CN118603209B - Automatic-regulation marine boarding ladder and regulation method thereof - Google Patents
Automatic-regulation marine boarding ladder and regulation method thereof Download PDFInfo
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Abstract
The invention discloses an offshore boarding ladder capable of being automatically regulated and control and a regulation and control method thereof, and belongs to the technical field of offshore boarding operation. The method comprises the following steps: s1, obtaining a floating base station coordinate signal of the tail end of an active gangway ladder based on a floating base station; obtaining an flowing measurement station coordinate signal of the rotating platform based on the flowing measurement station; obtaining a compensation platform inclination angle signal of the rotating platform based on the inclinometer; s2, obtaining a space coordinate signal of the compensation platform based on the floating base station coordinate signal and the mobile measurement station coordinate signal; s3, obtaining a degree-of-freedom compensation target signal based on the compensation platform inclination angle signal and the compensation platform space coordinate signal; and obtaining a degree-of-freedom compensation instruction signal based on the degree-of-freedom compensation target signal; and S4, obtaining a degree-of-freedom compensation driving signal based on the degree-of-freedom compensation command signal, and driving the wave compensation platform actuator to act based on the degree-of-freedom compensation driving signal. The invention can further improve the safety of operation and maintenance personnel in the process of leaning.
Description
Technical Field
The invention belongs to the technical field of offshore boarding operation, and particularly relates to an offshore boarding ladder capable of being automatically regulated and control and a regulation and control method thereof.
Background
The implementation of the national double-carbon strategy promotes the vigorous development of offshore wind power, and the wind power operation and maintenance requirements are increased. To address this challenge, large wind power vessels currently being built are equipped with wave (motion) compensating gangways to ensure that the service personnel can safely transfer between the vessel and the landing platform under rough sea conditions.
During operation, the operation and maintenance ship needs to keep a safe distance of at least 20 meters from the landing platform. The main function of the wave compensating gangway is to establish a secure passage over this distance. The gangway tip can extend to the set on platform of the landing platform and by continuously adjusting its telescoping length, pitch angle and swivel angle to accommodate heave in the wave, the gangway tip remains relatively stable with respect to the set on platform.
Therefore, the measurement of the spatial position of the tail end of the gangway relative to the mounting end is particularly important, and when the measurement is inaccurate, internal force is generated in the compensation process, so that the compensation accuracy is poor.
In the prior art, the space vector is utilized to calculate the space position of the tail end of the gangway ladder mainly by measuring the displacement of the telescopic actuator (or motor), the displacement of the pitching actuator and the rotation angle, and the problem of deformation of the large-span gangway ladder cannot be considered in the calculation process, so that the measurement accuracy is poor.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides an offshore boarding ladder capable of being automatically regulated and control and a regulation and control method thereof. Through the terminal spatial position of direct measurement gangway to overcome the deformation problem that can't consider the large-span gangway, and then feed back to the motion compensation that the controller is used for the wave in real time, promote the wave motion compensation control accuracy of gangway, further promote fortune dimension personnel and lean on the in-process security.
In order to achieve the above object, the present invention provides the following solutions: an automatic-regulation marine boarding ladder, wherein the boarding ladder is hinged with an operation and maintenance ship platform and is used for transferring operation and maintenance personnel between the operation and maintenance ship platform and the boarding platform; the boarding ladder includes: the device comprises a fixed gangway, a telescopic actuator, a movable gangway, a pitching actuator, a rotating platform, a wave compensation platform, a rotating mechanism, a wave compensation platform actuator and a measuring system;
A sliding rail is arranged below the fixed gangway ladder and is connected with the movable gangway ladder through the sliding rail;
A hinge shaft is arranged at the lower part of the sliding rail end of the fixed gangway ladder and is hinged with the rear end of the telescopic actuator through the hinge shaft;
A hinge shaft is arranged below the movable gangway ladder and is hinged with the front end of the telescopic actuator through the hinge shaft;
The upper part of the mounting end of the fixed gangway ladder is provided with a hinge shaft which is hinged with the front end of the pitching actuator;
A hinge shaft is arranged at the lower part of the mounting end of the fixed gangway ladder and is hinged with the rotating platform through the hinge shaft;
The rotating platform, the rotating mechanism and the wave compensation platform are connected through bolts in sequence;
the lower part of the wave compensation platform is hinged with the front end of the wave compensation platform actuator through an upper spherical hinge;
The rear end of the wave compensation platform actuator is hinged with the operation and maintenance ship platform through a lower spherical hinge;
the measurement system includes: a floating base station, a mobile measurement station, and an inclinometer;
The floating base station is arranged below the tail end of the movable gangway ladder;
the flow measuring station is arranged at the hinge shaft at the lower part of the mounting end of the fixed gangway ladder;
the inclinometer is mounted at the center of the upper surface of the rotating platform.
