System and method for hooking and tensioning floating wind turbine to seabed

Abstract

A system (1) and method for hooking and tensioning a floating wind turbine to the seabed is disclosed. The floating wind turbine comprises at least one mooring line (3) adapted to mooring the floating wind turbine to the seabed. The installation vessel is provided with a dynamic positioning (DP) system and a winch (6), where the winch (6) is adapted to control the mooring cable (3) / installation cable (18). The tensioner is suitable for mooring / installing a cable. At least one of a winch and a dynamic positioning system located on the installation vessel is controlled based on the at least one input parameter to hook and tension at least one mooring line of the floating wind turbine to the seabed.

Description

Technical Field

[0001] This invention relates to the operation of hooking up and tensioning floating equipment using an installation vessel. The floating equipment may be a floating wind turbine (FWT). Background Technology

[0002] Floating wind turbines (FWTs) are moored to the seabed by at least one mooring line. One or more mooring lines are moored to the seabed during hooking and tensioning. In the oil and gas industry, the standard method for hooking and tensioning mooring lines for floating equipment via an installation vessel is to use a winch on the floating equipment and pull the chain / wire to a predetermined length and pretension. Some hookings for recent floating offshore wind turbines (FWTs) have been achieved by using a tensioner on the last hooked mooring line. The tensioning method involves pulling in additional mooring sections using the tensioner to ensure the tension level of the entire mooring system is within the required tolerances. For parts of the installation process, this method of hooking and tensioning may require personnel to board the floating equipment. This method of tensioning for the installation of floating offshore wind turbines (FWTs) using a winch located on the vessel has limited functionality. Typically, the winch systems on anchored maneuvering vessels are insufficient to compensate for motion and high tension in mooring lines at higher sea states. For floating wind turbines transitioning from demonstration and pilot projects to large-scale development, the industry needs to develop new and improved methods for hooking and tensioning mooring lines. Cost-effective methods are required that can operate under higher weather conditions (higher waves, stronger winds, etc.), thereby increasing uptime and reducing weather-related downtime, while improving safety during the hooking and tensioning process for attaching mooring lines to the seabed for floating equipment (e.g., FWTs). Summary of the Invention

[0003] This invention provides a system for hooking and tensioning a floating wind turbine to the seabed, the system comprising: A floating wind turbine, the floating wind turbine including at least one mooring cable suitable for mooring the floating wind turbine to the seabed; The installation vessel includes a dynamic positioning (DP) system and a winch adapted for controlling mooring / installation cables; and Tensioner, suitable for mooring / installation cables; The system is adapted to control at least one of a winch and a dynamic positioning system located on the installation vessel based on at least one input parameter, so as to hook and tension at least one mooring cable of the floating wind turbine to the seabed.

[0004] The system is adapted to control at least one of a winch and a dynamic positioning system located on the installation vessel, based on the position of at least the floating wind turbine and the vessel. The system is also adapted to control at least one of the winch and the dynamic positioning system located on the installation vessel, based on the motion of at least the floating wind turbine and the vessel.

[0005] This system can be adapted to compensate for relative motion between the floating wind turbine and the installation vessel during hooking and tensioning operations via at least one of a winch or a dynamic positioning system located on the installation vessel. At least one of the winch and dynamic positioning system located on the installation vessel can be adapted to compensate for relative motion between the floating wind turbine and the installation vessel. The system can be configured to compensate for at least one of lateral, vertical, and rotational motions between the floating wind turbine and the installation vessel during hooking and mooring operations by controlling the winch or dynamic positioning system of the installation vessel. The system can compensate for relative motion in the form of 6 DOF.

[0006] This system can be adapted to control at least one of a winch and a dynamic positioning system located on the installation vessel to control at least one of the length, tension, or winch speed of the installation cable / mooring cable during hooking and mooring operations. The system can be configured to control the winch and dynamic positioning system based on tension sensor feedback during hooking and mooring operations and a specified length parameter for the installation cable / mooring cable.

[0007] The floating wind turbine may include at least one position sensor for measuring the position of the floating wind turbine. The floating wind turbine may include at least one motion sensor for measuring the motion of the floating wind turbine. The floating wind turbine may include a wireless communication system adapted to transmit sensor information to the installation vessel. The installation vessel may include at least one position sensor for measuring the position of the installation vessel. The installation vessel may include at least one motion sensor for measuring the motion of the installation vessel. The installation vessel may include a wireless communication system adapted to receive sensor information from the floating wind turbine. The floating wind turbine may also include at least one inertial navigation system (INS). The inertial navigation system (INS) can provide data for determining the heading, speed, and rotation of the floating wind turbine. The floating wind turbine may also include at least one of a satellite navigation system or an inertial measurement unit (IMU). The satellite navigation system can provide geolocation data of the floating wind turbine. The inertial measurement unit may be at least one of a motion reference unit (MRU) and / or a motion gyrocompass (MGC). The wireless communication system may be a marine broadband radio (MBR).

[0008] In another aspect, the invention provides an installation vessel for performing hooking and tensioning operations using a mooring cable / installation cable tensioner to moor at least one mooring cable of a floating wind turbine to the seabed. The vessel includes a dynamic positioning (DP) system and a winch, wherein at least one of the winch and the dynamic positioning system is adapted to control the installation cable / mooring cable of the floating wind turbine based on at least one input parameter to hook and tension at least one mooring cable of the floating wind turbine to the seabed.

[0009] The installation vessel may be adapted to compensate for relative motion between the floating wind turbine and the installation vessel during hooking and mooring operations. The installation vessel may be adapted to control at least one of a winch and a dynamic positioning system located on the installation vessel based on at least the position of the floating wind turbine and the position of the vessel. The installation vessel may be adapted to control at least one of a winch and a dynamic positioning system located on the installation vessel based on at least the motion of the floating wind turbine and the motion of the installation vessel. The installation vessel may be adapted to compensate for relative motion between the floating wind turbine and the installation vessel during hooking and tensioning operations via at least one of the winch or dynamic positioning system located on the installation vessel. The installation vessel may be adapted to control at least one of the winch and dynamic positioning system located on the installation vessel to control at least one of the length, tension, or winch speed of the installation cable / mooring cable during hooking and mooring operations. The installation vessel may include at least one position sensor for measuring the position of the installation vessel. The installation vessel may include at least one motion sensor for measuring the motion of the installation vessel. The installation vessel may include a wireless communication system adapted to receive sensor information from the floating wind turbine. The sensor information may include at least one of the floating wind turbine's position and motion. The wireless communication system may be a marine broadband radio (MBR).

