CN-117344731-B - Control system and method for photovoltaic pile driver and pile sinking device based on double compensation systems

Abstract

The invention relates to the technical field of offshore photovoltaics, in particular to a control system and a control method of a photovoltaic pile driver and a pile sinking device based on a double compensation system. The invention comprises a double compensation system, a photovoltaic pile driver and a pile driver, wherein the double compensation system drives a pile hammer on the photovoltaic pile driver to collide with a pile foundation held by the pile driver, the double compensation system comprises a three-dimensional compensation system I positioned at the bottom of the photovoltaic pile driver and a three-dimensional compensation system II positioned at the bottom of the pile driver, the double compensation system ensures the controllable precision of the collision between the pile hammer and the pile foundation by adjusting the relative positions of the three-dimensional compensation system I and the three-dimensional compensation system II, the distance between a pile driving ship and the pile foundation can be adjusted by improving the pile driver, the linkage control foundation of the double compensation system can be realized by adding the double compensation system and a hydraulic pump station, the manual compensation mode, the active compensation mode and the passive compensation mode can be realized, and the prediction model is established to be combined with the comprehensive adjustment of the double compensation system, so that the effect is more outstanding, timely and efficient.

Inventors

• WANG TIANYU
• ZHANG LIANG

Assignees

• 山东蓝鲲海洋工程有限公司

Dates

Publication Date

20260508

Application Date

20230825

Claims (5)

