Bat-fin type intelligent motion control device for cylindrical FPSO

Abstract

The invention discloses a bat-fin type intelligent motion control device for a cylindrical FPSO, and belongs to the technical field of design and construction of ocean platforms. Comprising a cylindrical FPSO main body, and a plurality of fin bone connectors are arranged at the lower end of the cylindrical FPSO main body in a surrounding mode; the outer ends of the fin bone joints are connected with fin bones, the number of the fin bones is the same as that of the fin bone joints, and each fin bone comprises n fin bone joints which are sequentially connected end to end; the annular bat fin is arranged on the outer side of the cylindrical FPSO body and fixed to the upper portion of the fin bone. According to the invention, the vertical additional mass is increased through the annular bat fin so as to enhance heaving damping, six-degree-of-freedom anti-interference force is provided by means of the active control capability of the fin bone and the interaction of the bat fin and a water body, and the full-degree-of-freedom motion cooperative control of the FPSO is realized; a modular detachable design is adopted, rapid disassembly and assembly in a full-period operation scene are supported, and the device is suitable for cylindrical FPSO motion control of a small oil field and a marginal oil field.

Description

Technical Field

[0001] This invention relates to the field of marine platform design and construction technology, and in particular to a bat-fin type intelligent motion control device for cylindrical FPSOs. Background Technology

[0002] In the development of small or marginal oil fields, cylindrical floating production storage and offloading (FPSO) units have been widely used due to their advantages such as high deck area utilization, insensitivity to load direction, and short construction period. However, cylindrical FPSOs also suffer from inherent hydrodynamic characteristics, such as large heave amplitude, significant wave frequency response, and difficulty in motion control. These drawbacks pose a potential threat to the safety of drilling and oil production operations and may exacerbate structural fatigue damage, affecting their long-term service performance.

[0003] Current publicly available motion suppression solutions (such as extending the cylinder, adding heave plates, and changing the mooring mode) all have fundamental limitations. They all suppress motion from a passive control perspective and can only suppress motion in a single degree of freedom. Therefore, it is necessary to design a solution based on active motion suppression methods, while simultaneously using real-time response to wave field disturbances for intelligent control of all degrees of freedom motion, in order to overcome the shortcomings of existing technologies.

[0004] Therefore, this application provides a bat-fin type intelligent motion control device for a cylindrical FPSO. Summary of the Invention

[0005] The purpose of this invention is to provide a bat-fin type intelligent motion control device for cylindrical FPSOs, which solves the problem that existing passive control schemes can only suppress single-degree-of-freedom motion and cannot cope with multi-degree-of-freedom coupled disturbances, realizes active coordinated control of six-degree-of-freedom motion of cylindrical FPSOs, and meets the requirements of modular assembly and disassembly.

[0006] To achieve the above objectives, the present invention provides a bat-fin type intelligent motion control device for a cylindrical FPSO, comprising a cylindrical FPSO body, and a plurality of fin bone joints arranged around the lower end of the cylindrical FPSO body; the outer ends of the fin bone joints are connected to fin bones, the number of fin bones is the same as the number of fin bone joints, and each fin bone includes n fin bone joints connected end to end in sequence; an annular bat-fin is arranged on the outside of the cylindrical FPSO body and fixed above the fin bones.

[0007] Preferably, the end of the fin joint near the fin joint connector is the proximal end of the fin joint, and the other end is the caudal end of the fin joint; each fin joint is provided with a positioning hole, which is located on the upper surface of the fin joint; a connecting structure is provided on the outer surface of the caudal end of the fin joint; a joint positioning groove and a rotation-locking mechanism are provided on the two inner surfaces of the proximal end of the fin joint; the joint positioning grooves of two adjacent fin joints are connected to the connecting structure.

[0008] Preferably, the annular bat fin is made of a flexible material, and the surface of the annular bat fin is provided with bat fin connection holes. The annular bat fin is connected to the positioning holes on the fin bone joint through connecting pins.

[0009] Preferably, the connecting structure includes joint key one and joint key two. Joint key two is a long rectangular strip and is located at the center of the tail end of the fin joint. Joint key one is hemispherical and is located on the upper and lower sides of joint key two.

