A floating-over installation-entry control method and system based on position deviation
A control method and technology of a control system, which are applied in the field of floating-over installation and ship-entry control based on position deviation, can solve problems such as left and right shaking, and achieve the effect of avoiding collision.
Active Publication Date: 2022-05-27
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
However, when this method is used for installation, the barge will sway left and right in the casing of the jacket under the influence of wind, waves and currents. In order to avoid the collision between the barge and the jacket, a safe way of entering the ship is required to ensure the smooth installation of the floatover
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[0049] The present invention will be further described in detail below with reference to the accompanying drawings.
[0050] According to one or more embodiments, there is disclosed a position deviation-based float-over installation entry control system, such as figure 1 As shown, it includes a barge, jackets arranged on both sides respectively, a first tugboat arranged in front of the barge bow, a second tugboat and a third tugboat arranged at the stern of the barge, and the first tugboat arranged in the barge bow. A winch and a second winch, a position measurement system for measuring the barge and a winch control system for controlling the winch.
[0051] The center line is the extension direction of the center of the jackets on both sides. Controlling the barge to enter the ship along the center line can avoid the collision between the barge and the jacket, so as to ensure the safety of entering the ship.
[0052]The barge is provided with a first position reference point...
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The invention discloses a float-over installation ship entry control method based on position deviation, relates to the field of marine engineering, and solves the problem that a barge will collide when it sways left and right in the jacket trench when it enters the ship. The main points of the technical solution are as follows: The steps are as follows: the first tugboat located directly in front of the barge controls the entry speed of the barge; the position measurement system measures the first sway error when the first position reference point deviates from the center line; the winch control system judges the first sway error, And control the speed adjustment of the first winch and the second winch to control the first position reference point to return to the center line; the position measurement system measures the second sway error of the second position reference point deviating from the center line, the second tugboat and the third tugboat According to the second sway error, the second position reference point is controlled to return to the center line. A float-over installation ship entry control method based on the position deviation of the present invention can ensure the safe entry of the barge and avoid barges and conduits when entering the ship. rack collision.
Description
technical field [0001] The invention relates to the field of marine engineering, in particular to a position deviation-based control method and system for a floatover installation into a ship. Background technique [0002] In offshore oil and gas development projects, various production and production platforms need to be built offshore. Platforms are generally manufactured on land, then shipped and fixed, and transported to sea by barges for general installation and commissioning. With the rapid development of marine engineering technology, offshore platforms are developing in the direction of large-scale and comprehensive It is also increasing. In order to solve these problems, the floating tow method has been produced and widely used. However, when this method is used for installation, the barge will sway left and right in the jacket enclosure due to the influence of wind, waves and currents. In order to avoid the collision between the barge and the jacket, a safe method...
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IPC IPC(8): B63C3/02B66D1/74B66D1/52
CPCB63C3/02B66D1/74B66D1/525B66D2700/0108
Inventor 王磊韩森贺华成
Owner SHANGHAI JIAOTONG UNIV