CN211603863U - Lifting synchronous self-adaptive control system for lifting type pile leg platform - Google Patents
Lifting synchronous self-adaptive control system for lifting type pile leg platform Download PDFInfo
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- CN211603863U CN211603863U CN202020655977.8U CN202020655977U CN211603863U CN 211603863 U CN211603863 U CN 211603863U CN 202020655977 U CN202020655977 U CN 202020655977U CN 211603863 U CN211603863 U CN 211603863U
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Abstract
The utility model relates to the field of lifting type pile leg platforms, and discloses a lifting type pile leg platform lifting synchronous self-adaptive control system, which comprises a pile leg platform, a multi-axis motion controller, a sensor detection system, a platform data recording system, a plurality of pile leg local control consoles, a lifting center console and a plurality of groups of local low-voltage cabinets; the pile leg platform comprises a platform body and a plurality of pile legs, each group of lifting driving devices is connected with the multi-shaft motion controller, and the plurality of pile legs control the platform body to lift through the lifting driving devices; the sensor detection system, the platform data recording system, the pile leg local control platforms, the lifting center control platform and the local low-voltage cabinet are respectively connected with the multi-axis motion controller. The utility model discloses information such as speed, horizontal position, rack and pinion atress that the platform rises and descend have been considered comprehensively in the balanced control to the spud leg platform for the spud leg platform keeps the unanimity of height, has guaranteed the security and the reliability of spud leg platform work.
Description
Technical Field
The utility model relates to a rise formula spud leg platform field especially relates to a rise formula spud leg platform and play to rise synchronous adaptive control system.
Background
The self-elevating offshore drilling platform is one of important offshore oil and gas resource exploitation equipment. The main components comprise a platform body, pile legs, a lifting device and the like, wherein the platform body is mainly used for bearing drilling equipment and personnel living facilities; the pile legs are fixed on the seabed, not only support the platform, but also bear the external force caused by the self gravity of the platform and the severe environment such as sea storms and the like; the lifting device controls the lifting of the platform. One of the key technologies of the jack-up platform is its lifting system, and most of the jack-up platforms at present adopt a lifting device engaged with a gear and a rack. The platform lifting system is usually composed of a plurality of sets of motor-driven 'pinion lifting unit groups' and 'control devices' which are arranged on the hull pile fixing frame. Each set of pinion lifting unit group is meshed with a rack arranged on the pile leg through a ship pile fixing frame, and the platform body is lifted up and lowered down through a control system.
For example, national laid-open patent document CN207017240U discloses "a novel six at sea jack-up platform", this utility model includes platform body, fender, deck, railing, elevating gear, cylindrical spud leg, be equipped with six cylindrical spud legs on the platform body, the stake axle central line of six cylindrical spud legs is regular hexagon, the top of platform body is equipped with the railing, the side of platform body is equipped with the fender, elevating gear prescribes a limit to on cylindrical spud leg, cylindrical spud leg is equipped with spud leg fixed baseplate with the combination department of platform body, platform body center department still is equipped with logical sea work hole.
The utility model discloses an increase the spud leg on the basis of current four piles or three pile platforms, but increased elevating gear equipment correspondingly, not only increased the cost, this utility model makes the balanced control to the spud leg platform more difficult moreover. In the control of the platform lifting device, the platform body arranged on the pile legs is required to be capable of synchronously ascending and descending, the lifting height is kept consistent, otherwise, the platform is likely to incline or even turn over, and great harm is caused to personnel and equipment. Therefore, in the control of the lifting system of the self-elevating offshore drilling platform, the lifting system is particularly required to be synchronously controlled so as to ensure the safety and reliability of the working of the platform.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a formula of lifting spud leg platform plays to rise synchronous adaptive control system to solve the above-mentioned problem among the prior art.
In order to realize the purpose, the utility model discloses a technical scheme as follows:
a lifting synchronous self-adaptive control system of a lifting type pile leg platform comprises a pile leg platform, a multi-axis motion controller, a sensor detection system, a platform data recording system, a plurality of pile leg local control consoles, a lifting center control console and a plurality of groups of local low-voltage cabinets; the pile leg platform comprises a platform body and a plurality of pile legs for supporting the platform body, each pile leg is provided with a group of lifting driving devices, each group of lifting driving devices is connected with the multi-shaft motion controller, and the plurality of pile legs control the platform body to lift through the lifting driving devices; the sensor detection system, the platform data recording system, the pile leg local control platforms, the lifting center control platform and the local low-voltage cabinet are respectively connected with the multi-axis motion controller.
