large structure of the present invention, a large-sized structure floating on water or in water using a versatile winch or cable that can be purchased from a manufacturer. The position of objects can be controlled safely and more efficiently without causing vibrations and collision accidents,
Very useful.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a submerging operation of a large structure.

FIG. 2 is an arrangement diagram of a winch wire for operation.

FIG. 3 is a diagram of a centralized control monitoring system.

FIG. 4 is a block diagram of a box position control system.

FIG. 5 is an overall flowchart of a box operation program.

FIG. 6 is a box operation simulation and an automatic box operation diagram.

FIG. 7 is an automatic operation procedure (No. 1).

FIG. 8 is an automatic box operation procedure (2).

[Explanation of symbols]

1 to 10 winch 11 large structure 14a to 14d cable 15a to 15d
Cord 16 Pontoon 18a-18d
Anchor 23 computer

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Masaaki Tamuro 1-54, Hamaura-cho, Niigata, Niigata (72) Inventor Yoji Saotome 1-1-11-52, Hamatake, Chigasaki-shi, Kanagawa (72) Inventor, Shigemi Sato 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Shipbuilding Co., Ltd. (72) Takashi Kawaguchi 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Shipbuilding Co., Ltd. (56) References JP-A-1-256628 (JP, A) Civil Engineering, Civil Engineering, Japan, Vol. 49, No. 11, 33-41 (58) Field surveyed (Int. Cl. ⁷ , DB name) E02D 29/073 E02D 23/00-23 / 08

Claims (5)

(57) [Claims] (1) at least one or more units floating on water
Installed on a pontoon and floating above or below the water
General-purpose underwater weight support for hanging large structures via tows
Winches and at least 4 points of water installed at the bottom of the water
Control the lateral position of large structures with anchors as anchor points.
A general-purpose mooring winch for operating a steering tow,
Operate the longitudinal movement of large structures with the car as a fixed point
With a universal mooring winch to operate the operating traction
A position control system of the large structure, for inducing the large structure to plan the position of the water bottom,
Large structure including constant acceleration motion between the movement start position and the stop position
Set the acceleration curve of the structure and integrate it into a single speed curve.
Then, based on the position curve obtained by integration twice, the current shift
Matches the actual travel distance between the movement start position and the final stop position
S-shaped position movement curve adjusted as described above,
By controlling mooring winches and general-purpose underwater weight bearing winches
Moving the large structure along the S-shaped position movement curve
Position control system for large-scale structures that. 2. A general structure for moving a large structure.
Simulator for the cable length and cable tension of a winch
Calculation to satisfy the set position movement curve for large structures.
To create a time-series curve of cable length and use a computer
The position control system for a large structure according to claim 1, wherein the length of the universal winch cable is controlled. 3. A method for creating a time-series curve of a cable length.
Large structure at the movement start position and final stop position
Obtain the equilibrium equilibrium state of an object against external force by catenary calculation
Control from the initial cable length and final cable length of each universal winch.
The position control system for a large structure according to claim 2, wherein a target rope length to be an elephant is obtained . 4. Excess of a large structure from a control position
Fuzzy control and feedback to prevent instability
4. The position control system for a large structure according to claim 3 , wherein the control is performed. 5. A submersible anchor, a general mooring winch and
Ropes, general-purpose underwater weight-supporting winches and ropes, large structures
Object movement curve creation program and mooring / supporting winch
The position control system for a large structure according to claim 4, comprising a driving control program .