CN-121477658-B - Water structure dynamic ballast control system based on six-cabin coupling inversion

CN121477658BCN 121477658 BCN121477658 BCN 121477658BCN-121477658-B

Abstract

The invention discloses a six-cabin coupling inversion-based water structure dynamic ballast control system which comprises a six-cabin ballast module, a sensing and executing unit, a central control and calculating unit and a load condition control module, wherein six-cabin distributed layout optimization, a multi-cabin cooperative control algorithm with constraint inversion, a self-adaptive matrix updating mechanism and a load condition automatic switching strategy are adopted to realize precise control and dynamic balance maintenance of six-degree-of-freedom postures of a floating platform.

Inventors

WEI HANDI
LIU SHENGYANG
YANG JIANMIN
XIAO LONGFEI
LIU JING
WANG CHENG
ZHAO GUOCHENG
ZHANG BAIYUAN

Assignees

上海交通大学三亚崖州湾深海科技研究院
上海交通大学
埃米南(上海)科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260112

Claims (7)

1. The water structure dynamic ballast control system based on six-cabin coupling inversion is characterized by comprising a six-cabin ballast module, a sensing and executing unit, a central control and calculating unit and a load condition control module; The six-tank ballast module comprises six independent ballast tanks which are respectively arranged in left and right pontoons and four upright posts of the water structure, each ballast tank is connected with a distribution valve group through a main pipeline to form a water filling and draining network, each ballast tank is internally provided with a liquid level sensor, a flow sensor and a pressure sensor for monitoring the water level, the flow and the tank pressure change in real time, and each ballast tank is provided with an independent pump valve control unit; The sensing and executing unit comprises attitude sensors and a data acquisition module which are arranged at four corners and the geometric center of the water structure, wherein the attitude sensors are used for detecting six-degree-of-freedom attitudes of the water structure and transmitting the six-degree-of-freedom attitudes to the central control and calculating unit through the data acquisition module; the central control and calculation unit is embedded with a six-degree-of-freedom attitude control algorithm and is used for calculating attitude deviation between the six-degree-of-freedom attitude detected by the attitude sensor and a target six-degree-of-freedom attitude, and obtaining a water quantity change vector through inversion of a rigidity matrix and a hydraulic moment distribution matrix according to the attitude deviation; The load condition control module is internally provided with target parameter data of various typical load conditions, and when a load condition switching instruction is detected, the water volume of each cabin is automatically distributed according to the target parameter data, so that stable transition and posture maintenance during load condition conversion are realized; The six independent ballast tanks are symmetrically distributed at the bottom of the water structure, and specifically comprise a left front column inner ballast tank (1), a left pontoon inner ballast tank (2), a left rear column inner ballast tank (3), a right front column inner ballast tank (4), a right pontoon inner ballast tank (5) and a right rear column inner ballast tank (6), wherein the volumes of the cabins are designed in an adaptive manner according to the gravity center distribution and stability requirements of the water structure; The six independent ballast tanks are correspondingly provided with a left front upright post inner liquid level sensor (7), a left pontoon inner liquid level sensor (8), a left rear upright post inner liquid level sensor (9), a right front upright post inner liquid level sensor (10), a right pontoon inner liquid level sensor (11) and a right rear upright post inner liquid level sensor (12); The six independent ballast tanks are correspondingly provided with a left front column inner water pump (13), a left pontoon inner water pump (14), a left rear column inner water pump (15), a right front column inner water pump (16), a right pontoon inner water pump (17) and a right rear column inner water pump (18); The six independent ballast tanks are correspondingly provided with a left front pillar inner flowmeter (19), a left buoy inner flowmeter (20), a left rear pillar inner flowmeter (21), a right front pillar inner flowmeter (22), a right buoy inner flowmeter (23) and a right rear pillar inner flowmeter (24); The central control and calculation unit is specifically configured to: obtaining a water quantity change vector through inversion of a rigidity matrix and a hydraulic moment distribution matrix according to the attitude deviation by the following formula: ; wherein Deltam is a water quantity change vector, J + is the pseudo inverse of the posture-ballast coupling matrix J, , For the rigidity matrix, B is a hydraulic moment distribution matrix, the j-th column of B is determined by the tank arm of the j-th ballast tank relative to the gravity center of the water structure and the water plane area of the ballast tank, Is the attitude deviation; The optimization objective for the water quantity change vector solution is expressed as: ; The first term represents the gesture correction error, the second term is a control action penalty term used for balancing gesture precision and energy consumption cost, and the parameter lambda is a balance coefficient; Under the condition of meeting the limitation of cabin water quantity and pump flow rate, obtaining a water quantity change vector with minimum attitude error and reasonable energy consumption as an adjustment quantity: ; wherein m min and m max are the minimum and maximum allowable water volumes of the cabin, respectively, m 0 is the initial water volume of the cabin, and ṁ min and ṁ max are the minimum and maximum allowable flow volumes of the pump valve, respectively.
2. The six pod coupled inversion based marine structure dynamic ballast control system of claim 1, wherein the attitude sensor comprises an inclinometer, an inertial measurement unit IMU, and an accelerometer, the attitude sensor for detecting trim, roll, yaw, heave six degrees of freedom attitude data of the marine structure.
3. The six-cabin coupling inversion-based water structure dynamic ballast control system according to claim 1, wherein the independent pump valve control unit comprises a quick response electromagnetic valve corresponding to a water pump, has a speed regulation function, and realizes parallel water injection and drainage operation through coordination of the central control and the computing unit among a plurality of electromagnetic valves.
4. The six-cabin coupling inversion-based dynamic ballast control system for the water structure, according to claim 1, wherein typical load conditions built in the load condition control module comprise a self-propulsion condition, a survival condition and an operation condition, each load condition corresponds to preset target drainage amount, cabin water distribution proportion and attitude constraint parameters, and each load condition parameter can be adjusted in a self-defined mode according to actual engineering requirements.
5. The six pod coupling inversion based on water structure dynamic ballast control system of claim 1, wherein the central control and calculation unit comprises a ballast adjustment calculation control system (25), a front end system (26), a data transmission line (27), a water pump control line (28) and a front end communication line (29); The data transmission line (27) is used for connecting the sensing and executing unit and the ballast adjustment calculation control system (25) to realize real-time transmission of sensing data; The front-end communication line (29) is connected with the front-end system (26) and the ballast adjustment calculation control system (25) and is used for man-machine interaction and data retention; The water pump control circuit (28) is used for the ballast adjustment calculation control system (25) to send start-stop and speed regulation instructions to the water pump.
6. The six-cabin coupling inversion-based water structure dynamic ballast control system according to claim 5, wherein the ballast adjustment calculation control system (25) is electrically connected with other attitude sensors (30), an attitude inversion calculation device (31), an intelligent adjustment control module (32) and a model parameter optimization system (33); the attitude inversion calculation device (31) is embedded with a six-degree-of-freedom attitude control algorithm and is used for calculating attitude deviation and obtaining recovery moment; the intelligent regulation control module (32) is responsible for generating a pump valve control instruction; The model parameter optimization system (33) is used for dynamically updating the rigidity matrix and the distribution matrix; the other attitude sensors (30) are used for detecting six-degree-of-freedom attitude changes of the water structure, and specifically comprise corresponding angles and acceleration parameters of pitching, rolling, bowing, pitching, swaying and heaving, and provide real-time attitude data support for the ballast adjustment calculation control system (25).
7. The six-cabin coupling inversion-based dynamic ballast control system for a water structure of claim 1, wherein the data acquisition module is configured to transmit signals acquired by the attitude sensor, the liquid level sensor, the flow sensor and the pressure sensor to the central control and calculation unit in real time.