[0010] In another aspect, the present invention provides a floating wind turbine comprising: at least one mooring cable adapted to moor the floating wind turbine to the seabed; at least one sensor; and a wireless communication system adapted to transmit sensor information to an installation vessel adapted to hook and tension the at least one mooring cable of the floating wind turbine to the seabed. The floating wind turbine may include at least one position sensor for measuring the position of the floating wind turbine. The floating wind turbine may include at least one motion sensor for measuring the motion of the floating wind turbine. The floating wind turbine may include a wireless communication system adapted to transmit sensor information to the installation vessel. The floating wind turbine may also include at least one inertial navigation system (INS). The floating wind turbine may also include at least one of a satellite navigation system or an inertial measurement unit (IMU). The inertial measurement unit may be at least one of a motion reference unit (MRU) and / or a motion gyrocompass (MGC). The wireless communication system can be a maritime broadband radio (MBR).

[0011] In another aspect, the invention provides a hooking and tensioning module for controlling hooking and tensioning operations via an installation vessel using a ship tensioner to moor a floating wind turbine having at least one mooring cable to be moored to the seabed. The module includes: an interface configured to receive data from a dynamic positioning system and a winch located on the installation vessel; and a control system configured to adjust the operation of the winch and the dynamic positioning system based on the received data. The data may include at least one input parameter from the floating wind turbine. The at least one input parameter from the floating wind turbine may include the position of the floating wind turbine. The data may include winch operation information from the ship winch. The data may include information from the dynamic positioning system of the installation vessel. The control system can be adapted to control at least one of the winch and dynamic positioning system located on the installation vessel, based on the position of at least the floating wind turbine and the vessel, to control at least one of the length, tension, or winch speed of the installation / mooring cable during hooking and tensioning operations. The data can be real-time or near real-time.

[0012] In one aspect, the present invention provides a method for hooking and tensioning at least one mooring cable of a floating wind turbine to the seabed via an installation vessel. The method includes using a tensioner and further includes controlling at least one of a winch and a dynamic positioning system located on the installation vessel based on at least one input parameter. The method may further include controlling the winch and dynamic positioning system located on the installation vessel based on the position of at least the floating wind turbine and the position of the vessel. The method may also include controlling the winch and dynamic positioning system located on the installation vessel based on the movement of at least the floating wind turbine and the movement of the vessel. The method may further include compensating for relative motion between the floating wind turbine and the installation vessel during the hooking and tensioning operation via at least one of the winch or dynamic positioning system of the installation vessel. The winch and dynamic positioning system located on the installation vessel may be adapted to compensate for relative motion between the floating wind turbine and the installation vessel during the hooking and tensioning operation. The method may further include controlling at least one of a winch and a dynamic positioning system located on the installation vessel based on the position of at least the floating wind turbine and the position of the vessel, in order to control at least one of the length, or tension, or winch speed of the installation cable / mooring cable during hooking and tensioning operations.

[0013] This invention provides a tensioner for use with a winch having an integrated control system mounted on a vessel operated according to a DP (Device Controller) for hooking and tensioning mooring lines on a floating wind turbine (FWT). The instrument mounted on the FWT for hooking and tensioning mooring lines via a DP-operated vessel provides a solution that eliminates the need for personnel to be transferred to the FWT and eliminates the need for a winch on the FWT.

[0014] The scope of integrated functions in this invention ranges from optimized tensioner design to winch design, as well as controllers integrated with the ship's dynamic positioning system and sensors involved in hooking and tensioning operations.

[0015] This feature provides an efficient installation solution, thereby reducing the Level of Cost of Energy (LCOE) for large-scale floating wind power development. The concept reduces / eliminates the need for winches on floating structures. This invention also enables increased hooking weather windows and optimized operational efficiency. This integrated functionality allows the hooking and tensioning module to provide recommendations to the operator based on predetermined parameter levels and to provide control inputs to the vessel's DP system and winch control system.

[0016] The built-in functionality provided by the pull-in and hook-out function of this invention can be customized for different operations, including not only the installation of FWTs, but also the installation of mooring cables and anchors for other floating equipment. Attached Figure Description

[0017] Exemplary embodiments are described with reference to the following figures, in which: Figure 1 An exemplary floating wind turbine and installation vessel are shown, along with the use of a tensioner combined in the form of a vessel tensioner, to hook and tension at least one cable to a target tension, thereby mooring the floating wind turbine.

[0018] Figure 2 An exemplary floating wind turbine and an anchored installation vessel are shown, along with the use of a tensioner in the form of a ship tensioner, to hook and tension at least one cable to a target tension, thereby mooring the floating wind turbine.

[0019] Figure 3 An exemplary floating wind turbine and installation vessel are shown, along with the use of a tensioner in the form of an inline tensioner to hook and tension at least one cable to a target tension, thereby mooring the floating wind turbine.

[0020] Figure 4An exemplary floating wind turbine and installation vessel are shown, along with the use of a tensioner in the form of a seabed tensioner, to hook and tension at least one cable to a target tension, thereby mooring the floating wind turbine.

[0021] Figure 5 The floating section (pontoon) of a floating wind turbine is shown, which is equipped with devices for performing hooking and tensioning processes via an installation vessel.

[0022] Figure 6 Exemplary steps are shown in the process of hooking and tensioning via a ship tensioner.

[0023] Figure 7 Exemplary steps are shown in the process of hooking and tensioning using an inline tensioner.

[0024] Figure 8 Exemplary steps are shown in the process of hooking and tensioning using a seabed tensioner.

[0025] Figure 9 Exemplary steps are shown in the process of hooking and tensioning the installation vessel via a ship tensioner and anchor.

[0026] Figure 10 Exemplary steps are shown, particularly for the process of hooking and relieving structural tension of fiber optic cables via ship tensioners and anchors.

[0027] Figure 11 An exemplary conceptual integration is shown between ship instrumentation, ship winches, floating component instrumentation, the ship's integrated tensioner main system, and the ship's DP system.

[0028] Figure 12 An exemplary enhanced DP function provided by the ship's integrated tensioner master system is shown. The ship's integrated tensioner master system calculates operational constraints for the installation of the ship in the form of permitted sectors (as shown), and these operational constraints are provided to the DP system of the ship's installation.

[0029] Figure 13 An exemplary ship winch system is shown, comprising a winch HMI (human-machine interface) mounted on the bridge of the installation vessel, a DP HMI (human-machine interface), and an integrated tensioner main system HMI (human-machine interface) for the vessel.

[0030] Figure 14 An exemplary vessel is shown, comprising an integrated tensioner master system, a DP (Device Controller), a winch controller with a human-machine interface (HMI), and at least one human operator for these systems.

[0031] Figure 15An exemplary boat tensioner is shown, which is attached to a floating wind turbine. Detailed Implementation

[0032] Exemplary embodiments are disclosed with reference to the accompanying drawings. Throughout the drawings and the entire specification, the same reference numerals are used for the same or similar features. These exemplary embodiments are merely examples and do not limit the scope of the invention.