[0010] Preferably, the rotation-locking mechanism includes a guide rail seat, which is fixed inside the fin joint. The guide rail seat is provided with a locking wheel guide rail and a locking tongue guide rail. The locking wheel is located at the locking wheel guide rail of the guide rail seat. The wave-shaped locking tongue cooperates with the locking tongue guide rail to achieve assembly. The power gear is driven by a rotation control motor, and its axis is fixed inside the fin joint. The key is fixedly connected to the power gear. The joint connecting plate is fixedly connected to the power gear.

[0011] Preferably, the connection method transmits power and control signals to the next level fin joint through the connection of the information connector; each group of n fin joints connected end to end in a straight line forms a fin with n degrees of freedom. The linkage mechanism is centrally controlled by the FPSO body and drives the ring fin to achieve multiple motion modes.

[0012] Preferably, the motion modes include calm mode, sway mode, rise and fall mode, and translation mode: Calm Mode: The rotation control motors of all fin joints are locked, all fin joints are on the same horizontal plane, and the ring-shaped bat fins remain horizontal and stationary; Swinging mode: The motor drives the corresponding fin bone to bend downward in the target direction. The rotation angle of the fin bone joint decreases along the length of the fin bone. The rotation angle of the fin bone joint in other directions is set according to an exponential decay law. The ring-shaped bat fin bends in a gradient to generate a swaying torque. Heave-descent mode: The rotation control motors of all fin joints output the same drive signal, each fin bends downward, the joint connecting discs on the same fin rotate at the same angle, and the ring bat fin bends synchronously to generate vertical heave-descent force. Translational motion mode: The rotation control motor of the fin joint drives the fin to a sinusoidal curve in the outer edge of the annular bat fin within the semi-circular arc range, and the outer edge of the annular bat fin within the other semi-circular arc range is symmetrical to it, generating linear translational force; and in the complete arc range, the outer edge of the annular bat fin is made to a sinusoidal curve in the outer edge of the annular bat fin, generating rotational translational force.

[0013] Preferably, the real-time motion monitoring data of the FPSO body comes from the motion control device, and the process and principle of control are based on PID control as the core algorithm of motion control. Preferably, the equation for the PID control algorithm is: ; in, For the first The output of the time controller For the first The six-degree-of-freedom motion monitoring data of the cylindrical FPSO body at all times. The sampling period is The control parameters for the movement of the FPSO body by the bat fins are jointly determined by the swaying torque, heave force, translational force generated in the above-mentioned motion mode and the stability of the FPSO body in the corresponding degrees of freedom.

[0014] Therefore, the present invention employs the above-described bat-fin type intelligent motion control device for cylindrical FPSOs, which has the following advantages: (1) By designing the bat fin structure, the vertical added mass of the cylinder is significantly increased, thereby enhancing the heave damping performance of the FPSO main body; (2) Based on the active control capability of the fins, the bat fin-water interaction mechanism is used to provide six degrees of freedom anti-disturbance force for the FPSO body, and combined with the intelligent control system to realize the real-time response to the disturbance of marine environmental load, and realize the six degrees of freedom motion cooperative control and small-range dynamic positioning of the platform. (3) The bat fin and fin bone structure adopts a modular and detachable design with the FPSO body, which supports quick assembly and disassembly in the dock, wharf and work site, avoiding interference with the entire life cycle of FPSO construction, installation, towing and relocation and operation and maintenance.

[0015] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a bat-fin type intelligent motion control device for a cylindrical FPSO according to an embodiment of the present invention. Figure 2 This is a schematic diagram illustrating the structure and connection of the fin bone joint, fin bone joint, and annular bat fin according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the fin joint structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the rotation-locking mechanism according to an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the locking and unlocking process between the fin joints in an embodiment of the present invention; Figure 6 This is a schematic diagram of the locking and unlocking process of the rotation-locking mechanism according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the annular bat fin motion pattern in an embodiment of the present invention; Reference numerals in the attached drawings: 1. Cylindrical FPSO body; 2. Annular bat fin; 2-1. Bat fin connecting hole; 3. Fin bone connector; 3-1. Connector key 1; 3-2. Connector key 2; 4. Connecting pin; 5. Fin bone joint; 5-1. Positioning hole; 5-2. Joint key 1; 5-3. Joint key 2; 5-4. Joint positioning groove; 6. Locking wheel; 7. Guide rail seat; 7-1. Locking wheel guide rail; 7-2. Locking tongue guide rail; 8. Wave-shaped locking tongue; 8-1. Locking tongue slider; 9. Power gear; 9-1. Gear side hole; 9-2. Gear center hole; 10. Key; 10-1. Key positioning key; 11. Joint connecting plate; 11-1. Joint keyway 1; 11-2. Joint keyway 2; 11-3. Connecting plate positioning key. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but only to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0018] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0019] Example like Figure 1-7 As shown, the present invention provides a bat-fin type intelligent motion control device for a cylindrical FPSO, including a cylindrical FPSO body 1, a fin bone connector 3 surrounding the lower end of the cylindrical FPSO body 1, an annular bat fin 2 disposed on the outside of the cylindrical FPSO body 1, a fin bone disposed on the lower surface of the annular bat fin 2, and the other end of the fin bone connected to the fin bone connector 3.