Furthermore, each group of lifting driving devices comprises a harmonic-free rectifier, a plurality of servo drivers, a pinion lifting unit group and a plurality of servo motors; the servo motor is provided with an encoder, the servo driver is connected with the servo motor, and the servo motor is connected with the pinion lifting unit group; the pinion lifting unit group comprises a rack arranged on the pile leg and a gear arranged on the platform body; the multi-axis motion controller is integrated with a programmable controller.
The utility model discloses a modular structure is convenient for install and maintain. The number of the pile leg local control consoles and the number of the local low-voltage cabinets are adapted to the number of the pile legs. The utility model discloses a multiaxis motion control ware, multiaxis motion control ware are based on driven motion control system, and compact structure has integrated programmable controller, can conveniently be connected with servo driver.
Further, the sensor detection system comprises a position encoder, a position sensor, a tension sensor, an inclination angle sensor and a height sensor, wherein the position sensor is used for detecting the position condition of a mechanical structure in the lifting type pile leg platform lifting synchronous self-adaptive control system; the tension sensor is used for detecting the stress condition of a gear rack of the pinion lifting unit group; the inclination angle sensor is used for detecting the horizontal position of the platform body; the height sensor is used for detecting the height position of the platform body; the position encoder is used for detecting the lifting speed and the position of the platform body.
Furthermore, the lifting driving device also comprises a braking unit; the servo driver comprises a voltage source type alternating current-direct current-alternating current frequency module; the voltage source type AC-DC-AC frequency conversion module comprises a current feedback control unit; the lifting center console comprises a main system and a standby system, wherein the main system and the standby system both comprise a processor and a power supply; the main system and the standby system are both provided with an emergency stop automatic shutdown system and a safety interlocking protection device; the lifting center control console and the pile leg local control console are respectively provided with an emergency stop button; the platform data recording system comprises a battery, a PC (personal computer), a touch screen and a platform data recording system keyboard, wherein the PC comprises a microprocessor.
The utility model discloses a servo driver not only can realize servo control, but also has the effect of converter, becomes the electric current that is fit for the accommodate motor speed with power frequency alternating current frequency conversion for drive servo motor. The servo driver includes that the voltage source type is handed over-directly-the alternating frequency module, and the voltage source type is handed over-directly-the alternating frequency module has current feedback control unit, and starting performance is good, and the reaction is sensitive, can export corresponding starting current fast according to the load size, can not surpass rated current for there is not the impact to the electric wire netting, the utility model discloses a play to rise drive arrangement has the short-time overload function and the power that are adapted to the servo motor ability and lacks the looks, the output lacks looks, power overvoltage, overflows, under-voltage, ground connection and overheat protection function. The lifting driving device further comprises a braking unit, when the servo motor enters a regenerative power generation braking state, the braking unit feeds back electric energy to the direct-current bus, so that the voltage of the direct-current bus is increased, the generated electric energy can be automatically used for other driving units in an electric state, the simplest energy-saving effect is achieved, fuel is saved, the environment is protected, and redundant electric energy can be consumed through a braking resistor. The utility model discloses a play to rise drive arrangement adopts servo frequency conversion drive mode, can reduce the impact to the electric wire netting when servo motor starts and brakes very effectively. Meanwhile, when the brake is started, the voltage source type AC-DC-AC frequency converter can output enough torque before the brake is opened, the phenomenon of 'vehicle sliding' is avoided, and the servo motor gradually and slowly accelerates to a rated value; when the motor is normally stopped, the voltage source type AC-DC-AC frequency converter can realize smooth braking performance, and when the servo motor is reduced to zero speed, mechanical braking is carried out, so that the abrasion of the brake is greatly reduced.
Furthermore, the lifting center console comprises a human-computer interface, the human-computer interface is provided with a power supply indicating unit for indicating each spud leg device to be powered on, a pinion load indicating unit, a spud leg height indicating unit, a lifting light-emitting button of the spud leg platform, an alarm confirming and resetting button, a system stop button and a plurality of indicating lamps, and the plurality of indicating lamps comprise alarm indicating lamps and motor braking indicating lamps.
