A heave compensation control system for marine engineering survey

Abstract

The present application relates to a kind of heave compensation control systems for ocean engineering survey, comprising: integrated control seat mechanism, heave compensation control cabinet mechanism, passive compensation hydraulic station mechanism, passive compensation high-pressure gas source room mechanism, drill string passive compensation control box mechanism and base disc constant tension compensation control box mechanism;The heave compensation control cabinet mechanism is arranged in VFD room, and is respectively connected with the passive compensation hydraulic station mechanism, the passive compensation high-pressure gas source room mechanism, the drill string passive compensation control box mechanism and the base disc constant tension compensation control box mechanism communication connection;The integrated control seat mechanism is arranged in driller room, and is connected with the heave compensation control cabinet mechanism communication connection.The heave compensation control system provided in the application satisfies the heave compensation control of drilling top drive system in the limited space on ship.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering survey technology, and in particular relates to a heave compensation control system for marine engineering survey. Background Technology

[0002] On marine engineering survey vessels, due to the limited space in the hull, it is necessary to install the drilling top drive system on the ship; this places demands on the drilling top drive system in terms of limited space and lightweight design; the current heave compensation control system in marine engineering top drives cannot meet the above requirements, so a heave compensation control system that can be installed on the ship for marine engineering survey is needed. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] To address the existing technical problems, this invention provides a heave compensation control system for marine engineering exploration, which solves the problem of setting up a heave compensation control system that can meet the requirements of drilling top drive systems within the limited space on board a ship.

[0005] (II) Technical Solution

[0006] To achieve the above objectives, the main technical solutions adopted by the present invention include: an integrated control seat mechanism, a heave compensation control cabinet mechanism, a passive compensation hydraulic station mechanism, a passive compensation high-pressure air source room mechanism, a drill string passive compensation control box mechanism, and a base plate constant tension compensation control box mechanism.

[0007] The heave compensation control cabinet is located in the VFD room and is communicatively connected to the passive compensation hydraulic station, the passive compensation high-pressure air source room, the drill string passive compensation control box, and the base plate constant tension compensation control box.

[0008] The integrated control seat mechanism is located in the driller's cabin and is communicatively connected to the heave compensation control cabinet mechanism.

[0009] The heave compensation control cabinet mechanism can control the passive compensation operation of the drill string passive compensation control box mechanism by means of the heave compensation control cabinet mechanism;

[0010] The heave compensation control cabinet mechanism can control the base plate constant tension compensation operation of the base plate constant tension compensation control box mechanism.

[0011] Preferably, the heave compensation control cabinet includes: a power supply, a communication component, a controller, and a data storage component;

[0012] The controller is connected to the power supply, the communication component, and the data storage component, respectively.

[0013] The controller is communicatively connected to the integrated control seat mechanism, the passive compensation hydraulic station mechanism, the passive compensation high-pressure air source room mechanism, the drill string passive compensation control box mechanism, and the base plate constant tension compensation control box mechanism via the communication component.

[0014] The logic control core of the controller is a PLC.

[0015] Preferably, the passive compensation hydraulic station mechanism includes: a hydraulic station, a hydraulic control valve assembly, and a hydraulic station control box;

[0016] The hydraulic control valve assembly is installed on the hydraulic station and is used to control the output of hydraulic pressure energy;

[0017] The hydraulic station control box is connected to the hydraulic control valve assembly.

[0018] The hydraulic control box is communicatively connected to the heave compensation control cabinet via a cable.

[0019] Preferably, the passive compensation high-pressure gas source room mechanism includes: a high-pressure compressor, a high-pressure gas tank, and a compensation gas valve control box;

[0020] The high-pressure compressor is connected to the high-pressure gas tank;

[0021] The high-pressure gas tank is equipped with a compensating gas valve assembly;

[0022] The compensating valve control box is controlled to be connected to the compensating valve assembly.

[0023] The compensation valve control box is communicatively connected to the heave compensation control cabinet via a cable.

[0024] Preferably, the drill string passive compensation control box mechanism includes: a passive compensation control box, a first passive compensation hydraulic control valve assembly, a first passive compensation hydraulic cylinder assembly, a first gas-liquid accumulator assembly, and a drill string compensation sensing feedback assembly;

[0025] The passive compensation control box is connected to the first passive compensation hydraulic control valve assembly and the drill string compensation sensor feedback assembly respectively.