[0020] The annular bat fin 2 is made of flexible material, which can extend and recover with the movement of the fin bones within the required range. The annular bat fin 2 has a bat fin connection hole 2-1, and a connecting pin 4 passes through the bat fin connection hole 2-1 to connect with the fin bone joint 5.

[0021] The fins are evenly arranged around the bottom of the platform body, and the number of fin joints 3 is the same as the number of fins. Each group of fins includes n fin joints 5, and each fin joint 5 is connected end to end in sequence. The first fin joint 5 is connected to the fin joint 3.

[0022] The fin joint 5 is provided with a positioning hole 5-1, a connecting structure, a joint positioning groove 5-4, and a rotation-locking mechanism. The positioning hole 5-1 is located on the upper surface of the fin joint 5 and is used to position the connecting pin 4 to connect the annular bat fin 2. The connecting structure includes a first joint protrusion 5-2 and a second joint protrusion 5-3. The first joint protrusion 5-2 is arranged symmetrically in a hemispherical shape on the upper and lower sides of the second joint protrusion 5-3. The second joint protrusion 5-3 is arranged horizontally in a long rectangular shape at the height of the horizontal axis of symmetry of the fin joint 5. The top of the first joint protrusion 5-2 is an information connector, which is internally connected to the control circuit. When the first joint protrusion 5-2 is squeezed by a horizontal external force, it will retract into the fin joint 5 and pop out to reset when the external force stops.

[0023] The rotation-locking mechanism includes a guide rail seat 7, a locking wheel 6, a wave-shaped locking tongue 8, a drive gear 9, a key 10, and a joint connecting plate 11. The guide rail seat 7 is fixed inside the fin joint 5. The guide rail seat 7 has a locking wheel guide rail 7-1 and a locking tongue guide rail 7-2. The locking wheel guide rail 7-1 is short and thick, bean-shaped, while the locking tongue guide rail 7-2 is long and thin, arc-shaped. The locking wheel 6 is elastically constrained and positioned at the locking wheel guide rail 7-1 on the guide rail seat 7. The locking wheel 6 can rotate freely around its geometric center axis. When pressed by the wave-shaped locking tongue 8, it can move along the locking wheel guide rail 7-1 to pass through the wave-shaped locking tongue 8. Simultaneously, the locking wheel 6 presses firmly against the surface of the wave-shaped locking tongue 8, maintaining constant rolling contact. The wave-shaped locking tongue 8 is assembled with the locking tongue guide rail 7-2 via two locking tongue sliders 8-1, and can slide freely along the locking tongue guide rail 7-2. During movement, the maximum movement position of the locking wheel 6 allows the central protrusion of the wave-shaped locking tongue to pass through, but does not allow the sides of the wave-shaped locking tongue to pass through. The drive gear... Driven by a rotary control motor, the axis of the gear 9 is fixed inside the fin joint 5. The key 10 is fixed by engaging with the gear side hole 9-1 on the power gear 9 through the key positioning key 10-1, keeping it relatively stationary. The joint connecting plate 11 is fixed by engaging with the gear center hole 9-2 on the power gear 9 through the connecting plate positioning key 11-3, keeping it relatively stationary. The joint connecting plate 11 is provided with a set of joint keyways 11-1 and 11-2. The arrangement of joint keyways 11-1 and 11-2 on the joint connecting plate 11 is consistent with the arrangement of joint convex keys 5-2 and 5-3. The bottom of joint keyway 11-1 is an information connector, which internally connects to the rotary control motor and control circuit of the rotation-locking mechanism. In the initial state, joint keyway 11-2 is on the same straight line as the joint positioning groove 5-4.

