CN110792649A - Ocean platform oil cylinder lifting control method and system - Google Patents
Ocean platform oil cylinder lifting control method and system Download PDFInfo
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- CN110792649A CN110792649A CN201910973970.2A CN201910973970A CN110792649A CN 110792649 A CN110792649 A CN 110792649A CN 201910973970 A CN201910973970 A CN 201910973970A CN 110792649 A CN110792649 A CN 110792649A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
- E02B17/04—Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
- E02B17/04—Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction
- E02B17/08—Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction for raising or lowering
- E02B17/0809—Equipment specially adapted for raising, lowering, or immobilising the working platform relative to the supporting construction for raising or lowering the equipment being hydraulically actuated
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Abstract
The embodiment of the invention discloses a control method and a system for a lifting oil cylinder of an ocean platform, which comprises the following steps that a controller receives actual ascending or descending displacement of the oil cylinder, which is obtained by a displacement sensor positioned on the oil cylinder, and subtracts an initial displacement sent by an upper computer from the actual displacement to obtain a deviation displacement; and the controller sends the deviation displacement to a servo valve, and the servo valve controls the oil cylinder to ascend or descend according to the corresponding deviation displacement. According to the control method for the ocean platform lifting oil cylinder, the initial displacement sent by the upper computer is compared with the actual displacement of the oil cylinder obtained by the displacement sensor on the oil cylinder to obtain the deviation displacement, the servo valve is controlled by the controller to drive the oil cylinder to ascend or descend according to the corresponding deviation displacement, the oil cylinder is obtained in real time and adjusted in real time according to the ascending or descending error of the oil cylinder, the oil cylinder can ascend or descend according to the preset displacement, and the motion synchronization of the oil cylinders is guaranteed.
Description
Technical Field
The embodiment of the invention relates to the technical field of ocean platform oil cylinder control, in particular to a method and a system for controlling an ocean platform lifting oil cylinder and a non-transitory computer-storable medium.
Background
The self-elevating type ocean drilling platform is one of important ocean oil and gas resource exploitation equipment, mainly comprises 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 support the platform on the seabed and bear the external force caused by the 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 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 a pile leg through a ship body pile fixing frame, and the platform or the pile leg is lifted and lowered through a control system.
In the control of the platform lifting device, all pile legs on the platform are required to be capable of ascending and descending synchronously, the lifting height is kept consistent, otherwise, the platform is likely to incline or even turn over, and great damage 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.
However, in the whole rotary drilling rig industry, two oil cylinders of the mast are controlled by adopting the two-linkage load sensitive valve, the rotary drilling rig adopting the system has more or less problems of the synchronization performance and the action stability performance of the mast oil cylinders, especially when the load difference of the left and right mast oil cylinders is large or other unpredictable influence factors exist, the oil cylinders are difficult to keep synchronization, the oil cylinders still have deviation when moving, and the deviation correction of the difference between the oil cylinders cannot be finished in the prior art.
Disclosure of Invention
Therefore, the embodiment of the invention provides a method and a system for synchronously controlling lifting oil cylinders of an ocean platform, which aim to solve the problem that the oil cylinders are difficult to keep synchronous in the true sense due to the fact that deviation correction of differences among the oil cylinders cannot be guaranteed in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of the embodiments of the present invention, there is provided a method for controlling the lifting of an oil cylinder of an ocean platform, comprising,
the controller receives actual ascending or descending displacement of the oil cylinder, which is acquired by a displacement sensor positioned on the oil cylinder, and subtracts the actual displacement from the initial displacement sent by the upper computer to obtain deviation displacement;
and the controller sends the deviation displacement to a servo valve, and the servo valve controls the oil cylinder to ascend or descend according to the corresponding deviation displacement.
Furthermore, the number of the controllers is multiple, and the controllers correspond to the number of the displacement sensors.
Further, after obtaining the deviation displacement, the controller sends the deviation displacement to the servo valve, and before the servo valve controls the oil cylinder to ascend or descend, the method also comprises the following steps,
the deviation coupling controller takes the deviation displacement of one oil cylinder as reference deviation displacement, obtains the deviation displacement of other synchronously controlled oil cylinders as a plurality of deviation displacements to be compared;
respectively carrying out deviation coupling algorithm calculation on the reference deviation displacement and the plurality of deviation displacements to be compared to obtain a plurality of compensation parameters corresponding to the deviation displacements to be compared;
the controller carries out deviation correction algorithm calculation on the deviation displacement to be compared of each oil cylinder corresponding to the plurality of obtained compensation parameters respectively to obtain target deviation displacement corresponding to each oil cylinder;
and the servo valve controls the oil cylinders to ascend or descend respectively corresponding target deviation displacement.