[0026] The first passively compensated hydraulic control valve assembly is mounted on the first passively compensated hydraulic cylinder assembly to control the first passively compensated hydraulic cylinder assembly.

[0027] The drill string compensation sensing feedback component is mounted on the first gas-liquid accumulator component.

[0028] Preferably, the first passively compensated hydraulic cylinder assembly is connected to the hydraulic station;

[0029] The first gas-liquid accumulator assembly is connected to the hydraulic station and the high-pressure gas tank, respectively.

[0030] Preferably, the base plate constant tension compensation control box mechanism includes: a tension compensation control box, a second passive compensation hydraulic control valve assembly, a second passive compensation hydraulic cylinder assembly, a second gas-liquid accumulator assembly, and a base plate compensation sensing feedback assembly;

[0031] The tension compensation control box is controlled to the second passive compensation hydraulic control valve assembly and the base plate compensation sensor feedback assembly, respectively.

[0032] The second passively compensated hydraulic control valve assembly is mounted on the second passively compensated hydraulic cylinder assembly to control the second passively compensated hydraulic cylinder assembly;

[0033] The base plate compensation sensing feedback component is mounted on the second gas-liquid accumulator component.

[0034] Preferably, the second passively compensated hydraulic cylinder assembly is connected to the hydraulic station;

[0035] The second gas-liquid accumulator assembly is connected to the hydraulic station and the high-pressure gas tank, respectively.

[0036] Preferably, the integrated control seat mechanism includes: a seat and a human-computer interaction device;

[0037] The human-computer interaction device is mounted on the seat;

[0038] The seat is located inside the driller's cabin;

[0039] The human-computer interaction device is communicatively connected to the heave compensation control cabinet mechanism via a cable;

[0040] The human-computer interaction device is a device that integrates start / stop control, system operating status, and emergency shutdown functions.

[0041] Preferably, the controller includes a PLC logic control module instruction set;

[0042] The PLC logic control module instruction set includes: control instruction set for the compensation hydraulic station, normal operation instruction set for drill string heave compensation, locking and unlocking control instruction set for the heave compensation frame, and base plate compensation control instruction set.

[0043] (III) Beneficial Effects

[0044] The beneficial effects of this invention are as follows: Passive drill string compensation primarily addresses the issues during tripping in and out of the hole, preventing the drill bit from losing control and impacting the bottom before contacting it, or during normal drilling, where excessive fluctuations in drilling pressure due to wave action could disrupt drilling operations or even pose construction risks. Constant tension compensation for the base plate serves two purposes: firstly, it ensures the wire rope of the base plate winch remains under constant tension during lowering, preventing breakage during the process; secondly, it ensures a smooth landing of the base plate on the seabed. The compensation principle involves using pneumatic-hydraulic springs installed at both the towing and load ends to absorb changes in displacement at the towing end caused by wave action, thereby maintaining a relatively stable absolute position and stress on the load. Attached Figure Description

[0045] Figure 1 A schematic diagram of the control principle of the compensation air valve in an embodiment of a heave compensation control system for marine engineering survey provided by the present invention;

[0046] Figure 2 A schematic diagram of the passive compensation gas-liquid control principle of the drill string in an embodiment of a dual-channel replaceable flushing mechanism for an offshore top drive provided by the present invention.

[0047] Figure 3 A schematic diagram of the base plate constant tension compensation gas-liquid control principle in an embodiment of a heave compensation control system for marine engineering survey provided by the present invention;

[0048] Figure 4 A simplified gas-liquid flow diagram of the compensation system in an embodiment of a dual-channel replaceable flushing mechanism for an offshore top drive provided by the present invention;

[0049] Figure 5 A control flowchart of the compensation device in an embodiment of a heave compensation control system for marine engineering survey provided by the present invention;

[0050] Figure 6 A diagram illustrating the composition of the compensation control system in an embodiment of a dual-channel replaceable punching mechanism for an offshore top drive provided by the present invention.

[0051] Figure 7 A screenshot of the interface of the control module of the compensation control system in an embodiment of a heave compensation control system for marine engineering survey provided by the present invention.