[0024] The fin joint 5 can be connected in pairs to the joint keyway 11-1 and joint keyway 11-2 on the connecting plate through joint key 1 5-2 and joint keyway 2 5-3; the fin connector 3 is provided with connector key 1 3-1 and connector keyway 2 3-2 similar to those on the fin joint 5, and the setting method and function are completely the same; the fin joint 5 can be connected to the fin connector 3 in the same way.

[0025] The connection can be locked and unlocked via a rotation-locking mechanism. In the initial state, the locking wheel 6 is in the first locking position of the wave-shaped locking tongue 8, and the joint positioning groove 5-4 and the joint keyway 11-2 are on the same straight line and unobstructed. When the fin joints 5 are connected in pairs, one fin joint 5 is used as a reference (taking horizontal placement as an example), called the reference fin joint, and its position is kept fixed. The other fin joint 5 is placed at the tail of the reference fin joint at a 90° counterclockwise angle to the reference fin joint, called the connecting fin joint. This ensures that the joint keyway 11-2 of the reference fin joint... 3. The joint keyway 11-2 connecting the fin joint is located on the same horizontal line as the joint keyway 11-2 of the reference fin joint. The connecting fin joint is then moved along this line, causing the joint protrusion 5-3 of the reference fin joint to enter the joint keyway 11-2 of the connecting fin joint. Simultaneously, the joint protrusion 5-2 of the reference fin joint is compressed and retracted until it reaches the position of the joint keyway 11-1 of the connecting fin joint, at which point it pops out and resets. The information connector at the top of the joint protrusion 5-2 connects with the information connector at the bottom of the joint keyway 11-1, completing the initial connection. For locking, the center of the joint connecting disc 11 of the connecting fin joint can be used as the axis for... Rotate clockwise to the maximum rotatable angle. At this time, the joint connecting plate 11 drives the power gear 9 and the key 10 to move together. The key 10 pushes the wave-shaped locking tongue 8, causing the locking wheel 6 to move in the guide rail and roll relative to the wave-shaped locking tongue 8. When the locking wheel 6 rolls to the second locking position of the wave-shaped locking tongue 8, the locking is completed. In the locked state, within the normal working rotation angle of the connecting fin joint, a part of the wave-shaped locking tongue 8 is always located in the joint positioning groove 5-4, so that the connecting fin joint cannot slide out through the joint keyway 11-2. When unlocking, the joint connecting plate 11 of the connecting fin joint can be rotated counterclockwise with the center of the circle as the axis. When the joint connecting plate 11 reaches its maximum rotatable angle, the joint connecting plate 11 drives the power gear 9 and the key 10 to move together. The key 10 pushes the wave-shaped locking tongue 8, causing the locking wheel 6 to move within the guide rail and roll relative to the wave-shaped locking tongue 8. When the locking wheel 6 rolls to the first locking position of the wave-shaped locking tongue, the unlocking is completed. At this time, the wave-shaped locking tongue 8 returns to its initial position. When the connecting fin joint is rotated to form a 90° counterclockwise angle with the reference fin joint, the joint positioning groove 5-4 and the joint keyway 11-2 are on the same straight line. The joint positioning groove 5-4 and the joint keyway 11-2 are then unblocked, and the connection can be released by the opposite action of the initial connection.

[0026] The connection method allows power and control signals to be transmitted to the next-level fin joint 5 via information connectors. Each group of n fin joints 5 connected end-to-end in a straight line forms a fin mechanism with n degrees of freedom. Each rotational joint of this mechanism can be centrally controlled by the FPSO body through the connection network of information connectors. During motion control, the fin joints 5 drive the annular bat fin 2 to move in the water, thereby obtaining the interaction force generated by the water. The interaction force can produce different effects depending on the bat fin's movement state, and can be decomposed and synthesized on the six degrees of freedom of the FPSO body to achieve attitude control and planar movement functions. In the working state, the real-time motion monitoring data of the FPSO body is connected to the intelligent control system, and the movement of the bat fin is calculated and controlled according to the dynamic compensation algorithm to complete the motion control of the FPSO body.