Further preferably, the pitch actuator and the telescopic actuator are respectively provided with a displacement sensor and a force sensor;
an angle encoder and a torque sensor are arranged in the rotating mechanism;
the wave compensation system is composed of the wave compensation platform, the wave compensation platform actuator, the upper spherical hinge and the lower spherical hinge.
The invention also provides a regulating and controlling method of the offshore boarding gangway ladder capable of being regulated and controlled automatically, which comprises the following steps:
S1, obtaining a floating base station coordinate signal of the tail end of the movable gangway ladder based on the floating base station; obtaining an rover coordinate signal of the rotating platform based on the rover; obtaining a compensation platform inclination angle signal of the rotating platform based on the inclinometer;
S2, obtaining a space coordinate signal of a compensation platform based on the floating base station coordinate signal and the mobile measurement station coordinate signal;
s3, obtaining a degree-of-freedom compensation target signal based on the compensation platform inclination angle signal and the compensation platform space coordinate signal; and obtaining a degree-of-freedom compensation instruction signal based on the degree-of-freedom compensation target signal;
And S4, obtaining a degree-of-freedom compensation driving signal based on the degree-of-freedom compensation command signal, and driving the wave compensation platform actuator to act based on the degree-of-freedom compensation driving signal.
Further preferably, the method of calculating the floating base station coordinate signal and the rover station coordinate signal includes:
，
Where Pr i,j represents the pseudorange from the jth receiving station to the ith satellite; (X i,Yi,Zi) represents the position of the ith satellite in the earth's fixed coordinate system; (x j,yj,zj) represents the unknown coordinate location of the jth receiving station; c represents the speed of light; dt j denotes the clock difference of the jth receiving station; sdt i denotes the clock skew of the ith satellite; e i,j denotes measurement noise and other errors between the j-th receiving station and the i-th satellite.
Further preferably, the method for obtaining the compensation platform space coordinate signal includes:
，
In the formula, In order to compensate for the platform space coordinate signal,For the initial relative spatial coordinate signal,Is the current relative spatial coordinate signal.
Further preferably, the degree of freedom compensation target signal includes；
In the formula,In order to compensate for the platform space coordinate signal,Measurement and acquisition by an inclinometer;
the method for obtaining the degree-of-freedom compensation instruction signal from the degree-of-freedom compensation target signal includes:
，
In the formula, To compensate for the algorithm.
Further preferably, the method of obtaining the degree of freedom compensation driving signal includes:
，
In the formula, Is a proportionality coefficient; is an integration time constant; Is a differential time constant; the command signal is compensated for freedom to simplify the expression.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the problem that the deformation of the large-span gangway cannot be considered is solved by directly measuring the space position of the tail end of the gangway, and the deformation is fed back to the controller in real time for wave motion compensation, so that the wave motion compensation control precision of the gangway is improved, and the safety of operation and maintenance personnel in the boarding process is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an automatically controllable offshore boarding ramp according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for controlling an offshore boarding ramp, which can be automatically controlled according to the embodiment of the invention;
FIG. 3 is a schematic diagram of a method for calculating a floating base station coordinate signal and a rover station coordinate signal using satellites according to an embodiment of the present invention.