[0052] Figure 8 A schematic diagram of the normal operation process of the compensation control system in an embodiment of a dual-channel replaceable punching mechanism for an offshore top drive provided by the present invention;

[0053] Figure 9 A flowchart illustrating the locking and unlocking process of the compensation device in an embodiment of a heave compensation control system for marine engineering survey provided by the present invention;

[0054] Figure 10 A schematic diagram of the driller's HMI operation of the compensation system in an embodiment of a dual-channel replaceable flushing mechanism for an offshore top drive provided by the present invention;

[0055] Figure 11 The control structure logic diagram of the compensation system HMI in an embodiment of a dual-channel replaceable punching mechanism for an offshore top drive provided by the present invention. Detailed Implementation

[0056] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] like Figure 5 As shown: This embodiment discloses a heave compensation control system for marine engineering exploration, including: an integrated control seat mechanism, a heave compensation control cabinet mechanism, a passive compensation hydraulic station mechanism, a passive compensation high-pressure air source room mechanism, a drill string passive compensation control box mechanism, and a base plate constant tension compensation control box mechanism.

[0058] The heave compensation control cabinet is located in the VFD room and is communicatively connected to the passive compensation hydraulic station, the passive compensation high-pressure air source room, the drill string passive compensation control box, and the base plate constant tension compensation control box.

[0059] In this embodiment, the integrated control seat mechanism is located in the driller's cabin and is communicatively connected to the heave compensation control cabinet mechanism; the heave compensation control cabinet mechanism can control the passive compensation operation of the drill string passive compensation control box mechanism.

[0060] The heave compensation control cabinet mechanism can control the base plate constant tension compensation operation of the base plate constant tension compensation control box mechanism.

[0061] In this embodiment, the heave compensation control cabinet includes a power supply, a communication component, a controller, and a data storage component. The controller is connected to the power supply, the communication component, and the data storage component. The controller communicates with the integrated control seat mechanism, the passive compensation hydraulic station mechanism, the passive compensation high-pressure air source room mechanism, the drill string passive compensation control box mechanism, and the base plate constant tension compensation control box mechanism via the communication component. The logic control core of the controller is a PLC.

[0062] The passive compensation hydraulic station mechanism described in this embodiment includes: a hydraulic station, a hydraulic control valve assembly, and a hydraulic station control box; the hydraulic control valve assembly is mounted on the hydraulic station to control the output of hydraulic pressure energy; the hydraulic station control box is connected to the hydraulic control valve assembly; and the hydraulic control box is communicatively connected to the heave compensation control cabinet mechanism via a cable.

[0063] The passive compensation high-pressure gas source room mechanism described in this embodiment includes: a high-pressure compressor, a high-pressure gas tank, and a compensation gas valve control box; the high-pressure compressor is connected to the high-pressure gas tank; a compensation gas valve assembly is provided on the high-pressure gas tank; the compensation gas valve control box is controlled to the compensation gas valve assembly; the compensation gas valve control box is communicatively connected to the heave compensation control cabinet mechanism via a cable.

[0064] The passive compensation control box mechanism of the drill string in this embodiment includes: a passive compensation control box, a first passive compensation hydraulic control valve assembly, a first passive compensation hydraulic cylinder assembly, a first gas-liquid accumulator assembly, and a drill string compensation sensing feedback assembly; the passive compensation control box is controlled to be connected to the first passive compensation hydraulic control valve assembly and the drill string compensation sensing feedback assembly respectively.

[0065] The first passive compensation hydraulic control valve assembly is mounted on the first passive compensation hydraulic cylinder assembly to control the first passive compensation hydraulic cylinder assembly; the drill string compensation sensing feedback assembly is mounted on the first gas-liquid accumulator assembly.

[0066] In this embodiment, the first passively compensated hydraulic cylinder assembly is connected to the hydraulic station; the first gas-liquid accumulator assembly is connected to both the hydraulic station and the high-pressure gas tank.

[0067] In this embodiment, the base plate constant tension compensation control box mechanism includes: a tension compensation control box, a second passive compensation hydraulic control valve assembly, a second passive compensation hydraulic cylinder assembly, a second gas-liquid accumulator assembly, and a base plate compensation sensing feedback assembly.