[0027] A specific implementation process is as follows: like Figure 1-7 As shown, this invention provides a bat-fin type intelligent motion control device for a cylindrical FPSO, including a cylindrical FPSO body 1, an annular bat-fin 2, a fin bone connector 3, and fin bones. The fin bone connector 3 is arranged around the lower end of the platform body 1, the annular bat-fin 2 is located on the outer side of the platform body 1, and the fin bones are located on the lower surface of the annular bat-fin 2, with one end of the fin bone connected to the fin bone connector 3. The number of fin bones is set to 12 groups, each group of fin bones is composed of 4 fin bone joints 5 connected together, and each fin bone joint 5 is connected end to end in sequence; the first fin bone joint 5 is connected to the fin bone connector; the annular bat-fin 2 is made of flexible material, which can extend and recover with the movement of the fin bones within the required range. The annular bat-fin 2 has bat-fin connection holes 2-1, and connecting pins 4 pass through the bat-fin connection holes 2-1 to connect with the fin bone joints 5.

[0028] The structure and connection of fin joint 3, fin joint 5 and annular bat fin 2 are as follows: Figure 2 As shown, the specific structure of the fin joint 5 is as follows: Figure 3 As shown. The fin joint 5 is provided with a positioning hole 5-1, a joint key 1 5-2, a joint key 2 5-3, a joint positioning groove 5-4, and a rotation-locking mechanism; the positioning hole 5-1 is set on the upper surface of the fin joint 5 and is used to position the connecting pin 4 to connect the annular bat fin 2. The joint key 1 5-2 is arranged symmetrically in a hemispherical shape on the upper and lower sides of the joint key 2 5-3, and the joint key 2 5-3 is arranged horizontally in a long rectangular shape at the height of the horizontal axis of symmetry of the fin joint 5; the top of the joint key 1 5-2 is an information connector, which is connected to the control circuit inside; the joint key 1 5-2 will retract into the fin joint 5 when it is squeezed by a horizontal external force, and will pop out to reset when the external force stops; the fin joint 3 is provided with a joint key 1 3-1 and a joint key 2 3-2 similar to those of the fin joint 5, and the setting method and function are completely the same; The structural layout diagram and exploded view of the rotation-locking mechanism are as follows: Figure 3and Figure 4 As shown. The rotation-locking mechanism includes a locking wheel 6, a guide rail seat 7, a wave-shaped locking tongue 8, a drive gear 9, a key 10, and a joint connecting plate 11. The guide rail seat 7 is fixed inside the fin joint 5. The guide rail seat 7 is provided with a locking wheel guide rail 7-1 and a locking tongue guide rail 7-2. The locking wheel guide rail 7-1 is short and thick, bean-shaped, and the locking tongue guide rail 7-2 is slender and arc-shaped. The locking wheel 6 is elastically constrained and set at the locking wheel guide rail 7-1 of the guide rail seat 7. The locking wheel 6 can rotate freely around the geometric center axis. When squeezed by the wave-shaped locking tongue 8, it can move along the locking wheel guide rail 7-1 to pass through the wave-shaped locking tongue 8. At the same time, the locking wheel 6 is pressed tightly against the surface of the wave-shaped locking tongue 8 to maintain rolling contact at all times. The wave-shaped locking tongue 8 is assembled with the locking tongue guide rail 7-2 through two locking tongue sliders 8-1 and can slide freely along the locking tongue guide rail 7-2. During the movement, the maximum movement position of the locking wheel 6 allows the central protrusion of the wave-shaped locking tongue 8 to pass through, but does not allow the sides of the wave-shaped locking tongue 8 to pass through. The drive gear 9... Wheel 9 is driven by a rotary control motor, and its axis is fixed inside the fin joint 5. Key 10 is fixed by engaging with the gear side hole 9-1 on the power gear 9 through key positioning key 10-1, keeping it relatively stationary. Joint connecting plate 11 is fixed by engaging with the gear center hole 9-2 on the power gear 9 through connecting plate positioning key 11-3, keeping it relatively stationary. Joint connecting plate 11 is provided with a set of joint keyway 11-1 and joint keyway 21-2. The arrangement of joint keyway 11-1 and joint keyway 21-2 on joint connecting plate 11 is consistent with the arrangement of joint convex key 15-2 and joint convex key 25-3. The bottom end of joint keyway 11-1 is an information connector, which internally connects to the rotary control motor and control circuit of the rotation-locking mechanism. In the initial state, joint keyway 21-2 is on the same straight line as joint positioning slot 5-1.