[0033] The following disclosure provides information for the installation of floating wind turbines (FWTs), particularly offshore floating wind turbines. However, this disclosure is also applicable to the installation of other floating structures by using an installation vessel for hooking and tensioning.

[0034] Figure 1 A floating wind turbine 2 and an installation vessel 4 are shown. The installation vessel may be, for example, an anchor-operated vessel. A floating instrumentation kit 7 may be mounted on the floating wind turbine to wirelessly transmit the required status data to the installation vessel.

[0035] The instrument kit can be housed in a compact unit located on the FWT. The instrument kit can be removed from the FWT. The floating instrument kit may include at least one sensor. The floating instrument kit has a wireless transmitter for transmitting sensor information to the installation vessel. The floating wind turbine (FWT) is provided with at least one mooring cable, preferably at least three, which are hooked and tensioned to securely anchor the FWT to the seabed. Installation cables are attached between the mooring cables and winch cables on the installation vessel. Tensioning is achieved by pulling in additional mooring cable sections using a tensioner to ensure that the mooring cable tension of the entire FWT mooring system is within the required tolerances.

[0036] Tensioner The tensioner in this disclosure is a device that has many functions similar to those of a guide on an offshore drilling platform; the tensioner guides the cable around an object for tensioning (e.g., in this case, a chain reel / cable reel) and prevents the cable from moving laterally. However, the tensioner uses a ship winch during hooking and tensioning, and there is no need to use a mooring winch mounted on the FWT.

[0037] When the target tension of the mooring system is reached, the mooring cable is secured in the tensioner. The mooring cable can be secured by a pawl acting as a chain stop, see reference. Figure 15 In addition to open and closed modes, the pawl can also be designed as a ratchet. The pawl thus functions as a ratchet, and each link is secured in a click-clack manner.

[0038] A ship tensioner is a combination of a guide wire, a chain stop, and a tensioning device, see reference. Figure 1 The ship tensioner is installed on the FWT's hull. During tensioning operations, the ship's winch cable passes through the tensioner and connects to the FWT's mooring lines.

[0039] Inline tensioners and seabed tensioners combine the fixing and tensioning of chain members, as shown in the reference. Figure 3 and Figure 4 The inline tensioner and seabed tensioner are connected to one end of the FWT mooring cable. The other end of the FWT mooring cable is connected to the ship winch cable and is pulled through the tensioner using the ship winch to adjust the tension.

[0040] The tensioner used depends on the operational requirements. The ship tensioner is installed to the floating structure. An inline tensioner is installed on mooring line 3. A seabed tensioner is installed on mooring line 3 in the position facing the anchor. Using at least one tensioner eliminates the need for a winch on the floating structure, as hooking and tensioning can be performed by an external vessel (i.e., the installation vessel). The installation / mooring line is pulled through the tensioner to ensure the tension level of the entire mooring system of the floating structure is within the required tolerances. The tensioner's pawl should be able to be opened and closed during operation. When the tensioner is closed, the length of the installation line and / or mooring line is fixed. When the tensioner is open, the tension / length of the installation line and / or mooring line can be controlled. The tensioner can be operated remotely (e.g., wirelessly) to open and close. The tensioner can also be operated manually to open and close / lock.

[0041] The optimal tensioner can depend on a number of factors, such as the available boat spread, water depth, anchor radius, and, if necessary, creep elimination of the fiber rope.

[0042] All tensioners can be set remotely (e.g., via acoustic signals). This remote control allows the pawls to open and close by activating the hydraulic backpack. Engagement of the hydraulic backpack is achieved by transmitting acoustic signals.

[0043] Installation boat The vessel is equipped with a dynamic positioning system. Dynamic positioning (DP) involves controlling the vessel's position and heading relative to one or more positional reference points, automatically or semi-automatically, using the vessel's own propellers and thrusters. A dynamic positioning (DP) system can maintain the vessel's position within given parameters or maneuver the vessel in ways that would be impossible without it. A dynamic positioning (DP) system can maneuver the vessel based on multiple input parameters. These input parameters can, for example, come from: Sensors located on the ship for positioning, heading, and speed; Sensors for external factors such as wind, waves, and ocean currents; and Input from the user is used to perform tasks such as maintaining a position or moving in a specific pattern.

[0044] User input can be provided through, for example, an external control center, another vessel, the captain on board, or an interface to another system. The captain can input mission data in various ways, including manually using a mouse, inputting mission data on a screen, or inputting mission data by voice.

[0045] The control algorithm of a dynamic positioning (DP) system receives sensor and user input parameters, and even performs ship maneuvers by controlling the ship's propellers and thrusters in response to changes in external forces.

[0046] The DP system can be adapted to control the ship based on at least one first input parameter, which may include at least one of the following: Location of the floating wind turbine; The ship's position; The ship's course; The ship's propulsion; The motion of a floating wind turbine includes at least one of heave, sway, surge, roll, pitch, and yaw; The motion of a ship, including at least one of heeling, swaying, pitching, rolling, tumbling and bowing; Tension in installation / mooring cables; Length of installation cable / mooring cable; Cable tension; Output from the ship's winch control system; Operational restrictions for the installation vessel; Recommended location for installing the vessel.

[0047] The winch control system can be adapted to control a winch located on board the ship based on at least one second input parameter, which may include at least one of the following: Location of the floating wind turbine; Location of the installation vessel; The motion of a floating wind turbine includes at least one of heave, sway, pitch, roll, pitch and yaw; The motion of the vessel includes at least one of heave, sway, pitching, rolling, pitching and bowing; Location of installation cables / mooring cables; and Tension in installation / mooring cables; Catenary cable installation; Output from the DP system of the installation vessel; The relative distance between the floating wind turbine and the installation vessel.

[0048] Depending on the situation and mission function, the winch's enhanced mission execution capabilities can compensate for movement between the installation vessel and the FWT by paying out or retrieving the installation / mooring cables.

[0049] The winch control system located on the installation vessel is equipped with enhanced task execution capabilities, providing setpoints for speed, length, and tension. These enhanced task execution capabilities can be dependent on the selected controller mode. The winch can compensate for the motion of the floating components and the vessel to optimize tension operation and maintain controller parameters such as pull-in speed, cable length, and winch tension within target values.

[0050] Sensor kit on a floating wind turbine (FWT) As described above, the smallest standalone sensor kit can be deployed on the floating wind turbine (FWT), and the required status data is transmitted wirelessly to the installation vessel.