Further, the bias coupling algorithm includes,
subtracting the obtained deviation displacements to be compared from the reference deviation displacement, and taking the corresponding difference values as respective compensation parameters;
or subtracting the deviation displacement to be compared from the reference deviation displacement, then carrying out proportional operation on the sum of the respective difference and all the differences, and taking the proportional operation result as the respective compensation parameter.
Further, the de-skew algorithm includes an addition operation, a subtraction operation, or a weighting operation.
And further, after the displacement sensor obtains the displacement data of the oil cylinder, carrying out filtering algorithm calculation on the displacement data.
According to a second aspect of the embodiment of the present invention, there is also provided an ocean platform cylinder lifting synchronization control system, which includes,
at least one cylinder;
the displacement sensor is positioned on the oil cylinder and used for acquiring actual displacement data of the ascending or descending of the oil cylinder;
the upper computer is used for sending the initial displacement;
the controller is used for comparing the initial displacement sent by the upper computer with the actual displacement to obtain deviation displacement and sending the deviation displacement to the servo valve corresponding to the oil cylinder;
and the servo valve is used for controlling the oil cylinder to ascend or descend according to the deviation displacement sent by the controller.
Further, the system also comprises a deviation displacement controller, which is used for subtracting the obtained deviation displacements to be compared from the reference deviation displacement and taking the corresponding difference values as respective compensation parameters;
or subtracting the deviation displacement to be compared from the reference deviation displacement, then carrying out proportional operation on the sum of the respective difference and all the differences, and taking the proportional operation result as the respective compensation parameter.
And the filter is used for carrying out filtering algorithm calculation on the displacement data after the displacement sensor obtains the displacement data of the oil cylinder.
There is also provided, in accordance with a third aspect of an embodiment of the present invention, a non-transitory computer-readable storage medium, characterized by storing program execution instructions of the above-described method; further, the air conditioner is provided with a fan,
responding to an instruction of executing a program, receiving the ascending or descending actual displacement of the oil cylinder, which is acquired by a displacement sensor positioned on the oil cylinder, by a controller, and subtracting the actual displacement from the initial displacement sent by an upper computer to acquire deviation displacement;
and the controller sends the deviation displacement to a servo valve, and the servo valve controls the oil cylinder to ascend or descend according to the corresponding deviation displacement.
Further, in response to executing instructions of the program,
after obtaining the deviation displacement, the controller sends the deviation displacement to the servo valve, and before the servo valve controls the oil cylinder to ascend or descend, the method also comprises the following steps,
the deviation coupling controller takes the deviation displacement of one oil cylinder as reference deviation displacement, obtains the deviation displacement of other synchronously controlled oil cylinders as a plurality of deviation displacements to be compared;
respectively carrying out deviation coupling algorithm calculation on the reference deviation displacement and the plurality of deviation displacements to be compared to obtain a plurality of compensation parameters corresponding to the deviation displacements to be compared;
the controller carries out deviation correction algorithm calculation on the deviation displacement to be compared of each oil cylinder corresponding to the plurality of obtained compensation parameters respectively to obtain target deviation displacement corresponding to each oil cylinder;
and the servo valve controls the oil cylinders to ascend or descend respectively corresponding target deviation displacement.
Further, in response to instructions executed by a program, the bias coupling algorithm includes,
subtracting the obtained deviation displacements to be compared from the reference deviation displacement, and taking the corresponding difference values as respective compensation parameters;
or subtracting the deviation displacement to be compared from the reference deviation displacement, then carrying out proportional operation on the sum of the respective difference and all the differences, and taking the proportional operation result as the respective compensation parameter.
The embodiment of the invention has the following advantages:
according to the method for synchronously controlling the lifting of the ocean platform by the multiple oil cylinders, the initial displacement sent by the upper computer is compared with the actual displacement of the oil cylinders obtained by the displacement sensors on the oil cylinders to obtain the deviation displacement, the servo valve is controlled by the controller to drive the oil cylinders to ascend or descend according to the corresponding deviation displacement, the oil cylinders are obtained in real time and adjusted in real time according to the ascending or descending errors of the oil cylinders, the oil cylinders can ascend or descend according to the preset displacement, and the motion synchronization of the oil cylinders is guaranteed.