The lifting center console is provided with a main system and a standby system which are arranged independently, and the main system and the standby system are both provided with an emergency stop automatic stop system and a safety interlocking protection device, so that a safe and reliable mechanical protection function and lifting operation are provided. The safety interlocking protection device comprises a lockable breaking switch or a lockable breaker, and the circuit safety is guaranteed by the lockable breaking switch or the lockable breaker. The lifting center console comprises an industrial personal computer, a lifting center console keyboard and a mouse, can remotely monitor various data of the system, simultaneously displays data such as the horizontal position of the platform body, the height of the platform body, the stress of a gear and a rack, the power of a motor, load, rotating speed, voltage, current and the like, and performs operation state, data archiving, alarming and fault information query of various devices.
Furthermore, a plurality of pile leg local control consoles are connected with a socket type brake release operation box; the brake release operation box is provided with an input/output interface; the pile leg local control consoles are connected with the input and output interfaces of the brake release operation box through data transmission buses; the brake release operation box is used for sending an operation instruction and transmitting the operation instruction to a specified pile leg local console; the pile leg local control console transmits an operation instruction to the multi-axis controller; the multi-axis controller is connected with the lifting driving device of each pile leg and used for receiving and identifying operation instructions so as to simultaneously control a plurality of pile legs of the pile leg platform respectively.
The utility model discloses a set up the braking and release operation box and realize that different local control consoles send operating command to same controller (multi-axis controller) respectively for the lift spud leg that the local control console of multi-axis controller control corresponds, thereby realize the lift of platform body. Brake release operation box through setting up the socket formula is convenient for concentrate brake control to entire system, the utility model discloses a modular structure is convenient for install and maintain.
The utility model has the advantages that: the utility model discloses information such as speed, horizontal position, rack and pinion atress that the platform rises and descend have been considered comprehensively in the balanced control to the spud leg platform for the spud leg platform keeps the unanimity of height, has guaranteed the security and the reliability of spud leg platform work.
Drawings
Fig. 1 is a schematic structural diagram of a synchronous adaptive control system for lifting of a spud leg platform according to this embodiment.
Fig. 2 is a schematic network connection diagram of a pile leg platform lifting synchronous adaptive control system according to the embodiment.
Fig. 3 is a schematic flow chart of a synchronous adaptive control method for lifting of a spud-leg platform according to this embodiment.
Fig. 4 is a block diagram of the overall structure of the pile leg platform lifting synchronous adaptive control system according to the embodiment.
Fig. 5 is a partial structural block diagram of a leg platform lifting synchronization adaptive control system according to the embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are given by way of illustration only. It is noted that the terms "comprises" and/or "comprising," and any variations thereof, in the description and in the claims, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In a first embodiment, a lifting type synchronous adaptive control system for lifting of a pile leg platform is shown in fig. 1, and includes a pile leg platform, a sensor detection system, a platform data recording system, 4 pile leg local control consoles, a lifting center console and 4 groups of local low-voltage cabinets; the spud leg platform includes the platform body and is used for 4 spud legs of supporting platform body, and every spud leg is equipped with a set of drive arrangement that rises, and every group rises drive arrangement and is connected with multiaxis motion controller, and 4 spud legs rise drive arrangement through 4 groups and carry out lifting control to the platform body. Each group of lifting driving devices comprises a harmonic-free rectifier, 18 servo drivers, a pinion lifting unit group and 18 servo motors; each servo motor is provided with an encoder. Each pile leg is provided with 72 servo drivers, 72 servo motors and 72 tension sensors. Each pile leg has 3 faces, each face has 6 servo drivers, 6 servo motors and 6 tension sensors in total, the servo drivers are respectively connected with the multi-axis motion controller and the servo motors, and the servo motors are connected with the encoders (see fig. 2). The servo motor is connected with the pinion lifting unit group; the pinion lifting unit group comprises a rack arranged on the pile leg and a gear arranged on the platform body. The multi-axis motion controller is integrated with a programmable controller. The sensor detection system, the platform data recording system, the 4 pile leg local control consoles, the lifting center control console and the 4 groups of local low-voltage cabinets are respectively connected with the multi-axis motion controller.