[0051] The floating component instrument kit 7 is described in detail below. The instrument kit can be housed in a compact unit located on the FWT. The instrument kit can be removed from the FWT. The instrument kit may include at least one sensor for measuring the position of the floating component. The instrument kit may include at least one sensor for measuring the velocity, motion, acceleration, and position of the floating component. The instrument kit may include, for example,: a differential GPS for measuring the position of the floating component; a motion sensor and gyrocompass for measuring roll, pitch, heave, heading, 6-DOF velocity, and acceleration; a marine broadband radio for wireless transmission with the installation vessel; and a battery or conventional power supply for supplying power to the instrument kit components.

[0052] The following section provides a detailed description of an example of an instrumentation kit installed on a floating wind turbine.

[0053] The floating wind turbine may be equipped with an inertial navigation system (INS) 12. This INS 12 may include at least one of a satellite navigation system (e.g., Global Navigation Satellite System (GNSS) or GPS) and an inertial measurement unit (MRU or MGC) to measure the position and motion of the floating wind turbine 2. The satellite navigation system may be, for example, GNSS, GPS, GLOAASS, BeiDou, Galileo, QZSS, IRNASS, or NavIC. This enables monitoring of the floating wind turbine's motion in 6 DOF (degrees of freedom) (i.e., heave, sway, pitch, roll, pitch, and bow). The floating wind turbine 2 may also be equipped with a communication system (transceiver) 13 to transmit signals from floating instruments (e.g., signals from the INS and sensors on the floating wind turbine) to the installation vessel. The communication system may be, for example, a marine broadband radio (MBR), but other wireless communication systems may also be used. The instruments on the FWT may be pre-installed. The installation on the FWT may be removable.

[0054] The first sensor used to measure the distance between the floating wind turbine and the installation vessel can be mounted on the FWT and / or the installation vessel. The first sensor is typically a distance sensor. The distance sensor can be an optical sensor. The optical sensor can be a laser sensor or an IR sensor. Depending on the system and system requirements, other distance sensors, such as radar or ultrasonic sensors, may also be used.

[0055] Alternatively, the relative motion between the installation vessel 4 and the floating wind turbine 2 can be estimated indirectly using data from at least two sensors, wherein at least one sensor is positioned on the installation vessel 4 and at least one sensor is positioned on the floating wind platform 2. The at least two sensors may be absolute position sensors.

[0056] The system may include at least one inertial navigation system (INS) 12, which may be a satellite navigation system or an inertial measurement unit. The inertial measurement unit may be at least one of a motion reference unit (MRU) and a motion gyrocompass (MGC).

[0057] Figure 5 An example of the floating section (pontoon) of a floating wind turbine and a boat tensioner attached to the FWT is shown, the floating wind turbine being equipped with a floating instrumentation kit 7. The instrumentation kit on the FWT includes an inertial navigation system (INS) sensor 12 and a maritime broadband radio (MBR) to transmit INS sensor information to the installation vessel. The INS sensor 12 may include a Global Navigation Satellite System (GNSS) sensor and an inertial measurement unit (MRU or MGC) sensor to measure the position and motion of the FWT. The installation vessel 4 is equipped with an inertial measurement unit (MRU or MGC) sensor 17 to measure the motion of the installation vessel. Figure 5 In this embodiment, an inertial measurement unit (MRU) sensor 17 is arranged on the winch. Because the winch is equipped with an MRU, the accuracy of the position and movement of the winch on the installation vessel can be improved, thereby providing improved compensation for the movement of the installation vessel used for the winch. In all exemplary embodiments presented in this disclosure, the inertial measurement unit (MRU or MGC) can be arranged on the winch.

[0058] Ship tensioner exist Figure 1 In the scenario shown, the FWT is in its final mooring position, and the last set / one or more final cables 3 are to be retrieved from the seabed, pulled in, and coupled to the target pretension. For an FWT moored using three cables, the final cable can be one cable; for an FWT moored using a total of six cables, the final cable can be two cables; and for an FWT moored using a total of nine cables, the final cable can be three cables. The installation vessel is equipped with a winch 6 for pulling in the installation cable 18 for hooking and tensioning. The winch 6 can be controlled by a winch control system. The installation cable can be a fiber optic cable, a cable, or a chain. The mooring cable can be a fiber optic cable, a cable, or a chain, or a combination of at least two of the above. The installation cable 18 is connected to the mooring cable. The installation cable 18 can be controlled by the winch 6. Figure 1 In the middle, the installation cable leaves the installation vessel from the stern. The installation cable passes through the tensioner 9 attached to the FWT. Figure 1The tensioner is attached to the lower portion of one of the floating elements in the FWT 2. The tensioner may be equipped with a PAWL-based hydroacoustic or hydraulic opening / closing mechanism. This mechanism can be remotely controlled, for example, wirelessly or via a wired connection. The tensioner can be a ship-mounted tensioner. During the hooking and tensioning of the mooring line, the installation vessel and mooring line should be controlled relative to the relative movement between the FWT and the installation vessel. This improves operational safety. Controlling the installation vessel according to the FWT also enables operation under more stringent weather conditions.

[0059] The FWT is equipped with a floating instrumentation kit 7, which senses and transmits at least one parameter to the installation vessel 4. This at least one parameter can be the FWT's position, its global position, or its motion. The installation vessel is equipped with a ship instrumentation kit 5. The floating instrumentation kit 7 can transmit information from one or more sensors on the floating instrumentation kit to the ship instrumentation kit 5 located on the installation vessel. The ship instrumentation kit can measure the ship's position and motion. The enhanced task execution capabilities of the winch can compensate for motion between the vessel and the tensioner by releasing or retrieving the installation / mooring lines according to the situation and task functions. The enhanced task execution capabilities of the DP system can compensate for motion between the installation vessel and the FWT by controlling the position and heading of the installation vessel according to the situation and task functions. The winch and DP system can work together to compensate for motion between the installation vessel / tensioner and the FWT. Depending on the situation and mission functions, the position and course of the installation vessel, as well as the laying / retrieval of the installation cables, can be controlled simultaneously.

[0060] Figure 2 The floating wind turbine 2 and the anchor 16 of the mounting vessel 14 are shown. The vessel is equipped with a winch 6 and the ship's instruments as described above. The FWT is equipped with the instrumentation kit 7 as described above. Anchor 16 can be a standalone anchor or an anchor that can be connected to the mooring line 3. Figure 2 Provided with Figure 1 In the same scenario, where the FWT is in its final mooring position, and the last set / one or more final cables 3 will be retrieved from the seabed and pulled in and coupled to the target pretension. The anchor provides support for the DP system located on the installation vessel. Figure 1 Compared to the previous setup, the DP system performs differently when a reaction anchor is present. The anchor allows for stronger pulling and very high tension on the mooring lines. For example... Figure 9As shown, this is particularly useful in relieving tension on the upward-pulling structure. Using a reaction anchor also saves fuel for the installation vessel. In the event of a reaction anchor failure, a failure mode is provided to prevent contact between the installation vessel and the floating component. If the anchor fails, the DP system, along with the winch used to lay the installation / mooring lines, will assist in preventing contact with the FWT. The DP system can assist in the event of a winch failure, and the winch can assist in the event of a DP system failure.