[0068] The tension compensation control box is connected to the second passive compensation hydraulic control valve assembly and the base plate compensation sensing feedback assembly respectively; the second passive compensation hydraulic control valve assembly is installed on the second passive compensation hydraulic cylinder assembly to control the second passive compensation hydraulic cylinder assembly; the base plate compensation sensing feedback assembly is installed on the second gas-liquid accumulator assembly.

[0069] In this embodiment, the second passively compensated hydraulic cylinder assembly is connected to the hydraulic station; the second gas-liquid accumulator assembly is connected to both the hydraulic station and the high-pressure gas tank.

[0070] The integrated control seat mechanism described in this embodiment includes: a seat and a human-machine interface device; the human-machine interface device is installed on the seat; the seat is installed in the driller's cabin; the human-machine interface device is communicatively connected to the heave compensation control cabinet mechanism via a cable; the human-machine interface device is a device that integrates start / stop control, system operating status, and emergency shutdown functions.

[0071] In this embodiment, the controller is equipped with a PLC logic control module instruction set. The PLC logic control module instruction set includes: a control instruction set for the compensation hydraulic station, a normal operation instruction set for drill string heave compensation, a locking and unlocking control instruction set for the heave compensation frame, and a base plate compensation control instruction set.

[0072] In this embodiment, the passive heave compensation scheme for the exploration vessel is divided into two main parts: passive heave compensation for the drill string and constant tension compensation during the lowering of the base plate. Passive drill string compensation primarily addresses the prevention of the drill bit from losing control and impacting the bottom of the hole before contacting it during tripping in and out of the drilling rig, or the prevention of excessive fluctuations in drilling pressure due to wave action during normal drilling, which could disrupt drilling operations or even pose construction risks. Constant tension compensation for the base plate ensures that the wire rope of the base plate winch remains under constant tension during lowering, preventing breakage during the process, and also ensures a smooth landing of the base plate on the seabed. Both compensation mechanisms utilize pneumatic-hydraulic springs installed at the towing and load ends to absorb changes in displacement at the towing end caused by wave fluctuations, thereby maintaining a relatively stable absolute position and stress on the load.

[0073] The exploration vessel's heave compensation control system includes a passive heave compensation system for the drill string and a constant tension control system for the winch wire rope during the lifting and lowering of the base platform. The schematic diagram of the compensation air valve control box is shown below. Figure 1 As shown in the diagram. The principle diagram of passive gas-liquid control for the drill string is as follows. Figure 2 As shown; the schematic diagram of the constant tension compensation gas-liquid control principle of the base plate is as follows. Figure 3 As shown; the compensation system simplifies the gas-liquid process as follows: Figure 4 .

[0074] Analysis of the gas-liquid flow diagram of passive heave compensation reveals that the control mechanism of the compensation system primarily relies on controlling the gas-liquid solenoid valves and using sensor feedback to ensure that the pistons of the passive compensation cylinder and the gas-liquid accumulator are in the intermediate position before compensation. This allows for positive and negative compensation even under wave conditions. During passive compensation, the pressure, piston position, and velocity of the compensation cylinder and the gas-liquid accumulator are monitored in real time. In case of pressure runaway, such as pipe rupture, the isolation valve is shut off immediately to prevent cylinder slugging accidents.

[0075] (1) Hardware configuration of the heave compensation control system

[0076] The compensation system's control system uses a PLC as its logic control core, employing a separate controller for logic operations. This core controller is installed in the compensation control cabinet, which is located in the VFD room. Signals from the high-pressure air source, air valve control box, local compensation control box, and compensation hydraulic station are connected to the compensation control cabinet via multi-core cables. The compensation system control cabinet then communicates with the integrated driller's seat drilling system via an Ethernet module. To minimize clutter in the driller's cabin, the heave compensation control system does not have a separate control box; instead, the operation and monitoring of heave compensation are integrated into the auxiliary driller's seat.

[0077] The heave compensation device includes a high-pressure air source, a high-pressure air cylinder group, an air valve control box, a compensation hydraulic station, a heave compensation control cabinet, a drill string compensation valve station, a drill string compensation feedback system, a base plate compensation valve station, a base plate compensation feedback system, and an integrated control seat HMI. The control flowchart of the compensation device is as follows: Figure 5 .