Reference numerals illustrate:
101. An operation and maintenance ship platform; 201. landing on a platform; 301. a wave compensation platform; 302. a rotating mechanism; 303. rotating the platform; 304 a wave compensation platform actuator; 305. a lower spherical hinge; 306. a spherical hinge is arranged; 401. fixing the gangway ladder; 402. a movable gangway ladder; 403. a pitch actuator; 404. a telescopic actuator; 405. a first hinge shaft; 406. a second hinge shaft; 407. a third hinge shaft; 408. a fourth hinge shaft; 409. a fifth hinge shaft; 410. a slide rail; 501. a floating base station; 502. a flow measurement station; 503. an inclinometer; 601. satellite number 1; 602. satellite No. 2; 603. satellite No. 3; 604. satellite No. 4.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Embodiment one:
As shown in fig. 1, the present embodiment provides an automatically controllable offshore boarding ramp, which is hinged to an operation and maintenance ship platform 101 for transferring operation and maintenance personnel between the operation and maintenance ship platform 101 and a boarding platform 201; comprising the following steps: a fixed ramp 401, a telescopic ram 404, a movable ramp 402, a pitch ram 403, a rotating platform 303, a wave compensation platform 301, a rotating mechanism 302, a wave compensation platform ram 304 and a measurement system. Specifically, a sliding rail 410 is disposed below the fixed gangway 401, and is connected with the movable gangway 402 through the sliding rail 410, so that axial sliding can be realized. A third hinge shaft 407 is arranged at the lower part of the sliding rail end of the fixed gangway ladder 401, and is hinged with the rear end of the telescopic actuator 404 through the third hinge shaft 407; a fourth hinge shaft 408 is arranged below the movable gangway ladder 402 and is hinged with the front end of the telescopic actuator 404 through the fourth hinge shaft 408; a second hinge shaft 406 is arranged at the upper part of the mounting end of the fixed gangway 401, and is hinged with the front end of the pitching actuator 403 through the second hinge shaft 406; the rear end of the pitching actuator 403 is provided with a first hinge shaft 405, and the pitching actuator is hinged with the rotating platform 303 through the first hinge shaft 405; a fifth hinge shaft 409 is arranged at the lower part of the mounting end of the fixed gangway 401, and is hinged with the rotating platform 303 through the fifth hinge shaft 409; the rotating platform 303, the rotating mechanism 302 and the wave compensation platform 301 are connected through bolts in sequence; wherein, the rotating mechanism 302 is arranged below the rotating platform 303, and the lower part of the rotating platform 303 is connected with a bolt above the rotating mechanism 302; the lower part of the rotating mechanism 302 is connected with a bolt above the wave compensation platform 301; the wave compensation platform 301, the wave compensation platform actuator 304, the upper spherical hinge 306 and the lower spherical hinge 305 form a wave compensation system. The front end below the wave compensation platform 301 is hinged with the front end of the wave compensation platform actuator 304 through an upper spherical hinge 306; the rear end of the wave compensation platform actuator 304 is hinged with the operation and maintenance ship platform 101 through a lower spherical hinge 305.
The measurement system includes: a floating base station 501, a flow measurement station 502, and an inclinometer 503; a floating base station 501 is mounted below the end of the movable gangway 402; the flow measurement station 502 is mounted at a fifth hinge shaft 409 at the lower part of the mounting end of the stationary gangway 401; an inclinometer 503 is mounted at the center of the upper surface of the rotating platform 303.
In this embodiment, the pitch actuator 403 and the telescopic actuator 404 are each built with a displacement sensor and a force sensor; the rotation mechanism 302 has an angle encoder and a torque sensor built therein.
Embodiment two:
The embodiment provides a regulating and controlling method of an offshore boarding gangway ladder capable of being regulated and controlled automatically, wherein a space position resolver is electrically connected with a floating base station 501, a mobile measuring station 502 and a compensation platform freedom degree resolver in a unidirectional mode respectively; the compensation platform degree of freedom solver is electrically connected with the inclinometer 503, the spatial position solver and the compensation algorithm module in a unidirectional manner, the compensation algorithm module is electrically connected with the compensation platform degree of freedom solver and the compensation platform PID controller in a unidirectional manner, and the compensation platform PID controller is electrically connected with the compensation algorithm module and the compensation platform driver in a unidirectional manner.
Specifically, as shown in fig. 2, the method comprises the following steps:
s1, obtaining a floating base station coordinate signal of the tail end of an active gangway ladder 402 based on a floating base station 501; obtaining a rover coordinate signal of the rotating platform 303 based on the rover 502; and deriving a compensated platform tilt signal for the rotating platform 303 based on the inclinometer 503.