[0061] Inline tensioner Figure 3 A floating wind turbine 2 and a floating installation vessel 4 are shown. An inline tensioner 10 is connected to a mooring cable 3. The vessel is equipped with a winch 6 and vessel instruments 5, as described above. The FWT is equipped with an instrumentation kit 7, as described above. The installation vessel is positioned above the inline tensioner, thus forming a small angle with the vertical direction provided by the installation cable 18 extending downwards from above the stern to the inline tensioner, as shown. Figure 3 As shown in the diagram. This small angle requires a smaller bollard pull to hook and tension the mooring line. Installation line 18 pulls mooring line 3 through the inline tensioner. Since the installation vessel is positioned above the inline tensioner, controlling the length of the installation line provides tension in the mooring line. The length of the installation line is controlled by the ship's winch based on the position and movement of the FWT, thereby controlling the tension in the mooring line during hooking and tensioning operations. The DP system controls the position and course of the installation vessel based on the position and movement of the FWT to keep the installation vessel positioned above the inline tensioner. The ship's integrated tension master control system can control the ship's DP system and ship's winch based on the position and movement of the FWT and the position and movement of the installation vessel. The ship's integrated tension master control system receives the position and movement information of the FWT from the FWT instrumentation kit 7 via wireless transmission. The ship's integrated tension master control system receives the position and movement of the installation vessel from the instrumentation. System integration will be described in detail later. The solution for controlling the winch based on sensor information from FWT and the ship improves the installation standards for the hooking and tensioning process and enables the process to be performed in adverse weather conditions.

[0062] Seabed tensioner Figure 4 An exemplary floating wind turbine and installation vessel are shown, along with the use of a tensioner in the form of a seabed tensioner for hooking and tensioning at least one cable to a target pretension for mooring the floating wind turbine. Figure 4A floating wind turbine 2 and a floating installation vessel 4 are shown. A seabed tensioner 11 is connected to a mooring cable 3. The vessel is equipped with a winch 6 and ship instruments 5, as described above. The FWT is equipped with an instrumentation kit 7, as described above. The installation vessel is positioned away from the seabed tensioner, such that, compared to an inline tensioner as described above, it is equipped with... Figure 4 The installation cable 18 shown is at a relatively large angle to the vertical direction defined by the tensioner 11 passing through the seabed. The position of the FWT is less critical than when using an inline tensioner. The winch tension and the positioning of the installation vessel ensure that the installation vessel maintains a relatively large angle during the hooking and tensioning process. As stated above regarding... Figure 3 As explained, the ship's integrated tension master control system can control the ship's DP system and ship's winch based on the position and movement of the FWT and the position and movement of the installed ship.

[0063] Structural stretch relief (CSR) The disclosed concept is intended for use during hook-up operations of floating wind turbines. This is to ensure that the final pretension level in the mooring cable is within the required limits set by the operator. If the mooring system is designed with fiber cables such as polyester or similar types of ropes, structural tension must be removed from the system during hook-up operations before the pretension target is reached.

[0064] Due to structural stretching within the fiber rope, adjustments to the amount of cable released from the top chain are likely necessary. The fiber rope lengthens over time due to prolonged tension. This phenomenon is generally considered particularly pronounced in polyester ropes. The mooring line needs to be pulled in via a tensioner to typically reach approximately 40% of the maximum MBL (Mean Broken Line Length) of the mooring line, and subsequently, it is likely necessary to pull the mooring line out to achieve the final pretension.

[0065] CSR operations are likely to be performed by AHTs vessels. However, the existing fleet of vessels with AHTSs and current methods will struggle to achieve high tensions, such as those of several hundred tons.

[0066] System Integration Figure 11 An exemplary conceptual integration is shown between ship instrumentation, ship winch, float instrumentation, ship's integrated tensioner main system, and ship DP system.

[0067] The ship instrument 5 transmits data related to ship motion to the ship's DP system 23 and to the ship's winch 6. Ship motion can be, for example, 6 DOF (degrees of freedom) or velocity / acceleration in the form of 6 DOF (degrees of freedom).

[0068] The floating instrument 7, located on the floating wind turbine, transmits data related to the motion of the floating wind turbine to the ship's winch 6. The motion of the floating wind turbine can be, for example, in 6 DOF (degrees of freedom) form, and can be velocity / acceleration in 6 DOF form. The floating instrument 7 transmits data related to the position of the floating wind turbine to the ship's DP system 23 and the ship's integrated tensioner main system 22. The position of the floating wind turbine can be, for example, in a GNS coordinate system.

[0069] The winch transmits its operation data to the ship's integrated tensioner main system 22. The ship's winch 6 is equipped with a winch control system featuring enhanced task execution capabilities. This enhanced task execution capability allows the winch to set a speed setpoint.

[0070] The ship's winch receives information from the ship's integrated tensioner main system 22, which may include winch control settings, operating recommendations, FWT position, ship position, and integrated fault handling.

[0071] The winch receives ship motion information from ship instrument 5, which may include at least one of ship motion in the form of 6 degrees of freedom and velocity / acceleration in the form of 6 degrees of freedom.

[0072] The winch receives floating component motion information from the floating component instrument 7, which may include at least one of ship motion in the form of 6 degrees of freedom and velocity / acceleration in the form of 6 degrees of freedom.

[0073] The integrated tensioner main system 22 of the installation vessel receives information from the instrument 7 located on the floating component, which may include at least the position of the floating component. The position of the floating component may include floating component motion in the form of 6 degrees of freedom and velocity / acceleration in the form of 6 degrees of freedom.

[0074] The ship's integrated tensioner main system 22 can also receive winch operation data from the ship's winch 6.

[0075] The ship's integrated tensioner main system 22 can also receive information from the ship's DP system 23, which may include DP system status, DP operation settings and parameters, and at least one of the ship's position and heading.

[0076] The ship's integrated tensioner main system 22 can provide information to the ship's DP system. This information may include winch parameters, operating limitations and recommendations, and integrated fault handling.

[0077] The ship's integrated tensioner main system 22 can provide information to the ship's winch. The information provided to the ship's winch may include winch controller settings, operating suggestions, FWT location, ship installation location, and integrated fault handling.

[0078] The DP system located on the installation vessel is equipped with enhanced mission execution capabilities. These enhanced capabilities control the position and heading of the installation vessel based on multiple input parameters.

[0079] The DP system receives information about the ship's motion from instrument 5 installed on the ship, as described above.

[0080] The DP system can also receive information from instrument 7 located on the FWT, such as information about the FWT's location, as described above.