1. 1. The utility model provides a photovoltaic pile driver and pile driver's control system based on two compensating system, including two compensating system, photovoltaic pile driver (5) and pile driver (6), pile hammer on two compensating system drive photovoltaic pile driver (5) collides with pile foundation (4) that pile driver (6) are held tightly, its characterized in that, two compensating system is including being located three-dimensional compensating system I (2) of photovoltaic pile driver (5) bottom, and be located three-dimensional compensating system II (3) of pile driver (6) bottom, two compensating system is through adjusting three-dimensional compensating system I (2) and three-dimensional compensating system II (3) relative position, guarantee pile hammer and pile foundation (4) collided the controllable precision, wherein: The three-dimensional compensation system I (2) is used for detecting the state of the photovoltaic pile driver (5) and compensating the photovoltaic pile driver (5) to ensure that the position of the photovoltaic pile driver (5) is stable relative to a ship; The three-dimensional compensation system II (3) is used for detecting the state of the pile driver (6) and compensating the pile driver (6) to ensure that the pile driver (6) is stable in position relative to the pile foundation (4); The double-compensation system further comprises a hydraulic pump station which is respectively connected with the three-dimensional compensation system I (2) and the three-dimensional compensation system II (3) and drives the photovoltaic pile driver (5) and the pile driver (6) to have stable relative positions; the photovoltaic pile driver (5) comprises a body and a pile hammer arranged on the body through a sling, wherein: The pile sinking ship comprises a body, a pile hammer and a pile driving device, wherein the body is arranged on a pile sinking ship (1) through a three-dimensional compensation system I (2) and drives the pile hammer to adjust the relative position under the action of the three-dimensional compensation system I (2); the pile hammer freely impacts the pile foundation (4) below under the control of the body, so that the relative position between each impact and the pile foundation (4) is accurately controlled; Pile driver (6) including pylon mechanism (61), telescopic machanism (63) of installing on pylon mechanism (61), and install arm-embracing mechanism (62) at telescopic machanism (63) terminal, wherein: The tower frame mechanism (61) is arranged on the pile sinking ship (1) through the three-dimensional compensation system II (3) and drives the telescopic mechanism (63) to adjust the relative position under the action of the three-dimensional compensation system II (3); the telescopic mechanism (63) comprises a telescopic oil cylinder, one end of the telescopic oil cylinder is fixed at the top of the tower mechanism (61), and the other end of the telescopic oil cylinder is connected with the arm holding mechanism (62) and drives the arm holding mechanism (62) to be telescopic and adjustable back and forth relative to the tower mechanism (61); the arm holding mechanism (62) comprises a top support, a rear arm oil cylinder and a front arm oil cylinder which are positioned at two sides of the top support, and arm holding units which are respectively clamped and fixed on the periphery of the pile foundation (4); The hydraulic pump station respectively controls the three-dimensional compensation system I (2) through the electromagnetic valve group I and controls the three-dimensional compensation system II (3) through the electromagnetic valve group II, wherein the electromagnetic valve group I is used for adjusting the movement of a receiving part (21) of the three-dimensional compensation system I (2) relative to a sliding platform (24) to ensure that the space position of a pile hammer is kept motionless; The three-dimensional compensation system I (2) comprises a receiving part (21), a mounting seat (22), a movable frame (23) and a sliding platform (24), wherein: The bearing part (21) is arranged in a column shape, is positioned below the body and is used for connecting the body positioned above and driving the body to move relatively; The mounting seat (22) is in a cuboid shape, the upper part of the mounting seat is provided with a bearing part (21), the mounting seat and the bearing part (21) are connected with each other through a roller guide rail mechanism, and the lower part of the mounting seat is interactively arranged on the sliding platform (24); The movable frame (23) is arranged in a rectangular frame, is fixed around the mounting seat (22) and is used for limiting the movable range of the pile driver; A sliding platform (24) for bearing the surface of the steel plate on the pile sinking ship (1), and reducing the friction coefficient through special surface treatment and material coating; The three-dimensional compensation system II (3) comprises an X-axis compensation mechanism (31), a Y-axis compensation mechanism (32), a Z-axis compensation mechanism (33) and a sliding rail (34), wherein: A sliding rail (34) which is arranged on the pile sinking ship (1) and is internally and movably provided with an X-axis compensation mechanism (31) for limiting the moving range of the pile sinking device (6); The X-axis compensation mechanism (31) comprises an X-axis hydraulic cylinder and an X-axis sliding block, and the X-axis sliding block is driven by the X-axis hydraulic cylinder to move relatively along a sliding rail (34) and is used for adjusting the front-back distance between the pile sinking device (6) and the pile foundation (4); The Y-axis compensation mechanism (32) comprises a Y-axis hydraulic oil cylinder, a Y-axis track and a Y-axis sliding block, and the Y-axis sliding block is driven by the Y-axis hydraulic oil cylinder to relatively move along the Y-axis track and is used for adjusting the left-right distance between the pile driver (6) and the pile foundation (4); the Z-axis compensation mechanism (33) comprises a Z-axis hydraulic oil cylinder, a Z-axis track and a Z-axis sliding block, wherein the Z-axis sliding block is driven by the Z-axis hydraulic oil cylinder to move relatively along the Z-axis track and is used for adjusting the up-down distance between the pile sinking device (6) and the pile foundation (4).
2. 2. The dual compensation system-based control system for a photovoltaic pile driver and a pile driver according to claim 1, wherein the dual compensation system comprises the following modes: The manual compensation mode is used for collecting relevant information of the double compensation system by using the position sensor and the pressure sensor, and driving the hydraulic pump station by using the handle to carry out reverse compensation, so that the pile hammer and the pile foundation (4) are ensured to collide relatively constantly; Utilizing historical data of a double compensation system to establish a prediction model, calculating the thrust of an output hydraulic cylinder according to the position and pressure information fed back in real time and the position and pressure change caused by external excitation at the next moment predicted by the prediction model, so as to control the positions of a photovoltaic pile driver (5) and a pile driver (6), and actively driving the switches of an electromagnetic valve group I and an electromagnetic valve group II, thereby adjusting the three-dimensional compensation system I (2) and the three-dimensional compensation system II (3) to carry out active compensation; The passive compensation mode comprises the following steps of establishing a prediction model by utilizing historical data of a double compensation system, calculating the thrust of an output hydraulic cylinder according to position and pressure information fed back in real time, and controlling the positions of a photovoltaic pile driver (5) and a pile sinking device (6), so that the electromagnetic valve group I and the electromagnetic valve group II are utilized to adjust the three-dimensional compensation system I (2) and the three-dimensional compensation system II (3) for reverse compensation, and the pile hammer and pile foundation (4) collision is ensured to be kept relatively constant.
3. 3. The control system of a photovoltaic pile driver and pile driver based on a double compensation system according to claim 1, characterized in that the photovoltaic pile driver (5) and pile driver (6) are assembled on site from assembly components, all of which are placed in a container, and are handled by containerization for standardized management and transportation.
4. 4. A control method of a photovoltaic pile driver and a pile driver based on a double compensation system, which adopts the control system of the photovoltaic pile driver and the pile driver based on the double compensation system as set forth in any one of claims 1 to 3, and is characterized by comprising the following steps: S1, positioning a pile sinking ship (1), and lifting a pile foundation (4) to the front of a pile sinking device (6); s2, completely opening an arm holding mechanism (62) of the pile sinking device (6) and moving to a corresponding position of a pile position in parallel; s3, tightly holding an arm holding mechanism (62) of the pile driver (6), accurately positioning and righting the pile foundation (4) by adjusting a telescopic oil cylinder, a rear arm oil cylinder, a front arm oil cylinder and a top support of the pile driver (6), locking a deck track brake, fixing the position of the pile driver (6), and enabling the pile foundation (4) to only vertically move up and down; s4, releasing a sling by the pile sinking ship (1) to enable the pile hammer to sit on the stable pile, and carrying out pile sinking operation; s5, in the pile sinking process, the double compensation system compensates the motion of the pile sinking ship (1) at the same time, so that the stability of the positions of the pile hammer and the pile foundation (4) is ensured; and S6, after the current pile foundation (4) is completed, moving the pile driver (6) to the position of the next pile driving station, and repeating the steps.
5. 5. The method for controlling a photovoltaic pile driver and a pile driver based on a dual compensation system according to claim 4, wherein in S5, the dual compensation system simultaneously compensates for the motion of the pile driving vessel (1) comprising the following steps: s51, a hydraulic pump station controls a three-dimensional compensation system I (2) through an electromagnetic valve group I, and the position of a body relative to a pile hammer is adjusted through adjusting the three-dimensional compensation system I (2), so that the position of the pile hammer is ensured to be unchanged; S52, the hydraulic pump station controls the three-dimensional compensation system II (3) through the electromagnetic valve group II, and the position adjustment of the tower mechanism (61) relative to the pile foundation (4) is realized through adjusting the three-dimensional compensation system II (3), so that the position of the pile foundation (4) is ensured to be unchanged.