As shown in fig. 2, the lifting synchronous adaptive control system of the lifting pile leg platform further comprises a three-phase incoming line power supply and a three-phase incoming line reactor, a servo driver is connected with a multi-axis motion controller through a DRIVE-CLIQ bus, a sensor detection system and each substation are respectively connected with the multi-axis motion controller through a Profi-net bus, and the multi-axis motion controller is connected with a human-computer interface and a workstation through an ethernet network. The workstation in fig. 2 includes a lifting center console and the substation includes 4 groups of local low voltage cabinets and 4 spud leg local consoles. The three-phase incoming line power supply is connected with the three-phase incoming line reactor, the three-phase incoming line reactor is connected with the non-harmonic rectifier, and the non-harmonic rectifier is connected with the servo driver. The lifting center console comprises a human-computer interface, the human-computer interface is provided with a power supply indicating unit for indicating each spud leg device to be electrified, a pinion load indicating unit, a spud leg height indicating unit, a lifting light-emitting button of each spud leg, an alarm confirming and resetting button, a system stop button and a plurality of indicating lamps, and the indicating lamps comprise alarm indicating lamps and motor brake indicating lamps. The alarm indicator lamp is provided with two alarm levels, wherein one alarm level is a sound alarm and a yellow indication; the other alarm level is an audible alarm and a red indicator, and the system is stopped from rising.
The sensor detection system comprises a position encoder, a position sensor, a tension sensor, an inclination angle sensor and a height sensor, the sensor detection system corresponds to the measurement system in the figure 2, and the position sensor is used for detecting the position condition of a mechanical structure in the lifting synchronous self-adaptive control system of the lifting type pile leg platform; the tension sensor is used for detecting the stress condition of the gear rack of the pinion lifting unit group (corresponding to the load measurement in the figure 1); the tilt sensor is used to detect the horizontal position of the platform body (corresponding to the horizontal measurement in fig. 1); the height sensor is used for detecting the height position of the platform body (corresponding to the height measurement in fig. 1); the position encoder is used for detecting the lifting speed and the position of the platform body.
The lifting driving device also comprises a braking unit; the servo driver comprises a voltage source type alternating current-direct current-alternating current frequency module; the voltage source type AC-DC-AC frequency conversion module comprises a current feedback control unit. The lifting center console comprises a main system and a standby system, wherein the main system and the standby system both comprise a processor and a power supply; the main system and the standby system are both provided with an emergency stop automatic stop system and a safety interlocking protection device. The lifting center control console and the pile leg local control console are respectively provided with an emergency stop button. The platform data recording system includes a battery, a PC including a microprocessor, a touch screen, and a platform data recording system keyboard that provides sufficient memory for data storage (corresponding to the data records in fig. 1).
The operator can adjust the sampling time in 0.25 seconds or less. The data store is capable of recording the mechanical life of the hoist system over a period of time (over 200 hours, based on a 2s time interval). Data storage may also be extended. The platform data logging system can store data as well as analyze data, such as tension trends, load trends, or alarm events, and additionally the data can be output in other formats (e.g., CSV). The platform data recording system can automatically acquire data within 24 hours, and the operation condition of lifting of the platform body can be comprehensively and accurately analyzed through the platform data recording system, so that the operation and maintenance are improved, and the service life of the lifting system is prolonged.
The 4 pile leg local control platforms are respectively connected with a socket type brake release operation box; the pile leg local control platforms are connected with socket type brake release operation boxes; the brake release operation box is provided with an input/output interface; the pile leg local control consoles are connected with the input and output interfaces of the brake release operation box through data transmission buses; the brake release operation box is used for sending an operation instruction and transmitting the operation instruction to a specified pile leg local console; the pile leg local control console transmits an operation instruction to the multi-axis controller; the multi-axis controller is connected with the lifting driving device of each pile leg and used for receiving and identifying operation instructions so as to simultaneously control a plurality of pile legs of the pile leg platform respectively.
The utility model discloses a modular structure is convenient for install and maintain. The number of the pile leg local control consoles and the number of the local low-voltage cabinets are adapted to the number of the pile legs. The utility model discloses a multiaxis motion control ware, multiaxis motion control ware are based on driven motion control system, and compact structure has integrated programmable controller, can conveniently be connected with servo driver.