Further, after obtaining the deviation displacement, the embodiment of the invention performs deviation coupling processing on the deviation displacement of each oil cylinder to obtain a compensation parameter, adjusts the deviation displacement corresponding to each oil cylinder by the compensation parameter and further adopting a deviation correction algorithm, and finally raises or lowers the deviation displacement after correction through a server. Further ensuring that each oil cylinder can synchronously ascend or descend without delay. The problem can be solved by correcting the deviation no matter what unpredictable factors the oil cylinder encounters, the synchronous ascending or descending of the oil cylinder is automatically completed, the automation degree is high, and the accuracy is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, should still fall within the scope of the present invention.
Fig. 1 is a flowchart of a method for synchronously controlling a plurality of lifting cylinders of an ocean platform according to an embodiment 1 of the present invention;
fig. 2 is a flowchart of a preferred embodiment of a method for synchronously controlling a plurality of ocean platform lifting cylinders according to embodiment 2 of the present invention;
fig. 3 is a schematic view of an actual application scenario of the method for synchronously controlling the lifting of the ocean platform by multiple oil cylinders in embodiment 2 of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart of a method for synchronously controlling multiple lifting cylinders of an ocean platform according to embodiment 1 of the present invention includes:
the controller receives actual ascending or descending displacement of the oil cylinder, which is acquired by a displacement sensor positioned on the oil cylinder, and subtracts the actual displacement from the initial displacement sent by the upper computer to obtain deviation displacement;
and the controller sends the deviation displacement to a servo valve, and the servo valve controls the oil cylinder to ascend or descend according to the corresponding deviation displacement.
The actual displacement refers to the displacement generated by the actual movement of the oil cylinder, and the displacement is acquired by a displacement sensor positioned on the oil cylinder.
The initial displacement refers to the displacement of the oil cylinder movement (ascending or descending) sent to the controller by the upper computer under the manual control when the oil cylinder is started.
In an optional implementation manner of the embodiment of the present invention, the number of the controllers is plural, and the controllers correspond to the number of the displacement sensors.
In an optional implementation manner of the embodiment of the present invention, in order to ensure that the displacement data obtained by the displacement sensor can be more accurate, the displacement sensor performs filtering algorithm calculation on the displacement data after obtaining the displacement data of the oil cylinder.
The servo valve may be a hydraulic servo valve or an electromagnetic servo valve, which belongs to the prior art in the field and is not described herein.
According to the method for synchronously controlling the lifting of the ocean platform by the multiple oil cylinders, the initial displacement sent by the upper computer is compared with the actual displacement of the oil cylinders obtained by the displacement sensors on the oil cylinders to obtain the deviation displacement, the servo valve is controlled by the controller to drive the oil cylinders to ascend or descend according to the corresponding deviation displacement, the oil cylinders are obtained in real time and adjusted in real time according to the ascending or descending errors of the oil cylinders, the oil cylinders can ascend or descend according to the preset displacement, and the motion synchronization of the oil cylinders is guaranteed.
Referring to fig. 2, a flow chart of a preferred embodiment of a method for synchronously controlling multiple lifting cylinders of an ocean platform according to embodiment 2 of the present invention is provided, in embodiment 2, based on embodiment 1, after obtaining a deviation displacement, a controller sends the deviation displacement to a servo valve, and before controlling the cylinder to ascend or descend by the servo valve to correspond to the deviation displacement, further comprising,
the deviation coupling controller takes the deviation displacement of one oil cylinder as reference deviation displacement, obtains the deviation displacement of other synchronously controlled oil cylinders as a plurality of deviation displacements to be compared;
respectively carrying out deviation coupling algorithm calculation on the reference deviation displacement and the plurality of deviation displacements to be compared to obtain a plurality of compensation parameters corresponding to the deviation displacements to be compared;
the controller carries out deviation correction algorithm calculation on the deviation displacement to be compared of each oil cylinder corresponding to the plurality of obtained compensation parameters respectively to obtain target deviation displacement corresponding to each oil cylinder;
and the servo valve controls the oil cylinders to ascend or descend respectively corresponding target deviation displacement.