Description

Control system and method for photovoltaic pile driver and pile sinking device based on double compensation systems Technical Field The invention relates to the technical field of offshore photovoltaics, in particular to a control system and a control method of a photovoltaic pile driver and a pile sinking device based on a double compensation system. Background With the development of the photovoltaic field of the offshore pile foundation, the pile sinking construction of the offshore pile foundation is gradually completed by changing offshore construction equipment into a construction ship from offshore to offshore. Due to the influence of the marine environmental conditions such as waves, wind and the like, various movements (rolling, swaying, pitching, swaying) in all directions can be generated in the pile sinking process of the construction ship, so that the pile sinking construction precision can be influenced. The movements in all directions can cause influence on pile foundation positioning, incapability of accurately completing pile feeding, influence on pile sinking stability, influence on pile driving precision and cause collision between a construction ship and a pile foundation. For example, in chinese patent, publication No. CN113624124a, a pile stabilizing system with automatic deviation correcting function and a deviation correcting method thereof are disclosed, which implement verticality monitoring and automatic deviation correcting in the whole pile driving process of pile foundation by detecting and calculating the verticality deviation angle of pile foundation in the pile driving process, optimize mono-pile stabilizing measures, and improve stability and efficiency of construction operation. However, the scheme adopts a single compensation system, and only can ensure that the pile driver and the pile foundation are relatively constant. The patent does not have the pile driver to fix the pile foundation, and still can possibly lead to the collision between the construction ship and the pile foundation, and the pile driver is increased to cause the pile driver to shake to influence the pile foundation again. How to find balance between pile driver and pile foundation, pile driver and pile foundation is a problem to be solved at present. Disclosure of Invention The invention aims to solve the technical problems of overcoming the defects of the prior art, providing a control system and a control method of a photovoltaic pile driver and a pile sinking device based on a double compensation system, wherein the distance between a pile sinking ship and a pile foundation can be adjusted through the improved pile sinking device, and the reverse compensation of a three-dimensional compensation system I and a three-dimensional compensation system II is realized through the newly added double compensation system and a hydraulic pump station, so that a manual compensation mode, an active compensation mode and a passive compensation mode can be realized on the basis of linkage control, and the comprehensive adjustment of the double compensation system is combined in a mode of establishing a prediction model, so that the effect is more outstanding, timely and efficient. The technical scheme of the invention is as follows: The utility model provides a control system of photovoltaic pile driver and pile driver based on two compensating system, including two compensating system, photovoltaic pile driver and pile driver, the pile hammer on the drive photovoltaic pile driver of two compensating system collides with the pile foundation that pile driver held tightly, two compensating system is including the three-dimensional compensating system I that is located photovoltaic pile driver bottom to and the three-dimensional compensating system II that is located pile driver bottom, two compensating system is through adjusting three-dimensional compensating system I and three-dimensional compensating system II's relative position, guarantees that pile hammer and pile foundation collision's precision is controllable, wherein: the three-dimensional compensation system I is used for detecting the state of the photovoltaic pile driver and compensating the photovoltaic pile driver to ensure that the position of the photovoltaic pile driver is stable relative to the ship; The three-dimensional compensation system II is used for detecting the state of the pile driver, compensating the pile driver and ensuring the stability of the pile driver relative to the pile foundation; the double-compensation system further comprises a hydraulic pump station which is respectively connected with the three-dimensional compensation system I and the three-dimensional compensation system II and drives the photovoltaic pile driver and the pile sinking device to have stable relative positions. According to the technical scheme, the double compensation system is used for adjusting the photovoltaic pile driver and the pile sinking device,