The utility model also provides a synchronous self-adaptation control method is played to rise formula spud leg platform that rises, as shown in FIG. 3, including the step:
s1) checking the initial state of the lifting type spud leg platform lifting synchronous self-adaptive control system, judging whether the initial state is normal or not, and if so, entering the step S2); if not, checking the reasons of abnormal initial state, and repeating the step;
s2), starting a lifting center console, judging whether the lifting center console is normal, and if so, entering the step S3); if not, checking the reasons of the abnormal lifting center console, and repeating the steps;
s3) monitoring the state data of the pile leg platform, and acquiring the lifting speed and the horizontal position of the platform body by using a plurality of horizontal sensors and a plurality of position encoders; setting a synchronous deviation range, judging whether the lifting speed and the horizontal position of the platform body are both in the synchronous deviation range, and if so, entering step S5); if not, go to step S4);
s4), setting a deviation rectifying range, judging whether the lifting speed and the horizontal position of the platform body are within the deviation rectifying range, if so, performing synchronous deviation rectifying, wherein the synchronous deviation rectifying comprises position synchronous deviation rectifying of the pile leg platform and/or inclination angle synchronous deviation rectifying of the pile leg platform, and returning to the step S3); if not, the vehicle is stopped in a fault.
Step S4), the position of the pile leg platform is synchronously corrected, and the method comprises the following steps:
s41) establishing a virtual axis of positioning for the multi-axis motion controller provided on the leg platform; establishing position synchronous association between the multi-axis motion controller and n pile legs of the pile leg platform through a positioning virtual axis, wherein each pile leg is provided with a servo driver which is in position isochronous synchronous association with the multi-axis motion controller, the servo drivers are in master-slave control with other servo drivers on the pile legs, and the other servo drivers on the pile legs are in torque isochronous synchronous control;
s42) acquiring a real-time position value and a real-time speed value of the platform body lifting on the ith spud leg through a position encoder arranged on each spud leg, wherein the real-time position value and the real-time speed value are 0<i is less than or equal to n, and the real-time position value and the real-time speed value are respectively equal to the positions of the ith pile leg and the multi-axis motion controllerStep-associative servo driver
Connected servo motor
Comparing the position value and the speed value output by the encoder to obtain a comparison value, setting an error range, judging whether the comparison value is within the error range, if so, feeding back the real-time position value and the real-time speed value of the ith spud leg to the multi-axis motion controller, and entering the step S43); if not, alarming and stopping the machine;
s43) the controller outputs control signals to servo the driver
The torque output values of (a) are respectively used as the torque input values of other servo drivers on the ith pile leg
The control system and other servo drivers on the ith pile leg form master-slave control, and the other servo drivers on the ith pile leg are synchronously controlled when the torque is equal; and each servo driver of the ith spud leg is respectively connected with a corresponding servo motor and is used for driving and controlling the corresponding servo motor.
Step S4), the inclination angle of the pile leg platform is synchronously corrected, and the method comprises the following steps:
s411) detecting the horizontal inclination angle of the platform body by using a plurality of inclination angle sensors to obtain the measurement results of the plurality of inclination angle sensors, comparing the measurement results with each other, setting a threshold range, judging whether the value obtained by comparing the measurement result of the inclination angle sensor with the measurement result of any other inclination angle sensor exceeds the threshold range, and if yes, alarming and stopping; if not, go to step S412);
s412) setting a horizontal adjustment value, judging whether the horizontal inclination angle of the platform body exceeds the horizontal adjustment value, and if not, finishing synchronous inclination correction of the inclination angle of the pile leg platform; and if so, adjusting by taking the pile leg with the lowest horizontal position as a reference, and driving servo motors on other pile legs except the pile leg with the lowest horizontal position to lower the horizontal positions of the platform bodies on the other pile legs except the pile leg with the lowest horizontal position. The inclination angle synchronous deviation rectifying process of the pile leg platform is more energy-saving by taking the pile leg with the lowest horizontal position as a reference for adjustment.
The isochronous synchronous association establishes real-time synchronous communication between signals, thereby meeting the high-speed communication requirement of motion control and the timely response of the system. The utility model discloses not only can carry out the position synchronization of spud leg platform and rectify, but also can carry out the inclination of spud leg platform and rectify in step. When the process that the position synchronization of carrying out the spud leg platform was rectified breaks down, the utility model discloses thereby can rectify in step through the inclination of spud leg platform and carry out lift balance control to the spud leg platform. When the process that the inclination of carrying out the spud leg platform was rectified in step broke down, the utility model discloses thereby can rectify through the position synchronization of spud leg platform and carry out lift balance control to the spud leg platform, through many-sided adaptive control, guaranteed control accuracy, security and the reliability of system.