The number of the controllers and the displacement sensors is a plurality of corresponding numbers, after each controller obtains the deviation displacement of the corresponding oil cylinder, the deviation coupling controller takes the deviation displacement of one oil cylinder as the reference deviation displacement, and the reference deviation displacement and the deviation displacement (namely the deviation displacement to be compared) corresponding to other oil cylinders are calculated by a deviation coupling algorithm to obtain the compensation parameter.
The deviation coupling algorithm may be subtracting the obtained multiple deviation displacements to be compared from the reference deviation displacement, and taking respective corresponding difference values as respective compensation parameters; or subtracting the deviation displacement to be compared from the reference deviation displacement, then carrying out proportional operation on the sum of the respective difference and all the differences, and taking the proportional operation result as the respective compensation parameter.
After the compensation parameters of the corresponding displacements of the oil cylinders are obtained, the compensation parameters are respectively subjected to deviation correction algorithm calculation with the deviation displacement to be compared corresponding to each oil cylinder, and target deviation displacements corresponding to the oil cylinders are obtained;
the correction algorithm can be that the compensation parameters of the corresponding displacement of each oil cylinder are respectively a positive value or a negative value, and the values are summed with the deviation displacement to be compared to obtain the displacement of each oil cylinder which needs to be correspondingly increased or decreased.
The weight of the deviation displacement of each oil cylinder can be calculated by calculating the ratio of the deviation displacement corresponding to each oil cylinder to the total deviation displacement, and the displacement required to be increased or decreased corresponding to each oil cylinder can be calculated by a weighting algorithm. Namely, after subtracting the deviation displacement to be compared from the reference deviation displacement, the respective difference and the sum of all the differences are subjected to proportional operation, and the proportional operation result is used as the respective compensation parameter.
And finally, controlling the oil cylinders to ascend or descend by the servo valve according to the corresponding target deviation displacement.
For example, referring to fig. 3, a schematic view of an actual application scenario of the method for synchronously controlling a plurality of lifting cylinders of an ocean platform according to embodiment 2 of the present invention is shown, in which a plurality of controllers are respectively named as a controller 1 and a controller 2. The naming modes of the corresponding multiple servo valves 1 to the servo valve n, the multiple oil cylinders 1 to the oil cylinder n and the compensation parameter k1 to the compensation parameter kn are similar, each master oil cylinder system comprises a controller, the servo valves and the oil cylinders which are connected with each other, and the displacement sensor is connected on feedback loops of the oil cylinders and the controller to form a closed loop. The upper computer is respectively connected with the controllers 1 to n. And taking a closed loop where the controller 1 is positioned as a reference, and subtracting the initial displacement sent by the upper computer after the controller 1 receives the actual displacement of the oil cylinder fed back by the displacement controller 1 to obtain the reference deviation displacement. Then, the controller 1 sends the reference deviation displacement to the deviation coupling controller, and at the same time, other controllers also send the deviation displacements to be compared to the deviation coupling controller, and the deviation coupling controller subtracts each deviation displacement to be compared from the reference deviation displacement, for example, subtracts the deviation displacement L0 of the controller 1 from the deviation displacement L1 of the controller 2 to obtain a value S1, and we can directly use the value S1 as the value of the compensation parameter k1, and can also perform subsequent operations on the value, such as weighted algorithm calculation and the like. If the deviation displacement is the value of the compensation parameter k1, the value S1 is added or subtracted with the deviation displacement of the controller 2 to obtain the target deviation displacement of the controller 2, and finally the servo valve 2 controls the target deviation displacement corresponding to the ascending or descending of the oil cylinder 2.
According to the embodiment of the invention, after the deviation displacement is obtained, deviation coupling processing is carried out on the deviation displacement of each oil cylinder to obtain the compensation parameter, the deviation displacement corresponding to each oil cylinder is adjusted by further adopting a deviation rectifying algorithm through the compensation parameter, and finally the deviation displacement after deviation rectifying is ascended or descended through the server. Further ensuring that each oil cylinder can synchronously ascend or descend without delay. The problem can be solved by correcting the deviation no matter what unpredictable factors the oil cylinder encounters, the synchronous ascending or descending of the oil cylinder is automatically completed, the automation degree is high, and the accuracy is high.