[0029] The fin joint 5 can be connected to the joint keyway 11-1 and joint keyway 21-2 on the joint connecting plate 11 via joint keyway 11-2 and joint keyway 25-3; the fin joint 5 can be connected to the fin connector 3 in the same way.

[0030] The locking and unlocking process between the five fin joints is as follows: Figure 5 As shown, the rotation-locking mechanism's motion process in the corresponding state is as follows: Figure 6As shown. The connection method can achieve locking and unlocking through a rotation-locking mechanism; when the rotation-locking mechanism is in the initial state (a), the locking wheel 6 is located in the first locking position (end A) of the wave-shaped locking tongue 8, the joint positioning groove 5-1 and the joint keyway 11-2 are on the same straight line and the groove is unobstructed; when the fin joints 5 are connected in pairs, one of the fin joints is used as a reference (taking horizontal placement as an example), which is called the reference fin joint, and its position is kept fixed; the other fin joint is placed at the tail of the reference fin joint at a counterclockwise angle of 90° with the reference fin joint, which is called the connecting fin joint; so that the joint protrusion 5-3 of the reference fin joint and the connecting fin joint The joint keyway 11-2 of the joint is located on the same horizontal straight line, and then moves along this straight line to connect the fin joint, so that the joint protrusion 5-3 of the reference fin joint enters the joint keyway 11-2 of the connecting fin joint. At the same time, the joint protrusion 5-2 of the reference fin joint is compressed and retracted until it reaches the position of the joint keyway 11-1 of the connecting fin joint and pops out to reset. The information connector at the top of the joint protrusion 5-2 communicates with the information connector at the bottom of the joint keyway 11-1, completing the initial connection. When locking, the joint connecting plate 11 of the connecting fin joint can be rotated clockwise to the maximum rotatable angle with the center of the circle as the axis. At this time, the joint connecting plate 11 of the connecting fin joint is locked. The connecting plate 11 drives the power gear 9 and the key 10 to move together. The key 10 pushes the wave-shaped locking tongue 8, causing the locking wheel 6 to move within the locking wheel guide rail 7-1 and roll relative to the wave-shaped locking tongue 8. When the locking wheel 6 rolls to the second locking position (end B) of the wave-shaped locking tongue 8, it enters the locked state (b). In the locked state (b), within the normal working rotation angle of the connecting fin joint, a part of the wave-shaped locking tongue 8 is always located within the joint positioning groove 5-1, preventing the connecting fin joint from sliding out through the joint keyway 11-2. When unlocking, the connecting plate 11 of the connecting fin joint can be rotated counterclockwise to the maximum rotatable angle with the center of the joint connecting plate 11 as the axis. At this time, the locking plate 11 is locked. The connecting disc 11 drives the power gear 9 and the key 10 to move together. The key 10 pushes the wave-shaped locking tongue 8, causing the locking wheel 6 to move within the locking wheel guide rail 7-1 and roll relative to the wave-shaped locking tongue 8. When the locking wheel 6 rolls to the first locking position (end A) of the wave-shaped locking tongue 8, it reaches the unlocked state (c). At this time, the wave-shaped locking tongue returns to the same position as the initial state (a). When the connecting fin joint is rotated to form a counterclockwise 90° angle with the reference fin joint, the joint positioning groove 5-1 and the joint key groove 11-2 are on the same straight line. The grooves of the joint positioning groove 5-1 and the joint key groove 11-2 are restored to unobstructed. The connection can be released by the opposite action of the initial connection.

[0031] The connection method can transmit power and control signals to the next level fin joint through the connection of the information connector; each group of 4 fin joints connected end to end in a straight line forms a 4-degree-of-freedom linkage mechanism, in which each rotating joint of the mechanism can be centrally controlled by the FPSO body through the connection network of the information connector.

[0032] Intelligent motion control principle: The movement patterns of the ring-shaped bat fins are broken down as follows: Figure 7 As shown. The movement patterns of the ring-shaped bat fin can be divided into calm mode I, swaying mode II, rising and falling mode III, and translational mode IV; in calm mode I, the joints 5 of each fin bone are located in the same horizontal plane (XOY plane) and remain relatively still.