S5), setting a stress protection range, judging whether the stress of the gear rack is in the protection range by using a tension sensor, and if not, stopping the vehicle in a fault. If yes, the pile legs are lifted synchronously, and the method comprises the following steps: the pile driving method comprises the steps that tension sensors corresponding to the number of driving motors are arranged on each pile leg, stress information of a gear rack on the pile leg is obtained through the tension sensors of each pile leg, the stress information of the gear rack is fed back to a servo driver corresponding to the tension sensors, and the servo driver corresponding to the tension sensors is used for driving and controlling the servo motors.
Step S1), the initial state of the lifting type spud leg platform lifting synchronous self-adaptive control system is checked to determine whether the indication lamp indicates normal, the breaker is closed and the communication is normal. And step S2), judging whether the lifting center console is normal, including judging whether the problems of motor stalling, motor overload, braking fault, braking overload and driving fault exist, if so, automatically stopping the lifting operation, and then eliminating the fault one by one. And the stress of the gear and the rack in the step S5) refers to the stress condition that the gear of each pinion lifting unit group is meshed with the rack arranged on the pile leg. Fig. 4 and 5 are block diagrams of the whole and part structures of the lifting synchronous adaptive control system of the lifting type spud leg platform respectively. Each spud leg is provided with a position encoder, 18 servo drivers, 18 servo motors respectively connected with the 18 servo drivers, and 18 tension sensors respectively connected with the 18 servo motors. In the first embodiment, a positioning virtual axis is established for a multi-axis motion controller of a pile leg platform, and the multi-axis motion controller establishes position synchronous association with four pile legs of the pile leg platform through the positioning virtual axis; each spud leg is provided with a servo driver which is synchronously related with the positioning virtual shaft in a position-isochronal mode, the servo driver and the other 17 servo drivers of the spud leg form a master-slave system, the other 17 servo drivers are synchronously controlled in a torque-isochronal mode, the four spud legs are related together through the positioning virtual shaft, and the positioning virtual shaft can achieve the functions of a spud leg reference point and a guide shaft in the starting process and the fault processing process. The inclination angle sensor of this embodiment one is totally 6, and inclination angle sensor is used for the inclination of testing platform body, and 6 inclination angle sensor compares data mutually in real time, if the platform slope, then use the minimum spud leg to adjust as the standard, adjust through using minimum spud leg as the standard and played energy-conservation, guaranteed safe effect.
The second embodiment is a lifting synchronous self-adaptive control system of a lifting type pile leg platform, which comprises a pile leg platform, a sensor detection system, a platform data recording system, 3 pile leg local control consoles, a lifting center control console and 3 groups of local low-voltage cabinets; the spud leg platform comprises a platform body and 3 spud legs for supporting the platform body, each spud leg is provided with 3 faces, each spud leg is provided with a set of lifting driving devices, each set of lifting driving devices is connected with the multi-axis motion controller, and 3 spud legs carry out lifting control on the platform body through the 3 sets of lifting driving devices. Each group of lifting driving devices comprises a harmonic-free rectifier, 18 servo drivers, a pinion lifting unit group and 18 servo motors; each servo motor is provided with an encoder. Each spud leg is provided with 54 servo drivers, 54 servo motors and 54 tension sensors. The rest of the second embodiment is the same as the first embodiment, and will not be repeated here.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be viewed as the protection scope of the present invention.
Claims (6)
1. A lifting synchronous self-adaptive control system of a lifting type pile leg platform is characterized by comprising a pile leg platform, a multi-axis motion controller, a sensor detection system, a platform data recording system, a plurality of pile leg local control consoles, a lifting center control console and a plurality of groups of local low-voltage cabinets; the pile leg platform comprises a platform body and a plurality of pile legs for supporting the platform body, each pile leg is provided with a group of lifting driving devices, each group of lifting driving devices is connected with the multi-axis motion controller, and the plurality of pile legs control the platform body to lift through the lifting driving devices; the sensor detection system, the platform data recording system, the pile leg local control consoles, the lifting center control console and the local low-voltage cabinet are respectively connected with the multi-axis motion controller.