There is also provided in accordance with a second aspect of an embodiment of the present invention, an offshore platform lifting multi-cylinder synchronous control system, including,
at least one cylinder;
the displacement sensor is positioned on the oil cylinder and used for acquiring actual displacement data of the ascending or descending of the oil cylinder;
the upper computer is used for sending the initial displacement;
the controller is used for comparing the initial displacement sent by the upper computer with the actual displacement to obtain deviation displacement and sending the deviation displacement to the servo valve corresponding to the oil cylinder;
and the servo valve is used for controlling the oil cylinder to ascend or descend according to the deviation displacement sent by the controller.
Further, the system also comprises a deviation displacement controller, which is used for subtracting the obtained deviation displacements to be compared from the reference deviation displacement and taking the corresponding difference values as respective compensation parameters;
or subtracting the deviation displacement to be compared from the reference deviation displacement, then carrying out proportional operation on the sum of the respective difference and all the differences, and taking the proportional operation result as the respective compensation parameter.
And the filter is used for carrying out filtering algorithm calculation on the displacement data after the displacement sensor obtains the displacement data of the oil cylinder.
According to the multi-cylinder synchronous control system for the lifting of the ocean platform, provided by the embodiment of the invention, the initial displacement sent by the upper computer is compared with the actual displacement of the oil cylinder obtained by the displacement sensor on the oil cylinder to obtain the deviation displacement, the servo valve is controlled by the controller to drive the oil cylinder to ascend or descend according to the corresponding deviation displacement, the oil cylinder is obtained in real time and adjusted in real time according to the ascending or descending error of the oil cylinder, so that the oil cylinder can ascend or descend according to the preset displacement, and the motion synchronization of each oil cylinder is ensured.
Further, after obtaining the deviation displacement, the embodiment of the invention performs deviation coupling processing on the deviation displacement of each oil cylinder to obtain a compensation parameter, adjusts the deviation displacement corresponding to each oil cylinder by the compensation parameter and further adopting a deviation correction algorithm, and finally raises or lowers the deviation displacement after correction through a server. Further ensuring that each oil cylinder can synchronously ascend or descend without delay. The problem can be solved by correcting the deviation no matter what unpredictable factors the oil cylinder encounters, the synchronous ascending or descending of the oil cylinder is automatically completed, the automation degree is high, and the accuracy is high.
There is also provided, in accordance with a third aspect of an embodiment of the present invention, a non-transitory computer-readable storage medium, wherein the above-described method is stored; further, the air conditioner is provided with a fan,
responding to an instruction of executing a program, receiving the ascending or descending actual displacement of the oil cylinder, which is acquired by a displacement sensor positioned on the oil cylinder, by a controller, and subtracting the actual displacement from the initial displacement sent by an upper computer to acquire deviation displacement;
and the controller sends the deviation displacement to a servo valve, and the servo valve controls the oil cylinder to ascend or descend according to the corresponding deviation displacement.
Further, in response to executing instructions of the program,
after obtaining the deviation displacement, the controller sends the deviation displacement to the servo valve, and before the servo valve controls the oil cylinder to ascend or descend, the method also comprises the following steps,
the deviation coupling controller takes the deviation displacement of one oil cylinder as reference deviation displacement, obtains the deviation displacement of other synchronously controlled oil cylinders as a plurality of deviation displacements to be compared;
respectively carrying out deviation coupling algorithm calculation on the reference deviation displacement and the plurality of deviation displacements to be compared to obtain a plurality of compensation parameters corresponding to the deviation displacements to be compared;
the controller carries out deviation correction algorithm calculation on the deviation displacement to be compared of each oil cylinder corresponding to the plurality of obtained compensation parameters respectively to obtain target deviation displacement corresponding to each oil cylinder;
and the servo valve controls the oil cylinders to ascend or descend respectively corresponding target deviation displacement.
Further, in response to instructions executed by a program, the bias coupling algorithm includes,
subtracting the obtained deviation displacements to be compared from the reference deviation displacement, and taking the corresponding difference values as respective compensation parameters;
or subtracting the deviation displacement to be compared from the reference deviation displacement, then carrying out proportional operation on the sum of the respective difference and all the differences, and taking the proportional operation result as the respective compensation parameter.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A method for controlling the lifting of an oil cylinder of an ocean platform is characterized by comprising the following steps,
the controller receives actual ascending or descending displacement of the oil cylinder, which is acquired by a displacement sensor positioned on the oil cylinder, and subtracts the actual displacement from the initial displacement sent by the upper computer to obtain deviation displacement;
and the controller sends the deviation displacement to a servo valve, and the servo valve controls the oil cylinder to ascend or descend according to the corresponding deviation displacement.