[0078] Based on the control requirements of the passive compensation system, the integrated drilling control system configuration uses a Siemens PLC, consistent with the drilling system, as the logic controller. The CPU is selected from the S7-1200 series; the S7-1200 is compact, low-cost, and has a powerful instruction set. The CPU itself integrates a PROFINET / Ethernet port, enabling network connectivity without the need for additional dedicated programming cables or Ethernet expansion modules, offering strong scalability and direct communication with the drilling control system. The heave compensation HMI is developed using WinCC. Therefore, the entire control system's logic programming and HMI design utilizes Siemens' unified TIA Portal platform. TIA Portal employs a unified engineering configuration and software project environment, integrating logic control, process control, motion control, transmission debugging, visual configuration, and diagnostics. The HMI can directly access logic control data without needing to separately create data point tables and corresponding data addresses, facilitating system debugging. The control system composition is as follows: Figure 6 .

[0079] Based on the system's functional configuration, the PLC's control I / O allocation is as follows:

[0080] Table 1 I / O Allocation Table for Compensation Control System

[0081]

[0082]

[0083] The analog quantities that need to be fed back in the control system are shown in the table below:

[0084] Table 2 Process Quantity Feedback of Compensation Control System

[0085]

[0086] Based on the number of control points, the selected input / output modules are shown in the table below:

[0087] Table 3 Selection of Compensation Control System Modules

[0088]

[0089] like Figures 7-9 As shown, the control strategy of the heave compensation control system is as follows:

[0090] The control system program employs structured programming, dividing the heave compensation control objective into four relatively independent tasks: control of the compensation hydraulic station, normal operation of drill string heave compensation, locking and unlocking control of the heave compensation frame, and base plate compensation control. Each independent control task corresponds to a program segment or subroutine in the structured program, and the main program calls these program blocks to complete the control task. The operation of the heave compensation system mainly includes, for example,... Figure 10 The actions shown.

[0091] To reduce the need for separate driller's cab operations, all operations and monitoring of heave compensation, except for emergency controls, are implemented through HMI interface software operations.

[0092] (1) Start-up and shutdown of the hydraulic system;

[0093] (2) The increase or decrease of hydraulic pressure on the air side of the hydraulic end replenishment and the air-side pressure of the gas-liquid accumulator, as well as the increase or decrease of hydraulic pressure on the hydraulic side, are controlled by the intermediate-position adjustment logic through the passive compensation control cabinet installed in the VFD room. Start-stop control, system operating status, and emergency shutdown are all integrated into the integrated driller's seat. The electrical control system uses a Siemens PLC for system control. The control structure logic diagram of the compensation system is shown below. Figure 11 .

[0094] 1. The control system of the compensation system uses a PLC as the logic control core, with a separate controller for logic operations. The core controller is installed in the compensation control cabinet, which is located in the VFD room. Signals from the high-pressure air source, air valve control box, local compensation control box, and compensation hydraulic station are connected to the compensation control cabinet via multi-core cables. The compensation system control cabinet then communicates with the integrated driller's seat drilling system via an Ethernet module. To reduce clutter in the driller's cabin, the heave compensation control system does not have a separate operating box; instead, the operation and monitoring of heave compensation are integrated into the auxiliary driller's seat.

[0095] 2. The integrated drilling control system is configured with a Siemens PLC, identical to the drilling system, as the logic controller. The CPU is an S7-1200 series unit, known for its compact design, low cost, and powerful instruction set. The CPU itself integrates a PROFINET / Ethernet port, enabling easy network connectivity without requiring additional dedicated programming cables or Ethernet expansion modules. It offers strong expandability and can directly communicate with the drilling control system.

[0096] 3. The heave compensation HMI was developed using WinCC. Therefore, the logic programming and HMI design of the entire control system utilized Siemens' unified TIA Portal platform. TIA Portal employs a unified engineering configuration and software project environment, integrating logic control, process control, motion control, transmission debugging, visual configuration, and diagnostics functions. The HMI can directly call logic control data without needing to separately create data point tables and corresponding data addresses, facilitating system debugging.

[0097] 4. The control system program adopts a structured programming approach, dividing the control objective of heave compensation into four relatively independent tasks: control of the compensation hydraulic station, normal operation of drill string heave compensation, locking and unlocking control of the heave compensation frame, and base plate compensation control. Each independent control task corresponds to a program segment or subroutine in the structured program, and the main program calls these program blocks to complete the control task.