[0033] With the goal of obtaining a rocking torque in the 0° direction, in rocking mode II, the fin bones at 0° to the X-axis bend downwards, and the rotation angles of the articular discs of each fin bone on the same fin bone are respectively... , , and The rest are perpendicular to the X-axis The rotation angle of the joint connecting discs 11 on the fin bones of the angled fins follows an exponential decay law. Settings, respectively , , and By controlling the annular bat fin to move from calm mode I to swaying mode II through the electromechanical system, the interaction torque of the water body on the FPSO body in the XOZ plane can be obtained, which is called the swaying torque. Under the linear assumption, the magnitude of the swaying torque is proportional to the square of the movement speed, and the movement amplitude and movement speed are adjustable through electromechanical control. When it is necessary to obtain the swaying torque in other directions, the swaying mode II in the 0° direction and the swaying mode II in the 90° direction can be vector-summed at the same time, and the control signal is linearly superimposed and output.

[0034] In heave mode III, each fin bone bends downwards, and the joint connecting discs on the same fin bone rotate at the same angle. By controlling the annular bat fin to move from calm mode I to heave mode III through the electromechanical system, the interaction force of the water body on the FPSO body in the Z direction can be obtained, which is called heave force. Under the linear assumption, the magnitude of the heave force is proportional to the square of the movement speed, and the movement amplitude and movement speed can be adjusted through electromechanical control. Translational motion mode IV includes linear and rotational translational forces. Aiming to achieve translational force in the 0° direction, in translational motion mode IV, the outermost edge of the annular bat fin 2 within the range of 0° to 180° exhibits a sinusoidal curve. The peak of this sinusoidal curve travels in the opposite direction to the FPSO main target. On the same fin bone, the joint connecting disc connected to the fin bone joint 3 rotates at an angle of [missing information]. The remaining joint connecting discs 11 rotate at 0°, and the fin bones symmetrical about the XOZ plane move in the same way. When the annular bat fin is controlled by the electromechanical system to maintain the above-mentioned motion state, the interaction force of the water on the FPSO body in the X direction can be obtained, which is called the linear translational force. Under the linear assumption, the magnitude of the linear translational force is proportional to the square of the forward speed of the sine wave crest. The motion amplitude and motion rate are adjustable through electromechanical control. When it is necessary to obtain the swaying torque in other directions, the translational mode IV in the 0° direction and the translational mode IV in the 90° direction can be vector-summed at the same time, and the control signal is linearly superimposed and output.

[0035] With the goal of obtaining counterclockwise rotational translational force, in translational mode IV, the outermost edge of the annular bat fin 2 within the range of 0° to 360° unfolds as a sine curve. The direction of the sine curve's peak is opposite to the direction of the FPSO main target's movement. On the same fin bone, the joint connecting plate 11 connected to the fin bone joint 3 rotates at an angle of... The remaining joint connecting discs rotate at 0°, and the horizontal included angle is... Phase difference of fin bone movement state When the ring-shaped bat fin is controlled by the electromechanical system to maintain the above-mentioned motion state, the interaction force of the water body on the FPSO body in the counterclockwise direction in the horizontal plane can be obtained, which is called the rotational translational force. Under the linear assumption, the magnitude of the rotational translational force is proportional to the square of the forward speed of the sine curve peak, and the motion amplitude and motion speed can be adjusted by electromechanical control.

[0036] This section demonstrates the process and principles of intelligent motion control using PID control as the core algorithm. During operation, real-time motion monitoring data from the FPSO is integrated into the intelligent control system as a process variable. The process variable is a vector recording the six degrees of freedom motion of the FPSO body, and its discrete time form is expressed as follows: , meaning the The process variable vector at time step, Given the sampling period, the PID equation is established as follows: ; For the first The output of the time controller The control parameters for the FPSO body's motion via the bat fin are jointly determined by the swaying torque, heave force, translational force generated in the aforementioned motion modes, and the stability of the FPSO body in the corresponding degrees of freedom. By calculating and solving the PID equations in real time, the motion control signal for the annular bat fin can be output, realizing automatic control of the platform's six degrees of freedom motion and small-range dynamic positioning functions.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A bat-fin type intelligent motion control device for a cylindrical FPSO, characterized in that: The system includes a cylindrical FPSO body, with several fin joints arranged around the lower end of the cylindrical FPSO body; the outer ends of the fin joints are connected to fins, the number of fins is the same as the number of fin joints, and each fin includes n fin joints connected end to end in sequence; an annular bat fin is arranged on the outside of the cylindrical FPSO body and fixed above the fins.