2. The lifting synchronous adaptive control system of a lifting type spud leg platform according to claim 1, wherein each group of lifting driving devices comprises a harmonic-free rectifier, a plurality of servo drivers, a pinion lifting unit group and a plurality of servo motors; the servo motor is provided with an encoder, the servo driver is connected with the servo motor, and the servo motor is connected with the pinion lifting unit group; the pinion lifting unit group comprises a rack arranged on the pile leg and a gear arranged on the platform body; the multi-axis motion controller is integrated with a programmable controller.
3. The lifting leg platform lifting synchronous adaptive control system according to claim 1 or 2, wherein the sensor detection system comprises a position encoder, a position sensor, a tension sensor, an inclination sensor and a height sensor, and the position sensor is used for detecting the position condition of a mechanical structure in the lifting leg platform lifting synchronous adaptive control system; the tension sensor is used for detecting the stress condition of a gear rack of the pinion lifting unit group; the inclination angle sensor is used for detecting the horizontal position of the platform body; the height sensor is used for detecting the height position of the platform body; the position encoder is used for detecting the lifting speed and the position of the platform body.
4. The synchronous adaptive control system for lifting of a lifting leg platform of claim 2, wherein the lifting drive further comprises a brake unit; the servo driver comprises a voltage source type alternating current-direct current-alternating current frequency module; the voltage source type alternating current-direct current-alternating frequency module comprises a current feedback control unit; the lifting center console comprises a main system and a standby system, wherein the main system and the standby system both comprise a processor and a power supply; the main system and the standby system are both provided with an emergency stop automatic shutdown system and a safety interlocking protection device; the lifting center control console and the pile leg local control console are respectively provided with an emergency stop button; the platform data recording system comprises a battery, a PC (personal computer), a touch screen and a platform data recording system keyboard, wherein the PC comprises a microprocessor.
5. The synchronous adaptive control system that rises of formula of lifting spud leg platform that rises according to claim 4, characterized in that, the lift center control cabinet includes human-computer interface, human-computer interface be equipped with be used for instructing the power indicating unit that every spud leg equipment goes up the electricity, pinion load indicating unit, spud leg height indicating unit, spud leg platform's lift luminous button, warning confirm and reset button, system stop button and a plurality of pilot lamp, a plurality of pilot lamp includes warning indicator lamp and motor braking indicator lamp.
6. The synchronous adaptive control system for lifting of a lifting leg platform of claim 1, wherein a socket-type brake release operating box is connected to the plurality of leg local consoles; the brake release operation box is provided with an input and output interface; the pile leg local control consoles are connected with the input and output interfaces of the brake release operation box through data transmission buses; the brake release operation box is used for sending an operation instruction and transmitting the operation instruction to a specified pile leg local console; the local control console of the pile leg transmits an operation instruction to the multi-axis motion controller; the multi-axis motion controller is connected with the lifting driving device of each pile leg and used for receiving and identifying operation instructions so as to simultaneously control a plurality of pile legs of the pile leg platform respectively.
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| CN202020655977.8U CN211603863U (en) | 2020-04-26 | 2020-04-26 | Lifting synchronous self-adaptive control system for lifting type pile leg platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459032A (en) * | 2020-04-26 | 2020-07-28 | 上海阜有海洋科技有限公司 | Lifting synchronous self-adaptive control method and system for lifting type pile leg platform |
| CN114237121A (en) * | 2021-12-17 | 2022-03-25 | 广东海洋大学 | An offshore platform and a synchronous lift control method for the offshore platform |
-
2020
- 2020-04-26 CN CN202020655977.8U patent/CN211603863U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459032A (en) * | 2020-04-26 | 2020-07-28 | 上海阜有海洋科技有限公司 | Lifting synchronous self-adaptive control method and system for lifting type pile leg platform |
| CN111459032B (en) * | 2020-04-26 | 2024-07-16 | 上海阜有海洋科技有限公司 | Synchronous self-adaptive control method and system for lifting of lifting pile leg platform |
| CN114237121A (en) * | 2021-12-17 | 2022-03-25 | 广东海洋大学 | An offshore platform and a synchronous lift control method for the offshore platform |
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