[0081] The DP system also receives input parameters from the ship's integrated tensioner master system 22. Input parameters from the ship's integrated tensioner master system 22 may include winch parameters, operating limitations and recommendations, and integrated fault handling.

[0082] The DP system provides information to the ship's integrated tensioner main system 22, which may include DP system status, DP operation settings and parameters, ship position and heading.

[0083] At least one of the winch and dynamic positioning system located on the installation vessel can be controlled based on at least one input parameter to hook and tension at least one mooring line of the floating wind turbine to the seabed. The input parameters can be at least the position of the floating wind turbine and the position of the vessel. The input parameters can also be at least the motion of the floating wind turbine and the motion of the vessel. During the hooking and tensioning operation, the relative motion between the floating wind turbine and the installation vessel can be compensated by at least one of the winch or dynamic positioning system on the installation vessel. Controlling at least one of the winch and dynamic positioning system on the installation vessel can provide control over at least one of the length or tension of the installation line / mooring line or the winch speed during the hooking and mooring operation.

[0084] By integrating the winch with an optimized winch controller, the hooking and tensioning process can be performed in higher sea states.

[0085] Using sensor information from the sensor suite 7 mounted on the FWT (MRU or RMS) in the control software for the winch and DP will further enhance functionality and provide further compensation for vessel and FWT motion. Integrating the DP into the entire control loop allows the installation vessel to further compensate for the relative motion between the installation vessel and the FWT. The ability to control the position of the installation vessel, combined with the behavior of the winch, while maintaining complete control over power usage, allows for safer hooking and tensioning operations in higher sea states.

[0086] Integrating DP into the entire control loop offers the following opportunities: Improve station holding accuracy using DP controller Optimize the allocation of power demand, winch, and propulsion system. Improve security and reduce risk.

[0087] By including assistance from the DP and the cable winch with built-in fault modes, the impact of fault scenarios can be reduced: if the cable winch malfunctions, the DP can assist, or if the DP malfunctions, the cable winch can assist.

[0088] Figure 12 An exemplary enhanced DP function provided by the ship's integrated tensioner master system is illustrated. The ship's integrated tensioner master system calculates operational constraints on the installation vessel in the form of permissible sectors (as shown), and these operational constraints are provided to the installation vessel's DP system. These operational constraints are based on requirements for heading and installation cable direction to prevent bending of the installation cable and the structure attached to the float. The installation cable passes through the ship's winch and typically crosses the stern of the installation vessel in pulleys or guides; if the heading deviates too much from the direction of the installation cable to the float, the installation cable may slip off from the pulley / guide.

[0089] Figure 13 An exemplary ship winch system is shown, comprising a winch HMI, a DP HMI, and an integrated tensioner main system HMI mounted on the bridge of the ship.

[0090] Figure 14 An exemplary integrated tensioner master system, DP and winch controller, and at least one human operator for these systems are illustrated on a vessel with a Human-Machine Interface (HMI). The HMI provides advice to the human operators of these systems. The integrated tensioner master system, DP and winch control system can also be designed as automatic or semi-automatic systems. In certain failure modes, the vessel's integrated tensioner master system can take over control of systems that were originally operated by humans to automatically perform critical operations, thereby averting disaster.

[0091] Figure 15 An exemplary boat tensioner attached to a floating wind turbine is shown. The boat tensioner 8 is provided with a pawl 24, which is shown in the open position. The boat tensioner is provided with a hydroacoustic or hydraulically operated pawl 24 for opening / closing.

[0092] Example The following examples are for illustrative purposes only and do not limit this disclosure.

[0093] Figure 6 Hooking and tensioning via boat tensioner - example The FWT has three mooring lines, two of which have been hooked to the FWT at fixed lengths. A ship tensioner is connected to the FWT. The third, and final, mooring line can be hooked to the FWT via the ship tensioner in the following manner.

[0094] The vessel's DP maintains a set position or distance from the FWT. The vessel's winch actively compensates for relative motion between the vessel and the FWT caused by weather based on sensor input, thereby pulling in the mooring line at a stable rate to adjust the tension of the mooring line and, when the pawl is locked, to keep the mooring line stable relative to the vessel tensioner.

[0095] Step 1: Pull the cable through the ship's tensioner, connecting it at one end to the mooring line and at the other end to the winch cable. The mooring line is then pulled upwards toward the tensioner.

[0096] Step 2: Pull the mooring cable through the tensioner at a steady rate.

[0097] Step 3: Tension the mooring cable to the target tension or target length.

[0098] Step 4: Keep the mooring cable stable relative to the tensioner, and close the tensioner pawl to lock the length of the mooring cable.

[0099] Step 5: Release the cable tension of the cable winch at a steady rate.

[0100] Figure 7 Hooking and tensioning via inline tensioner - Example The FWT is equipped with three mooring cables, two of which are already hooked to the FWT at fixed lengths. The top section of the third cable can be hooked to the FWT and has an inline tensioner at the other end. The third mooring cable can be hooked in the following manner.

[0101] The vessel's DP maintains a set position or distance from the FWT. The vessel winch actively compensates for weather-related relative motion between the vessel and the inline tensioner based on sensor input, thereby pulling in the mooring line at a stable rate to adjust the mooring line tension and, when the pawl is locked, keeping the mooring line stable relative to the vessel tensioner.

[0102] Step 1: Pull the cable through the inline tensioner, connecting it to the mooring cable at one end and the winch cable at the other. The mooring cable is then pulled upward toward the tensioner.

[0103] Step 2: Pull the bottom chain of the winch cable and mooring cable through the tensioner at a steady rate.

[0104] Step 3: Tension the mooring cable to the target tension or target length.

[0105] Step 4: Keep the mooring cable stable relative to the tensioner, close the tensioner pawl, and then release the tension of the winch cable at a steady rate.

[0106] Figure 8 Hooking and tensioning via seabed tensioners - Example The FWT is equipped with three mooring cables, two of which are already hooked to the FWT at fixed lengths. The top section of the third cable can be hooked to the FWT, and it has a seabed tensioner at the other end. The third mooring cable can be hooked in the following manner.

[0107] The vessel's DP maintains a set position or distance from the FWT. The vessel winch actively compensates for relative motion between the vessel and the seabed tensioner caused by weather, based on sensor input, thereby pulling in the mooring line at a stable rate to adjust the tension of the mooring line, and keeping the mooring line stable relative to the vessel tensioner when the pawl is locked.

[0108] Step 1: Pull the cable through the seabed tensioner, connecting it to the mooring cable at one end and the winch cable at the other. The mooring cable is then pulled upwards toward the tensioner.

[0109] Step 2: Pull the bottom chain of the winch cable and mooring cable through the tensioner at a steady rate.

[0110] Step 3: Tension the mooring cable to the target tension or target length.