2. The bat-fin type intelligent motion control device for a cylindrical FPSO according to claim 1, characterized in that: The end of the fin joint closest to the fin joint connector is the proximal end of the fin joint, and the other end is the caudal end of the fin joint; each fin joint is provided with a positioning hole, which is located on the upper surface of the fin joint. A connecting structure is provided on the outer surface of the tail end of the flipper joint; a joint positioning groove and a rotation-locking mechanism are provided on the two inner surfaces of the head end of the flipper joint; the joint positioning grooves of two adjacent flipper joints are connected to the connecting structure.

3. The bat-fin type intelligent motion control device for a cylindrical FPSO according to claim 2, characterized in that: The ring-shaped bat fin is made of flexible material and has connecting holes on its surface. The ring-shaped bat fin is connected to the positioning holes on the fin bone joint by connecting pins.

4. A bat-fin type intelligent motion control device for a cylindrical FPSO according to claim 2, characterized in that: The connecting structure includes joint key one and joint key two. Joint key two is a long rectangular strip and is located at the center of the tail end of the fin joint. Joint key one is hemispherical and is located on the upper and lower sides of joint key two.

5. A bat-fin type intelligent motion control device for a cylindrical FPSO according to claim 2, characterized in that: The rotation-locking mechanism includes a guide rail seat, which is fixed inside the fin joint. The guide rail seat is equipped with a locking wheel guide rail and a locking tongue guide rail. The locking wheel is located at the locking wheel guide rail of the guide rail seat. The wave-shaped locking tongue cooperates with the locking tongue guide rail to achieve assembly. The power gear is driven by a rotation control motor, and its axis is fixed inside the fin joint. The key is fixedly connected to the power gear. The joint connecting plate is fixedly connected to the power gear.

6. A bat-fin type intelligent motion control device for a cylindrical FPSO according to claim 5, characterized in that: The connection method transmits power and control signals to the next level fin joint through the connection of the information connector; each group of n fin joints connected end to end in a straight line forms a fin with n degrees of freedom. The linkage mechanism is centrally controlled by the FPSO body and drives the ring fin to achieve multiple motion modes.

7. A bat-fin type intelligent motion control device for a cylindrical FPSO according to claim 6, characterized in that: The motion modes include Calm Mode, Swing Mode, Rise and Fall Mode, and Translation Mode. Calm Mode: The rotation control motors of all fin joints are locked, all fin joints are on the same horizontal plane, and the ring-shaped bat fins remain horizontal and stationary; Swinging mode: The motor drives the corresponding fin bone to bend downward in the target direction. The rotation angle of the fin bone joint decreases along the length of the fin bone. The rotation angle of the fin bone joint in other directions is set according to an exponential decay law. The ring-shaped bat fin bends in a gradient to generate a swaying torque. Heave-descent mode: The rotation control motors of all fin joints output the same drive signal, each fin bends downward, the joint connecting discs on the same fin rotate at the same angle, and the ring bat fin bends synchronously to generate vertical heave-descent force. Translational motion mode: The rotation control motor of the fin joint drives the fin to a sinusoidal curve in the outer edge of the annular bat fin within the semi-circular arc range, and the outer edge of the annular bat fin within the other semi-circular arc range is symmetrical to it, generating linear translational force; and in the complete arc range, the outer edge of the annular bat fin is made to a sinusoidal curve in the outer edge of the annular bat fin, generating rotational translational force.

8. A bat-fin type intelligent motion control device for a cylindrical FPSO according to claim 1, characterized in that: The real-time motion monitoring data of the FPSO body comes from the motion control device, and the process and principle of using PID control as the core algorithm for motion control are as follows; The equation for the PID control algorithm is: ； in, For the first Output of the timing control device For the first The six-degree-of-freedom motion monitoring data of the cylindrical FPSO body at all times. The sampling period is The control parameters for the movement of the FPSO body by the bat fins are jointly determined by the swaying torque, heave force, translational force generated in the above-mentioned motion mode and the stability of the FPSO body in the corresponding degrees of freedom.

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