As shown in fig. 3, the method for calculating the floating base station coordinate signal and the mobile measurement station coordinate signal includes:
，（1）
Where Pr i,j represents the pseudorange from the jth receiving station to the ith satellite; in this embodiment, i=1, 2,3, and 4 correspond to satellite No. 1 601, satellite No. 2 602, satellite No. 3 603, and satellite No. 4 604, respectively; subscript j denotes a receiving station, in this embodiment j=1, 2, respectively denotes a floating base station 501 and a flow measurement station 502; (X i,Yi,Zi) represents the position of the ith satellite in the earth's fixed coordinate system; (x j,yj,zj) represents the unknown coordinate location of the jth receiving station; c represents the speed of light; dt j denotes the clock difference of the jth receiving station; sdt i denotes the clock skew of the ith satellite; e i,j denotes measurement noise and other errors between the j-th receiving station and the i-th satellite.
From equation (1) and the signals of the four satellites, the three-dimensional coordinates (x 1,y1,z1) and the clock difference dt 1 of the floating base station 501 and the three-dimensional coordinates (x 2,y2,z2) and the clock difference dt 2 of the flow measurement station 502 can be obtained.
Thereafter, the relative spatial coordinates between the floating base station 501 and the rover station 502 are calculated:
。 （2）
Since the error in solving for the receiver station coordinates is caused by e i,j, whereas the e i,j error consists mainly of atmospheric delays, other than ionospheric delays, the coordinate measurement error of the same satellite for close range locations is substantially constant, i.e., . Thus, the coordinate solving errors of the floating base station 501 and the rover station 502 are substantially equal.
Therefore, the resolution of the relative spatial coordinates between the floating base station 501 and the rover station 502 is much higher than the resolution of the coordinates of the floating base station 501 and the rover station 502.
S2, a space position solver is adopted, and a compensation platform space coordinate signal is obtained based on the floating base station coordinate signal and the mobile measurement station coordinate signal.
Specifically, a floating base station coordinate signal and a mobile measurement station coordinate signal are obtained by the formula (1), a relative spatial coordinate between the floating base station 501 and the mobile measurement station 502 is obtained by the formula (2), and a compensation platform spatial coordinate signal is calculated based on the obtained relative spatial coordinate. The method for calculating the space coordinate signal of the compensation platform comprises the following steps:
， （3）
In the formula, In order to compensate for the platform space coordinate signal,For the initial relative spatial coordinate signal,Is the current relative spatial coordinate signal.
S3, a compensation platform freedom degree stage device is adopted, and a freedom degree compensation target signal is obtained based on a compensation platform inclination angle signal and a compensation platform space coordinate signal; and compensating the degree of freedom compensation target signal into a degree of freedom compensation command signal based on the compensation algorithm module.
In this embodiment, the degree of freedom compensation target signal is。
Wherein, The process is carried out by the step S2,The two are independent measurement and are obtained by measurement of an inclinometer, and a degree-of-freedom resolver of a compensation platform is used for superposing the two to obtain a degree-of-freedom compensation target signal。
The degree of freedom compensation command signal isThe calculation method comprises the following steps:
， （4）
Wherein, To compensate for the algorithm.
S4, a compensation platform PID controller is adopted, and a degree-of-freedom compensation driving signal is obtained based on the degree-of-freedom compensation command signal; and a compensation platform driver is adopted to drive the wave compensation platform actuator 304 to act based on the degree-of-freedom compensation driving signal.
The embodiment is toSimplifying the degree of freedom compensation command signal expression.
The degree of freedom compensation drive signal is then:
， （5）
Wherein: Is a proportionality coefficient; is an integration time constant; Is a differential time constant.
The above embodiments are merely illustrative of the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but various modifications and improvements made by those skilled in the art to which the present invention pertains are made without departing from the spirit of the present invention, and all modifications and improvements fall within the scope of the present invention as defined in the appended claims.
