Method and apparatus for synchronously controlling lifting device of self-elevating ocean platform

Abstract

The invention relates to a method and apparatus for synchronously controlling a lifting device of a self-elevating ocean platform. The method comprises: (1), measuring rotating speeds and positions of a plurality of groups of motors of a lifting device of a self-elevating ocean platform; (2) selecting an average rotating speed of the plurality of groups of motors and comparing the average rotating speed with the rotating speed of each motor to obtain a difference value, and carrying out processing by using a PID control algorithm to obtain a speed synchronization compensation control value; (3) selecting a position average value of the plurality of groups of motors and comparing the position average value with the position of each motor to obtain a different value, and carrying out processing by using a PID control algorithm to obtain a position synchronization compensation control value; (4) measuring a tilt angle of the self-elevating ocean platform by using a tilt angle sensor; (5), synthesizing a speed tracking controller output signal, the speed synchronization compensation control value and the position synchronization compensation control value to obtain a control signal and outputting the control signal; and (6), with the control signal, controlling the rotating speeds of the motors to achieve an objective of synchronous controlling of the plurality of groups of motors. With the control technique, the lifting speed and the lifting height can be taken into consideration simultaneously and thus the stable lifting requirement of the platform can be met.

Description

technical field [0001] The invention relates to a control method and device, in particular to a synchronous control method and device for a self-elevating offshore platform lifting device. Background technique [0002] Jack-up offshore drilling platform is one of the important offshore oil and gas resources exploitation equipment. The main components include the platform body, pile legs, lifting devices, etc. The platform body is mainly used to carry drilling equipment and personnel living facilities; the pile legs support the platform on the seabed and withstand the external forces brought by the platform's own gravity and harsh environments such as sea wind and waves; The lifting device controls the rise and fall of the platform. One of the key technologies of the self-elevating platform is its lifting system. At present, most self-elevating platforms use a lifting device with a rack and pinion meshing. The platform lifting system usually consists of multiple sets of mot...

AI Technical Summary

Problems solved by technology

[0003] In the control of the platform lifting device, it is required that the legs on the platform can rise and fall synchronously to keep the lifting height consistent, otherwise the platform may be tilted or even rolled over, which will cause great harm to personnel and equipment

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