[0111] Step 4: Keep the mooring cable stable relative to the tensioner, close the tensioner pawl, and then release the tension of the winch cable at a steady rate.

[0112] Figure 9 Example of hooking and tensioning via ship tensioner and anchor. The FWT has three mooring lines, two of which have been hooked to the FWT at fixed lengths. A ship tensioner is connected to the FWT. The third, and final, mooring line can be hooked to the FWT via the ship tensioner in the following manner.

[0113] When the tension between the cable facing the Free Throwing Wing (FWT) and the reaction anchor is low, the DP (Device Targeting) maintains a set position or distance from the FWT. When the tension is high, the DP gradually reduces the thruster thrust while maintaining its course, if necessary.

[0114] The ship winch actively compensates for the relative motion between the ship and the FWT caused by weather based on sensor input, thereby pulling in the mooring line at a stable rate to adjust the tension of the mooring line, and keeping the mooring line stable relative to the ship tensioner when the pawl is locked.

[0115] Step 1: Pull the cable through the ship's tensioner, connecting it at one end to the mooring line and at the other end to the winch cable. The mooring line is then pulled upwards toward the tensioner.

[0116] Step 2: Pull the mooring cable through the tensioner at a steady rate.

[0117] Step 3: Tension the mooring cable to the target tension or target length.

[0118] Step 4: Keep the mooring cable stable relative to the tensioner and close the tensioner pawl to lock the length of the mooring cable.

[0119] Step 5: Release the tension of the cable in the cable winch at a steady rate.

[0120] Figure 10 Hook and Structural Tension Relief - Installation of Ship Tensioners & Anchors - Example The FWT has three mooring lines, two of which have been hooked to the FWT at fixed lengths. A ship tensioner is connected to the FWT. The third, and final, mooring line can be hooked to the FWT via the ship tensioner in the following manner.

[0121] When the tension between the cable facing the Free Throwing Wing (FWT) and the reaction anchor is low, the DP (Device Targeting) maintains a set position or distance from the FWT. When the tension is high, the DP gradually reduces the thruster thrust while maintaining its course, if necessary.

[0122] The ship winch actively compensates for the relative motion between the ship and the FWT caused by weather based on sensor input, thereby pulling in the mooring line at a stable rate to adjust the tension of the mooring line, and keeping the mooring line stable relative to the ship tensioner when the pawl is locked.

[0123] Step 1: Pull the cable through the ship's tensioner, connecting it at one end to the mooring line and at the other end to the winch cable. The mooring line is then pulled upwards toward the tensioner.

[0124] Step 2: Pull the mooring cable through the tensioner at a steady rate.

[0125] Step 3: Tension the mooring cable to the target tension or target length.

[0126] Step 4: Keep the mooring cable stable relative to the tensioner and close the tensioner pawl to lock the length of the mooring cable.

[0127] Step 5: Release the tension of the cable from the cable winch at a steady rate, and reposition the FWT back to its equilibrium position. In this step, the CSR is eliminated, and the elimination of the CSR does not involve any action from the integrated tensioner system.

[0128] Step 6: Send a signal to the ship's tensioner to open the pawl. Take in the work winch to increase tension and effectively move the FWT toward the anchored installation vessel.

[0129] Step 7: Pull the mooring line out from the pawl and release it onto the working winch until the target release length is reached. Keep the mooring line stable relative to the tensioner and close the tensioner pawl to lock the length of the mooring line.

[0130] Step 8: Lay the cable on the winch so that the winch can be disconnected from the mooring cable.

[0131] Step 9: Continue with the closing activities.

[0132] As described in this document, different tensioners have their own advantages and disadvantages, and the best choice depends on several parameters, such as the design of the mooring system, site characteristics, available vessel stretchability, and required operability and customer preferences.

[0133] A cable winch is connected to the system to ensure constant cable length, tension, or speed. This reduces dynamic loads and can potentially improve installation standards, thus reducing wait times due to weather conditions. The tensioner also reduces the amount of assistance required during hooking due to the pulley system effect.

[0134] Another benefit of the upgraded winch and system is the optimization of the utilization of available vessel elongation and bollard tension. This is related to the winch's compensating behavior and the improved station holding accuracy through the DP controller. Operational risks are reduced through more robust operation due to lower failure rates during installation, such as chain jamming in the tensioner.

[0135] Having described exemplary embodiments of the invention, it will become apparent to those skilled in the art that other embodiments can be used in conjunction with these concepts. The examples and others shown above are merely illustrative, and the true scope of the invention should be determined according to the claims.

Claims

1. A system for hooking up and tensioning a floating wind turbine to a seabed, the system comprising: - a floating wind turbine comprising at least one mooring line adapted to moor the floating wind turbine to the seabed; - an installation vessel comprising a dynamic positioning (DP) system and a winch, wherein the winch is adapted to control a mooring line / installation line; and - a tensioner adapted for the mooring line / the installation line; wherein the system is adapted to control at least one of the winch and the dynamic positioning system located on the installation vessel based on at least one input parameter to hook up and tension at least one of the mooring lines of the floating wind turbine to the seabed.

2. The system of claim 1, wherein, The system is adapted to control at least one of the winch and the dynamic positioning system located on the installation vessel based on at least the position of the floating wind turbine and the position of the vessel.

3. The system of claim 1 or claim 2, wherein, The system is adapted to control at least one of the winch and the dynamic positioning system located on the installation vessel based on at least the motion of the floating wind turbine and the motion of the vessel.

4. The system of one of claims 1 to 3, wherein, The system is adapted to compensate for relative motion between the floating wind turbine and the installation vessel during hooking up and tensioning operations by at least one of the winch or the dynamic positioning system of the installation vessel.

5. The system of one of claims 1 to 3, wherein, At least one of the winch and the DP system located on the installation vessel is adapted to compensate for relative motion between the floating wind turbine and the installation vessel.

6. The system of one of claims 1 to 4, wherein, The system is adapted to control at least one of the winch and the dynamic positioning system located on the installation vessel to control at least one of the length, or the tension, or the winch speed of the installation line / the mooring line during hooking up and mooring operations.

7. The system according to one of claims 1 to 6, wherein, The floating wind turbine comprises at least one position sensor for measuring the position of the floating wind turbine.

8. The system of one of claims 1 to 7, wherein, The floating wind turbine comprises at least one motion sensor for measuring the motion of the floating wind turbine.

9. The system of one of claims 1 to 8, wherein, The floating wind turbine comprises a wireless communication system adapted to transmit sensor information to the installation vessel.

10. The system of one of claims 1 to 9, wherein, The installation vessel comprises at least one position sensor for measuring the position of the installation vessel.

11. The system of one of claims 1 to 10, wherein, The installation vessel comprises at least one motion sensor for measuring the motion of the installation vessel.