Claims (5)
1. An automatic-regulation marine boarding ladder, wherein the boarding ladder is hinged with an operation and maintenance ship platform and is used for transferring operation and maintenance personnel between the operation and maintenance ship platform and the boarding platform; the boarding ladder is characterized by comprising: the device comprises a fixed gangway, a telescopic actuator, a movable gangway, a pitching actuator, a rotating platform, a wave compensation platform, a rotating mechanism, a wave compensation platform actuator and a measuring system;
A sliding rail is arranged below the fixed gangway ladder and is connected with the movable gangway ladder through the sliding rail;
A hinge shaft is arranged at the lower part of the sliding rail end of the fixed gangway ladder and is hinged with the rear end of the telescopic actuator through the hinge shaft;
A hinge shaft is arranged below the movable gangway ladder and is hinged with the front end of the telescopic actuator through the hinge shaft;
The upper part of the mounting end of the fixed gangway ladder is provided with a hinge shaft which is hinged with the front end of the pitching actuator;
A hinge shaft is arranged at the lower part of the mounting end of the fixed gangway ladder and is hinged with the rotating platform through the hinge shaft;
The rotating platform, the rotating mechanism and the wave compensation platform are connected through bolts in sequence;
the lower part of the wave compensation platform is hinged with the front end of the wave compensation platform actuator through an upper spherical hinge;
The rear end of the wave compensation platform actuator is hinged with the operation and maintenance ship platform through a lower spherical hinge;
the measurement system includes: a floating base station, a mobile measurement station, and an inclinometer;
The floating base station is arranged below the tail end of the movable gangway ladder;
the flow measuring station is arranged at the hinge shaft at the lower part of the mounting end of the fixed gangway ladder;
the inclinometer is arranged at the center of the upper surface of the rotating platform;
the pitching actuator and the telescopic actuator are respectively provided with a displacement sensor and a force sensor;
an angle encoder and a torque sensor are arranged in the rotating mechanism;
the wave compensation platform, the wave compensation platform actuator, the upper spherical hinge and the lower spherical hinge form a wave compensation system;
the method for regulating the offshore boarding gangway ladder capable of being regulated automatically comprises the following steps of:
S1, obtaining a floating base station coordinate signal of the tail end of the movable gangway ladder based on the floating base station; obtaining an rover coordinate signal of the rotating platform based on the rover; obtaining a compensation platform inclination angle signal of the rotating platform based on the inclinometer;
S2, obtaining a space coordinate signal of a compensation platform based on the floating base station coordinate signal and the mobile measurement station coordinate signal;
s3, obtaining a degree-of-freedom compensation target signal based on the compensation platform inclination angle signal and the compensation platform space coordinate signal; and obtaining a degree-of-freedom compensation instruction signal based on the degree-of-freedom compensation target signal;
And S4, obtaining a degree-of-freedom compensation driving signal based on the degree-of-freedom compensation command signal, and driving the wave compensation platform actuator to act based on the degree-of-freedom compensation driving signal.
2. An automatically regulatable offshore boarding ramp according to claim 1, wherein the method of calculating the floating base station coordinate signal and the rover station coordinate signal comprises:
，
Where Pr i,j represents the pseudorange from the jth receiving station to the ith satellite; (X i,Yi,Zi) represents the position of the ith satellite in the earth's fixed coordinate system; (x j,yj,zj) represents the unknown coordinate location of the jth receiving station; c represents the speed of light; dt j denotes the clock difference of the jth receiving station; sdt i denotes the clock skew of the ith satellite; e i,j denotes measurement noise and other errors between the j-th receiving station and the i-th satellite.
3. An automatically regulatable marine boarding ladder of claim 1, wherein the method of obtaining the compensated platform spatial coordinate signal comprises:
，
In the formula, In order to compensate for the platform space coordinate signal,For the initial relative spatial coordinate signal,Is the current relative spatial coordinate signal.
4. An automatically regulatable marine boarding ladder of claim 1 wherein the degree of freedom compensation target signal comprises；
In the formula,In order to compensate for the platform space coordinate signal,Measurement and acquisition by an inclinometer;
the method for obtaining the degree-of-freedom compensation instruction signal from the degree-of-freedom compensation target signal includes:
，
In the formula, To compensate for the algorithm.
5. An automatically regulatable marine boarding ladder of claim 1, wherein the method of obtaining the degree of freedom compensation drive signal comprises:
，
In the formula, Is a proportionality coefficient; is an integration time constant; Is a differential time constant; the command signal is compensated for freedom to simplify the expression.
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