Description

Water structure dynamic ballast control system based on six-cabin coupling inversion Technical Field The invention belongs to the technical field of water engineering and floating platform stability control, and particularly relates to a water structure dynamic ballast control system based on six-cabin coupling inversion. Background In the field of water engineering, floating structures are exposed to a complex marine environment for a long time, are subjected to various disturbance actions such as stormy waves, ocean currents and uneven loads, and are easy to cause posture change and moment unbalance of a floating body, so that draft, gravity center position and overall stability fluctuation are caused, and serious challenges are brought to safe operation of a platform. Currently, ballast adjustment systems are core devices that maintain structural stability on water by filling and discharging ballast water between different ballast tanks, achieving dynamic balance of buoyancy and center of gravity distribution. The traditional ballast system mostly adopts a fixed cabin structure and manual or threshold logic control, has the defects of low reaction speed, limited adjustment precision and the like, and is only suitable for steady sea conditions. With the increase of the platform scale and the complicacy of the working condition, the low-degree-of-freedom control mode is difficult to meet the requirements of quick disturbance response and high-precision stability control. In recent years, active and intelligent ballast control technologies are gradually developed, and algorithms such as model predictive control, proportional Integral (PI), linear secondary regulation (LQR) and the like are adopted for realizing multi-cabin cooperative regulation in part of researches, but a plurality of defects still exist: (1) The multi-cabin cooperation is insufficient, the prior art mostly adopts a main ballast cabin and auxiliary compensation cabin or three-cabin structure, the adjusting point position is limited, the multi-point cooperation adjustment is difficult to realize, and the response partition is isolated and has poor coordination. (2) The response real-time performance is poor, the response period is long depending on wave prediction and finite element calculation, and the real-time dynamic posture correction cannot be realized. (3) The attitude control dimension is limited to the control of pitching and leaning, and the full-attitude coupling compensation of pitching, leaning, bowing and the like can not be realized. (4) The anti-disturbance and dynamic recovery capability is weak, a wind and wave combined disturbance compensation mechanism is not established, and stability is difficult to guarantee under multi-source disturbance. (5) The control logic lacks self-adaptability, namely, the pump set is triggered to start and stop by a fixed threshold value, and cannot be adjusted along with the change of sea conditions, so that hysteresis and misadjustment are easy to occur. (6) The adjusting process is discrete, namely ballast is only carried out after deviation exceeds limit, and control is intermittent, so that the gesture is fluctuated. (7) Constraint consideration is insufficient, namely physical constraints such as cabin capacity, pump valve flow and execution rate are not fully considered, and control performance is reduced when the cabin is saturated or part of the cabin is out of order. From the engineering application and safety specification angles, the international main classification society requires that the ballast system has the functions of real-time monitoring, alarming, redundancy, safety interlocking and the like, but the existing scheme still has the defects in the aspects of constraint modeling, self-adaptive control and long-term reliability. Therefore, developing an intelligent ballast system with multi-cabin cooperation, self-adaptive regulation and high-reliability control characteristics has become a key direction of the development of stability control technology of the deep-open sea floating platform. Disclosure of Invention Aiming at the defects of the existing floating platform ballast control technology, the invention provides a water structure dynamic ballast control system based on six-cabin coupling inversion, which realizes high-precision and high-reliability control of the floating platform in a complex environment through structure optimization, algorithm innovation and function upgrading. In order to achieve the technical purpose, the invention adopts the following technical scheme: A dynamic ballast control system of a water structure based on six-cabin coupling inversion comprises a six-cabin ballast module, a sensing and executing unit, a central control and calculating unit and a load condition control module; The six-tank ballast module comprises six independent ballast tanks which are respectively arranged in left and right pontoons and four upright posts of the wa