海上风电稳桩平台抱桩器液压系统高精度控制研究

Research on high precision control of hydraulic system of pile holder for offshore wind power stabilization platform

摘要

近年来海上风力发电已成为许多国家发展清洁能源重要途径之一,稳桩平台抱桩器液压控制系统作为海上风机安装技术重要环节而受到了越来越多关注。为了提高单桩安装精度,本文在海上风电稳桩平台抱桩器液压系统设计及控制性能要求分析基础上,构建液压系统数学模型,提出海上风电稳桩平台抱桩器高精度控制研究策略。运用训练好的Q学习模型在线动态调整PID控制参数,经过PID控制器运算后输出控制信号,并将其作用于换向阀以控制液压缸活塞杆速度和位移,通过多缸间协同控制实现单桩高精度扶正。该算法可根据桩柱倾斜程度自适应调整阀门开度,通过多液压缸协同控制提高桩柱扶正精度。仿真表明,提出的控制方法可根据偏差和偏差变化率实现自适应参数调整,能够保障液压控制系统控制精度。

Abstract

In recent years, offshore wind power generation becomes one of the important ways to develop clean energy in many countries, and the hydraulic control system of pile stabilizer platform attracts more and more attention as an important part of offshore wind turbine installation technology. In order to improve the installation accuracy of a single pile, based on the design and control performance requirements of the hydraulic system of the pile holder for the offshore wind power stable pile platform, the mathematical model of hydraulic system is constructed, and it proposes the high precision control strategy of hydraulic system design of pile holder for offshore wind power pile stabilization platform. The trained Q learning model is used to dynamically adjust PID control parameters online. After the PID controller performs its operation, a control signal is output and applied to the directional control valve to control the speed and displacement of the hydraulic cylinder piston rod. Through the collaborative control among multiple cylinders, high-precision alignment of a single pile is achieved. The algorithm can adjust the opening of the valve adaptively according to the tilt degree of the pile, and improve the alignment accuracy of the pile through the cooperative control of multiple hydraulic cylinders. The simulation shows that the proposed control method can realize the adaptive parameter adjustment according to the deviation and the deviation change rate, and can guarantee the control accuracy of the hydraulic control system.

关键词

抱桩器 / 液压控制 / Q学习 / 协同控制 / 控制精度 / 控制系统

Key words

pile holder / hydraulic control / Q-learning / collaborative control / control accuracy / control system

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基金资助

中国博士后科学基金面上项目(2022M710934);青岛市博士后应用研究项目