12. The system of one of claims 1 to 11, wherein, The installation vessel comprises a wireless communication system adapted to receive sensor information from the floating wind turbine.

13. The system of one of claims 1 to 10, wherein, The floating wind turbine further comprises at least one inertial navigation system (INS).

14. The system according to one of claims 1 to 13, the floating wind turbine further comprising at least one of a satellite navigation system or an inertial measurement unit (IMU).

15. The system of claim 14, wherein, The inertial measurement unit is at least one of a motion reference unit (MRU) and a motion gyrocompass (MGC).

16. The system of one of claims 9 to 15, wherein, The wireless communication system is a maritime broadband radio (MBR).

17. An installation vessel for performing hooking and tensioning operations by using a mooring / installation line tensioner to moor at least one mooring line of a floating wind turbine to the seabed, the vessel comprising a dynamic positioning (DP) system and a winch, wherein, At least one of the winch and the dynamic positioning system is adapted to control the installation line / the mooring line of the floating wind turbine based on at least one input parameter to hook up and tension at least one of the mooring lines of the floating wind turbine to the seabed.

18. The installation vessel of claim 17, wherein, The installation vessel is adapted to compensate for relative movements between the floating wind turbine and the installation vessel during hooking up and mooring operations.

19. The installation vessel of claim 17 or claim 18, wherein, The installation vessel is adapted to control at least one of the winch and the dynamic positioning system located on the installation vessel based on at least the position of the floating wind turbine and the position of the vessel.

20. The installation vessel according to one of the claims 17 to 19, wherein, The installation vessel is adapted to control at least one of the winch and the dynamic positioning system located on the installation vessel based on at least the movement of the floating wind turbine and the movement of the installation vessel.

21. The installation vessel according to one of claims 17 to 20, wherein, The installation vessel is adapted to compensate for relative movements between the floating wind turbine and the installation vessel during hooking up and tensioning operations by at least one of the winch or the dynamic positioning system of the installation vessel.

22. The installation vessel according to one of claims 17 to 21, wherein, The installation vessel is adapted to control at least one of the winch and the dynamic positioning system located on the installation vessel to control at least one of the length, or the tension, or the winch speed of the installation line / the mooring line during hooking up and tensioning operations.

23. The installation vessel according to one of claims 17 to 22, wherein, The installation vessel comprises at least one position sensor for measuring the position of the installation vessel.

24. The installation vessel according to one of claims 17 to 22, wherein, The installation vessel comprises at least one movement sensor for measuring the movement of the installation vessel.

25. The installation vessel according to one of claims 17 to 24, wherein, The installation vessel comprises a wireless communication system adapted to receive sensor information from the floating wind turbine.

26. The installation vessel of claim 24, wherein, The sensor information comprises at least one of the position and the movement of the floating wind turbine.

27. The installation vessel defined in either of Claims 25 or 26, wherein, The wireless communication system is a maritime broadband radio (MBR).

28. A floating wind turbine, the floating wind turbine comprising: - at least one mooring line adapted to moor the floating wind turbine to a seabed; - at least one sensor; and - a wireless communication system adapted to transmit sensor information to an installation vessel adapted to hook up and tension at least one of the mooring lines of the floating wind turbine to the seabed.

29. A floating wind turbine according to claim 28, wherein, The floating wind turbine comprises at least one position sensor for measuring the position of the floating wind turbine.

30. Floating wind turbine according to one of claims 28 or 29, wherein, The floating wind turbine comprises at least one movement sensor for measuring the movement of the floating wind turbine.

31. Floating wind turbine according to one of claims 28 to 30, wherein, The floating wind turbine comprises a wireless communication system adapted to transmit sensor information to the installation vessel.

32. The floating wind turbine according to one of claims 28 to 31, further comprising at least one inertial navigation system (INS).

33. The floating wind turbine according to one of claims 28 to 32, further comprising at least one of a satellite navigation system or an inertial measurement unit (IMU).

34. A floating wind turbine according to any one of claims 28 to 33, wherein, The inertial measurement unit is at least one of a motion reference unit (MRU) and a motion gyrocompass (MGC).

35. A floating wind turbine according to any one of claims 28 to 34, wherein, The wireless communication system is a maritime broadband radio (MBR).

36. A hooking and tensioning module for controlling a hooking and tensioning operation by means of a vessel to moor a floating wind turbine having at least one mooring line to be moored to the sea floor by means of using a vessel tensioner, the module comprising: an interface configured to receive data from a dynamic positioning system and a mooring winch located on the installation vessel; and a control system configured to adjust operation of the mooring winch and the dynamic positioning system based on the received data.

37. The hooking and tensioning module of claim 36, wherein, The data includes at least one input parameter from the floating wind turbine.

38. The hooking and tensioning module of claim 37, wherein, The at least one input parameter from the floating wind turbine includes a position of the floating wind turbine.

39. The hooking and tensioning module according to one of claims 36 to 38, wherein, The data includes mooring winch operation information from the vessel mooring winch.

40. The hooking and tensioning module according to one of claims 36 to 39, wherein, The data includes information from the dynamic positioning system of the installation vessel.

41. The hooking and tensioning module according to one of claims 36 to 40, wherein, The control system is adapted to control at least one of the mooring winch and the dynamic positioning system located on the installation vessel based on at least the position of the floating wind turbine and the position of the vessel to control at least one of a length, or a tension, or a winch speed of the installation / mooring line during hook-up and tensioning operations.

42. A method for hooking up and tensioning at least one mooring line of a floating wind turbine to a seabed by an installation vessel, the method comprising using a tensioner, and the method further comprising controlling at least one of a mooring winch and a dynamic positioning system located on the installation vessel based on at least one input parameter.

43. The method of claim 42, wherein, The method comprises controlling at least one of the mooring winch and the dynamic positioning system located on the installation vessel based on at least the position of the floating wind turbine and the position of the vessel.

44. The method of claim 42 or claim 43, wherein, The method comprises controlling at least one of the mooring winch and the dynamic positioning system located on the installation vessel based on at least the motion of the floating wind turbine and the motion of the vessel.

45. The method according to one of claims 42 to 44, wherein, The method further comprises compensating for relative motion between the FWT and the installation vessel during hook-up and tensioning operations by at least one of the mooring winch or the dynamic positioning system of the installation vessel.

46. The method according to one of claims 42 to 45, wherein, At least one of the mooring winch and the dynamic positioning system located on the installation vessel is adapted to compensate for relative motion between the floating wind turbine and the installation vessel during hook-up and tensioning operations.

47. The method according to one of claims 42 to 46, wherein, The method further comprises controlling at least one of the mooring winch and the dynamic positioning system located on the installation vessel based on at least the position of the floating wind turbine and the position of the vessel to control at least one of a length, or a tension, or a winch speed of the installation / mooring line during hook-up and tensioning operations.

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