An underwater tension leg platform diving and floating control system and method

Abstract

The invention discloses an underwater tension leg platform submerging and surfacing control system. The underwater tension leg platform submerging and surfacing control system comprises a tilt angle sensor, depth sensors, a platform pose controller and a winch controller. The tilt angle sensor is installed at the geometric central point of the surface of a platform deck and used for measuring platform pose information. The depth sensors are installed on the left bow, the right bow, the left stern and the right stern of the surface of the platform deck respectively and used for measuring depth values of the four corners of a platform. The platform pose controller is arranged in a left board pressure-proof floating barrel cabin and used for receiving platform pose information and the platform depth values and processing the platform pose information and the platform depth values so as to generate a hydraulic winch speed control command. The winch controller is arranged in a right board pressure-proof floating barrel and used for receiving the hydraulic winch speed control command generated by the platform pose controller, acquiring the operating speeds of hydraulic winches and then driving a steel cable to control the pose of the platform. The invention further discloses a corresponding control method. Stability of the speed and the pose in the submerging and surfacing processes of the underwater tension leg platform can be controlled, and the operating stability and safety of the platform are guaranteed.

Description

technical field [0001] The invention belongs to the field of tension leg platforms, and in particular relates to a diving and floating control system and method for underwater tension leg platforms. Background technique [0002] With the development of marine resources, deep-sea operating platform technology has become a hot spot in the international ocean engineering field, and new offshore platform structures are constantly emerging. [0003] The underwater tension leg platform is a working platform used underwater to provide a working platform for various underwater work and experiments. When working, the underwater tension leg platform is generally first towed by the mother ship to the predetermined working water area, and then positioned by the gravity anchor, and then the gravity anchor is used to take up or release the cable to realize the underwater diving or floating of the platform. Because it is different from common offshore platforms, it does not need to be equ...

AI Technical Summary

Problems solved by technology

However, due to the complex underwater environment, uncertain water flow and terrain, the gravity anchor of the above-mentioned underwater tension leg platform cannot be dropped to the bottom of the lake completely according to the predetermined position, thus the phenomenon of anchor walking occurs

In addition, in the hydraulic winch system that drives the tension leg steel cable to retract and unwind, there are influences such as oil temperature changes, external load interference, and uneven oil supply in the pipeline, so it is difficult for multiple hydraulic winches to achieve complete synchronization.

The synchronous error of anchor walking and hydraulic winch will easily cause the platform to have a large inclination during the process of diving and floating, which cannot meet the requirements of platform movement stability and equipment safety.

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