2. The method of claim 1, wherein the controller, the cylinder, the displacement sensor, and the servo valve are each provided in equal numbers.
3. The method of claim 2, wherein after obtaining the offset displacement, the controller sends the offset displacement to a servo valve, and before controlling the cylinder to raise or lower by the servo valve for the corresponding offset displacement, further comprising,
the deviation coupling controller takes the deviation displacement of one oil cylinder as reference deviation displacement, obtains the deviation displacement of other synchronously controlled oil cylinders as a plurality of deviation displacements to be compared;
respectively carrying out deviation coupling algorithm calculation on the reference deviation displacement and the plurality of deviation displacements to be compared to obtain a plurality of compensation parameters corresponding to the deviation displacements to be compared;
the controller carries out deviation correction algorithm calculation on the deviation displacement to be compared of each oil cylinder corresponding to the plurality of obtained compensation parameters respectively to obtain target deviation displacement corresponding to each oil cylinder;
and the servo valve controls the oil cylinders to ascend or descend respectively corresponding target deviation displacement.
4. The method of claim 3, wherein the bias coupling algorithm comprises,
subtracting the obtained deviation displacements to be compared from the reference deviation displacement, and taking the corresponding difference values as respective compensation parameters;
or subtracting the deviation displacement to be compared from the reference deviation displacement, then carrying out proportional operation on the sum of the respective difference and all the differences, and taking the proportional operation result as the respective compensation parameter.
5. The method of claim 3, wherein the de-skew algorithm comprises an addition operation, a subtraction operation, or a weighting operation.
6. The method according to any one of claims 1 to 5, further comprising performing a filter algorithm calculation on the displacement data after the displacement sensor obtains the displacement data of the cylinder.
7. An ocean platform oil cylinder lifting control system is characterized by comprising,
at least one cylinder;
the displacement sensor is positioned on the oil cylinder and used for acquiring actual displacement data of the ascending or descending of the oil cylinder;
the upper computer is used for sending the initial displacement;
the controller is used for comparing the initial displacement sent by the upper computer with the actual displacement to obtain deviation displacement and sending the deviation displacement to the servo valve corresponding to the oil cylinder;
and the servo valve is used for controlling the oil cylinder to ascend or descend according to the deviation displacement sent by the controller.
8. The system of claim 7, further comprising a deviation displacement controller for subtracting the obtained plurality of deviation displacements to be compared from the reference deviation displacement, and taking respective corresponding differences as respective compensation parameters;
or subtracting the deviation displacement to be compared from the reference deviation displacement, then carrying out proportional operation on the sum of the respective difference and all the differences, and taking the proportional operation result as the respective compensation parameter.
9. The system of claim 7, further comprising a filter for performing a filter algorithm calculation on the displacement data after the displacement sensor obtains the displacement data of the cylinder.
10. A non-transitory computer readable storage medium having stored thereon one or more computer readable program instructions for performing the method of any of claims 1-6.
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| CN201910973970.2A CN110792649A (en) | 2019-10-14 | 2019-10-14 | Ocean platform oil cylinder lifting control method and system |
| PCT/CN2020/108068 WO2021073215A1 (en) | 2019-10-14 | 2020-08-10 | Ocean platform oil cylinder lifting control method and system |
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| CN111809590A (en) * | 2020-06-19 | 2020-10-23 | 上海交通大学 | Self-elevating floating support installation method of drilling platform |
| CN112628243A (en) * | 2020-12-24 | 2021-04-09 | 广东电网能源发展有限公司 | Synchronous hydraulic pushing control method, device, equipment and medium |
| WO2021073215A1 (en) * | 2019-10-14 | 2021-04-22 | 广东精铟海洋工程股份有限公司 | Ocean platform oil cylinder lifting control method and system |
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| CN114109963B (en) * | 2021-11-19 | 2023-12-15 | 济南悉通液压设备配套有限公司 | Corner-assembled engine oil cylinder operation control method and hydraulic system |
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| CN112628243B (en) * | 2020-12-24 | 2023-10-03 | 广东电网能源发展有限公司 | Synchronous hydraulic pushing control method, device, equipment and medium |
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