[0098] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can conceive of other specific embodiments of the invention without creative effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A heave compensation control system for marine engineering surveys, characterized in that, include: Integrated control seat mechanism, heave compensation control cabinet mechanism, passive compensation hydraulic station mechanism, passive compensation high-pressure air source room mechanism, drill string passive compensation control box mechanism and base plate constant tension compensation control box mechanism; The integrated control seat mechanism is located inside the driller's cabin; the integrated control seat mechanism includes a human-machine interface device; the human-machine interface device is a device that integrates start / stop control, system operating status, and emergency shutdown functions; The heave compensation control cabinet is located in the VFD room; the heave compensation control cabinet includes a controller and a communication component; the controller is connected to the integrated control seat, the passive compensation hydraulic station, the passive compensation high-pressure air source room, the drill string passive compensation control box, and the base plate constant tension compensation control box via the communication component. The controller is equipped with a PLC logic control module instruction set; the PLC logic control module instruction set includes: control instruction set for the compensation hydraulic station, normal operation instruction set for drill string heave compensation, locking and unlocking control instruction set for the heave compensation frame, and base plate compensation control instruction set. The passive compensation hydraulic station mechanism includes a hydraulic station; the passive compensation high-pressure air source room mechanism includes a high-pressure air tank. The drill string passive compensation control box mechanism includes: a passive compensation control box, a first passive compensation hydraulic control valve assembly, a first passive compensation hydraulic cylinder assembly, a first gas-liquid accumulator assembly, and a drill string compensation sensing feedback assembly; The passive compensation control box is connected to the first passive compensation hydraulic control valve assembly and the drill string compensation sensor feedback assembly respectively. The first passively compensated hydraulic control valve assembly is mounted on the first passively compensated hydraulic cylinder assembly to control the first passively compensated hydraulic cylinder assembly. The drill string compensation sensing feedback component is mounted on the first gas-liquid accumulator component. The first passively compensated hydraulic cylinder assembly is connected to the hydraulic station; The first gas-liquid accumulator assembly is connected to the hydraulic station and the high-pressure gas tank, respectively. The base plate constant tension compensation control box mechanism includes: a tension compensation control box, a second passive compensation hydraulic control valve assembly, a second passive compensation hydraulic cylinder assembly, a second gas-liquid accumulator assembly, and a base plate compensation sensing feedback assembly. The tension compensation control box is controlled to the second passive compensation hydraulic control valve assembly and the base plate compensation sensor feedback assembly, respectively. The second passively compensated hydraulic control valve assembly is mounted on the second passively compensated hydraulic cylinder assembly to control the second passively compensated hydraulic cylinder assembly; The base plate compensation sensing feedback component is mounted on the second gas-liquid accumulator component; The second passively compensated hydraulic cylinder assembly is connected to the hydraulic station; The second gas-liquid accumulator assembly is connected to the hydraulic station and the high-pressure gas tank, respectively.

2. The heave compensation control system according to claim 1, characterized in that, The heave compensation control cabinet also includes: a power supply and data storage components; The controller is connected to the power supply, the communication component, and the data storage component, respectively.

3. The heave compensation control system according to claim 1, characterized in that, The passive compensation hydraulic station mechanism also includes a hydraulic control valve assembly and a hydraulic station control box; The hydraulic control valve assembly is installed on the hydraulic station and is used to control the output of hydraulic pressure energy; The hydraulic station control box is connected to the hydraulic control valve assembly. The hydraulic station control box is connected to the heave compensation control cabinet via a cable.

4. The heave compensation control system according to claim 1, characterized in that, The passive compensation high-pressure gas source room mechanism also includes a high-pressure compressor and a compensation gas valve control box; The high-pressure compressor is connected to the high-pressure gas tank; The high-pressure gas tank is equipped with a compensating gas valve assembly; The compensating valve control box is controlled to be connected to the compensating valve assembly. The compensation valve control box is communicatively connected to the heave compensation control cabinet via a cable.

5. The heave compensation control system according to claim 1, characterized in that, The integrated control seat mechanism also includes a seat; The human-computer interaction device is mounted on the seat; The seat is located inside the driller's cabin; The human-computer interaction device is communicatively connected to the heave compensation control cabinet mechanism via a cable.

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