Multi-pile-leg regulation and control system of wind power installation ship based on direct feedback of platform tail end pose

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Multi-pile-leg regulation and control system of wind power installation ship based on direct feedback of platform tail end pose

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YANG XU / ZHU YILONG / LEE SE-JIN / LI YIBIN / FU DAOCHENG / LIU XIN

The invention discloses a wind power installation vessel multi-pile leg regulation and control system based on platform tail end pose direct feedback, which comprises a pile leg lifting device, a pile leg position controller, a lifting force distribution controller, an X-axis attitude controller and a Y-axis attitude controller, each pile leg lifting device comprises a lifting truss, a lifting fixing pile, a lifting force sensor and a lifting force controller. The bottom of the lifting fixing pile is fixed to a wind power installation ship deck, a lifting force sensor is arranged between the lifting fixing pile and the wind power installation ship deck, the bottom of the lifting truss penetrates through the wind power installation ship deck to be fixedly connected with the pile shoe, and the pile leg position controller is connected with the pile leg lifting force distribution controller. The pile leg lifting force distribution controller is connected with the X-axis posture controller, the Y-axis posture controller and the pile leg lifting force controller, and the pile leg lifting force controller is connected with the motor set and the lifting force sensor. The method has the advantage that the attitude stability of the wind power installation ship in the lifting process is guaranteed by cooperatively controlling the lifting force of the multiple pile leg lifting devices.

本发明公开了一种基于平台末端位姿直接反馈的风电安装船多桩腿调控系统，包括桩腿升降装置、桩腿位置控制器、升降力分配控制器、X轴姿态控制器、Y轴姿态控制器，每个所述桩腿升降装置均包括升降桁架、升降固定桩、升降力传感器、升降力控制器。所述升降固定桩底部固定在风电安装船甲板上，两者之间设有升降力传感器，所述升降桁架底部穿过风电安装船甲板与桩靴固定连接，所述桩腿位置控制器与桩腿升降力分配控制器连接，桩腿升降力分配控制器分别与X轴姿态控制器、Y轴姿态控制器、桩腿升降力控制器连接，桩腿升降力控制器分别与马达组、升降力传感器连接。其优点在于，通过协同控制多个桩腿升降装置的升降力，保障风电安装船在升降过程中姿态稳定性。

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Title :

Multi-pile-leg regulation and control system of wind power installation ship based on direct feedback of platform tail end pose

Additional title:

基于平台末端位姿直接反馈的风电安装船多桩腿调控系统

Contributors:

YANG XU (author) / ZHU YILONG (author) / LEE SE-JIN (author) / LI YIBIN (author) / FU DAOCHENG (author) / LIU XIN (author)

Publication date :

2023-08-08

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

E02B HYDRAULIC ENGINEERING , Wasserbau / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / E02D FOUNDATIONS , Gründungen